WO2022007421A1 - 一种药房机器人装置、方法及系统 - Google Patents

一种药房机器人装置、方法及系统 Download PDF

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Publication number
WO2022007421A1
WO2022007421A1 PCT/CN2021/078173 CN2021078173W WO2022007421A1 WO 2022007421 A1 WO2022007421 A1 WO 2022007421A1 CN 2021078173 W CN2021078173 W CN 2021078173W WO 2022007421 A1 WO2022007421 A1 WO 2022007421A1
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WO
WIPO (PCT)
Prior art keywords
pharmacy
robot
medicine
drug
parallel
Prior art date
Application number
PCT/CN2021/078173
Other languages
English (en)
French (fr)
Inventor
王忠堂
Original Assignee
厦门波耐模型设计有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN202010679136.5A external-priority patent/CN111846721B/zh
Priority claimed from CN202110073502.7A external-priority patent/CN112758581A/zh
Application filed by 厦门波耐模型设计有限责任公司 filed Critical 厦门波耐模型设计有限责任公司
Priority to US18/015,052 priority Critical patent/US20230274827A1/en
Publication of WO2022007421A1 publication Critical patent/WO2022007421A1/zh

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Classifications

    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
    • A61J7/00—Devices for administering medicines orally, e.g. spoons; Pill counting devices; Arrangements for time indication or reminder for taking medicine
    • A61J7/0076—Medicament distribution means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
    • A61J7/00—Devices for administering medicines orally, e.g. spoons; Pill counting devices; Arrangements for time indication or reminder for taking medicine
    • A61J7/0076—Medicament distribution means
    • A61J7/0084—Medicament distribution means for multiple medicaments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
    • A61J7/00—Devices for administering medicines orally, e.g. spoons; Pill counting devices; Arrangements for time indication or reminder for taking medicine
    • A61J7/04—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers
    • A61J7/0409—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers with timers
    • A61J7/0418—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers with timers with electronic history memory
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
    • A61J7/00—Devices for administering medicines orally, e.g. spoons; Pill counting devices; Arrangements for time indication or reminder for taking medicine
    • A61J7/04—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers
    • A61J7/0409—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers with timers
    • A61J7/0481—Arrangements for time indication or reminder for taking medicine, e.g. programmed dispensers with timers working on a schedule basis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H15/00—ICT specially adapted for medical reports, e.g. generation or transmission thereof
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/10—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to drugs or medications, e.g. for ensuring correct administration to patients
    • G16H20/13—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to drugs or medications, e.g. for ensuring correct administration to patients delivered from dispensers
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/20—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/20—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H80/00—ICT specially adapted for facilitating communication between medical practitioners or patients, e.g. for collaborative diagnosis, therapy or health monitoring
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
    • A61J2200/00—General characteristics or adaptations
    • A61J2200/70—Device provided with specific sensor or indicating means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
    • A61J2200/00—General characteristics or adaptations
    • A61J2200/70—Device provided with specific sensor or indicating means
    • A61J2200/72—Device provided with specific sensor or indicating means for temperature

Definitions

  • the invention belongs to the field of medical robots, and more particularly relates to a device, service method and system for a pharmacy robot.
  • a pharmacy robot with a simple structure of service functions can be deployed to remote small towns and rural areas to serve patients efficiently and reduce the operating costs of pharmacy stores.
  • the purpose of the present invention is to provide a pharmacy robot device, which performs basic functions of pharmacy, combines AI verification system and intelligent diagnosis system, realizes pharmacy as doctor service, pharmacy as pharmacist service and pharmacy as pharmacy service, serves patients efficiently, and reduces the cost of pharmacy. Store operating costs.
  • a pharmacy robot device includes a single pharmacy robot, and a plurality of the single pharmacy robots are combined to form a pharmacy complex.
  • a single pharmacy robot includes a chassis and a robot body, the chassis supports the robot body, and the robot body is provided with a shell, a drug store, a push rod device, a conveyor belt, an induction door, a touch screen display, and a smart speaker , visual sensors, central data storage processors, wireless communication equipment.
  • a pharmacy complex of one embodiment of the present invention includes a multi-unit pharmacy robot and a medicine delivery device that joins the multi-unit pharmacy robot into a unitary structure.
  • the multi-unit pharmacy robot of an embodiment of the present invention includes a series unit pharmacy robot, a parallel unit pharmacy robot, and a series-parallel unit pharmacy robot.
  • the series unit pharmacy robot is composed of a plurality of the unit pharmacy robots. Arrangement and combination, the parallel single pharmacy robot is arranged and combined left and right by a plurality of the single pharmacy robots, and the series-parallel single pharmacy robot is combined by a plurality of the single pharmacy robots arranged in front and rear in series and left and right in parallel.
  • the drug delivery device is connected to a plurality of conveyor belts of the single pharmacy robot in series.
  • the shell includes a central shell and two edge shells, the central shell has a built-in drug store, the edge shells are arranged on both sides of the central shell, and the edge shells have built-in push rod devices, and the rear side of the edge shell and the rear side of the central shell pass through a rotating shaft connected, and a lock is provided between the front side of the edge shell and the front side of the central shell.
  • the medicine store includes two medicine cabinets, the medicine cabinets are fixed in the central shell, the bottom of the gap between the medicine cabinet and the medicine cabinet is a conveyor belt, and the medicine cabinet is further divided into several medicine cabinets arranged in a vertical and horizontal array.
  • the push rod device includes two Cartesian coordinate robots, and the Cartesian coordinate robots are fixed to the edge shells on both sides through a frame.
  • the conveyor belt can also be connected with an intelligently controlled elevator, so that when the Cartesian robot end effector pushes out the medicine, the intelligently controlled elevator moves synchronously, and the medicine leaves the medicine box and falls on the conveyor belt.
  • an intelligently controlled elevator so that when the Cartesian robot end effector pushes out the medicine, the intelligently controlled elevator moves synchronously, and the medicine leaves the medicine box and falls on the conveyor belt.
  • a medicine delivery device includes a conveying device, a collection bin, and a lifting device.
  • the conveying device is connected to the conveyor belt of the single drugstore robot, the collecting bin is connected to the conveying device, and the lifting device is connected to the the conveying device or the collection bin.
  • the conveying device includes a crawler bearing device, a slideway device, and an unmanned vehicle device, and a plurality of the single pharmacy robots connected in parallel or in series and parallel are connected across.
  • the pharmacy robot method realizes pharmacy services, including a drug sales method, a supplementary drug method, a drug disk method, a conjoined method, and a grid deployment method.
  • the drug sales method flow 100 of an embodiment of the present invention includes the following steps: 110: pharmacy robot is doctor service; 120: pharmacy robot is pharmacist service; 130: confirm, human-computer interaction reminds the patient whether to buy medicine, if so, enter Next step; 140: Pay the fee; 150: The Cartesian coordinate robot launches the medicine; 160: The induction door opens, and the patient takes the medicine; 170: The pharmacy robot is the pharmacy service.
  • the process 200 of the drug application method includes the following steps: 210: cloud server statistical data; 220: the supply chain platform prepares goods according to the cloud server statistical data; 230: the logistics platform transports the drugs to be replenished to the pharmacy robot device network ;240: Reveal the medicine storehouse, medicine cabinet, medicine box; 250: The replenishment personnel fill up all the medicine boxes that are out of stock; 260: The pharmacy robot device returns to its position, and the chassis brake is locked.
  • the concatenation method of an embodiment of the present invention includes series, parallel, and series-parallel.
  • the series connection is realized by arranging and combining multiple single pharmacy robots in front and back
  • the parallel connection is realized by arranging and combining multiple single pharmacy robots left and right.
  • a plurality of the single pharmacy robots are arranged in front and back in series and left and right in parallel, so as to increase the variety and quantity of medicines stored in the drugstore.
  • the grid deployment method of an embodiment of the present invention includes site selection, pharmacy kiosk configuration, whether the pharmacy robot device adopts the single pharmacy robot or the pharmacy complex, and drug category selection. , and share data with other pharmacies, hospital pharmacies, and suppliers to facilitate users to obtain drug information and obtain drugs and services through multiple channels.
  • the replenishment process for replenishment personnel can also be implemented by a replenishment robot.
  • the system of an embodiment of the present invention includes a drug screening system, an AI verification system, an intelligent diagnosis and treatment system, a drug delivery system, a drug sales system, a pharmaceutical management system, a third-party support system, a database management system, a data encryption system, and a medical information sharing system.
  • the number of medicine boxes in a single medicine storehouse of a pharmacy robot device can be up to 900, and each medicine box can hold 5 ⁇ 10 boxes of medicines, basically realizing the storage of at least 600 medicines.
  • Category, at least 3,000 boxes of medicines, such as connecting multiple pharmacy robot units in series, parallel or series-parallel, the drug storehouse will cover all commonly used drugs and medical supplies.
  • the overall function of the pharmacy robot device is complete, the structure is simple, the design is compact, and the maintenance is convenient.
  • the coordinate robot and the end effector are simple and durable, with high reliability and good flexibility; for example, the chassis with universal wheels is used, which is convenient to move;
  • the shell structure can be opened and locked, and it is intuitive and visible when replenishing.
  • the cost of pharmacy robot devices is low, and its components are in sufficient supply in the market, such as coordinate robots and end-effectors, touch-screen displays, and smart speaker equipment that account for a large proportion of the cost.
  • the market price has been as low as 100 yuan.
  • Fig. 1 is a schematic diagram of the outline structure of a single pharmacy robot
  • Fig. 2 is a schematic diagram of the layout of a single pharmacy robot drug storehouse
  • Fig. 3 is a schematic structural diagram of a single pharmacy robot medicine box
  • Fig. 5 is a schematic diagram of the structure of a single pharmacy robot Cartesian robot end effector
  • FIG. 6 is a schematic structural diagram of a single pharmacy robot induction door
  • FIG. 7 is a schematic diagram of the layout of a medicine booth;
  • Figure 9 is a schematic diagram of a plurality of single pharmacy robots connected in series;
  • Figure 10 is a schematic diagram of a plurality of single pharmacy robots in parallel with the crawler bearing and conveying structure;
  • It is a schematic diagram of the conveying structure of multiple single pharmacy robots in parallel with single-track unmanned vehicles;
  • Figure 13 is a schematic diagram of the transportation structure of multiple single pharmacy robots in parallel with double-track unmanned vehicles;
  • Figure 14 is a parallel connection of multiple single pharmacy robots with trackless unmanned vehicles.
  • Fig. 15 is a schematic diagram of the transport structure of multiple single pharmacy robots in parallel with the chute;
  • FIG. 16A is a schematic diagram of the through structure of multiple single pharmacy robots in parallel with the middle chute; Fig. 16B is a parallel left slide of multiple single pharmacy robots.
  • Figure 16C is a schematic diagram of a plurality of single pharmacy robots in parallel on the right side of the slide through structure;
  • Figure 17 is a schematic diagram of a plurality of single pharmacy robots in parallel with the pulley rope lifting structure of the crawler device;
  • Figure 18A is a plurality of single pharmacy robots
  • Figure 18B is a schematic diagram of the lifting structure of the screw axial movement of the screw of the parallel crawler device;
  • Figure 18B is a schematic diagram of the lifting structure of the nut axially moving the screw of the parallel crawler device;
  • Figure 19 is a hydraulic shear of the parallel crawler device of a plurality of single pharmacy robots Schematic diagram of the lifting structure of the fork lift platform;
  • Figure 20 is a schematic diagram of the lifting structure of the screw shafts moving in the axial direction of the parallel
  • the pharmacy robot device includes a single pharmacy robot, and a plurality of the single pharmacy robots are connected to form a pharmacy complex.
  • the single pharmacy robot includes a chassis and a robot body, the chassis carries the robot body, and the robot body is provided with a casing, a drug storehouse, a push rod device, a conveyor belt, an induction door, a touch screen display, a smart speaker, a visual sensor, and a central data storage. Processors, wireless communication equipment.
  • the pharmacy complex includes a multi-unit pharmacy robot and a medicine delivery device that joins the multi-unit pharmacy robot into an integral structure.
  • the multi-unit pharmacy robot in the preferred embodiment of the present invention includes a series unit pharmacy robot, a parallel unit pharmacy robot, and a series-parallel unit pharmacy robot.
  • the series unit pharmacy robot is composed of a plurality of the unit pharmacy robots. Arrangement and combination, the parallel single pharmacy robot is arranged and combined left and right by a plurality of the single pharmacy robots, and the series-parallel single pharmacy robot is combined by a plurality of the single pharmacy robots arranged in front and rear in series and left and right in parallel.
  • the drug delivery device is connected to a plurality of conveyor belts of the single pharmacy robot in series.
  • the medicine conveying device includes a conveying device, a collection bin, and a lifting device.
  • the conveying device is connected to the conveyor belt of the single pharmacy robot, the collecting bin is connected to the conveying device, and the lifting device is connected to the the conveying device or the collection bin.
  • the pharmacy robot method includes a method of selling medicine, a method of replenishing medicine, a method of dishing medicine, a method of conjoined body, and a method of grid deployment.
  • the drug sales method flow 100 of the preferred embodiment of the present invention includes the following steps: 110: pharmacy robot is the doctor service; 120: pharmacy robot is the pharmacist service; 130: confirm, the human-computer interaction reminds the patient whether to buy the drug, if so, enter the Next step; 140: Pay the fee; 150: The Cartesian coordinate robot launches the medicine; 160: The induction door opens, and the patient takes the medicine; 170: The pharmacy robot is the pharmacy service.
  • the process 200 of the drug application method includes the following steps: 210: cloud server statistics; 220: the supply chain platform prepares goods according to the cloud server statistics; 230: the logistics platform transports the drugs to be replenished to the pharmacy robot device network ;240: Reveal the medicine storehouse, medicine cabinet, medicine box; 250: The replenishment personnel fill up all the medicine boxes that are out of stock; 260: The pharmacy robot device returns to its position, and the chassis brake is locked.
  • the connecting method of the preferred embodiment of the present invention includes series, parallel, and series-parallel.
  • the series connection is realized by arranging and combining a plurality of single pharmacy robots in front and back
  • the parallel connection is realized by arranging and combining left and right of a plurality of single pharmacy robots.
  • a plurality of the single pharmacy robots are arranged in front and back in series and left and right in parallel, so as to increase the variety and quantity of medicines stored in the drugstore.
  • the grid deployment method of the preferred embodiment of the present invention includes site selection, pharmacy kiosk configuration, whether the pharmacy robot device adopts the single pharmacy robot or the pharmacy complex, and drug category selection. , and share data with other pharmacies, hospital pharmacies, and suppliers to facilitate users to obtain drug information and obtain drugs and services through multiple channels.
  • the system of the preferred embodiment of the present invention includes a drug screening system, an AI verification system, an intelligent diagnosis and treatment system, a drug delivery system, a drug sales system, a pharmaceutical management system, a third-party support system, a database management system, a data encryption system, and a medical information sharing system.
  • orientation terms such as up, down, left, and right in this embodiment are only relative concepts to each other or refer to the normal use state of the product, and should not be regarded as limiting.
  • a pharmacy robot device includes a single pharmacy robot 10 , and a plurality of the single pharmacy robots are combined to form a pharmacy complex 20 .
  • a single pharmacy robot 10 includes a chassis 1 , a housing 2 , a drug store 3 , a push rod device 4 , a conveyor belt 5 , an induction door 6 , a touch screen display 7 , and a smart speaker 8 , visual sensor 9, central data storage processor, wireless communication equipment, the central data storage processor realizes the chassis 1, the shell 2, the medicine storehouse 3, the push rod equipment 4, the conveyor belt 5, the induction door 6, the touch screen display 7 through the wireless communication equipment , data link and intelligent control of smart speakers 8 and visual sensors 9.
  • a chassis 1 of an embodiment of the present invention includes a base 1-3, four universal wheels 1-1, a brake 1-2, a power supply and a power supply interface 1-4, and the power supply includes an external power supply and a battery to provide power .
  • the outer shell 2 includes a central shell 2-1, a left edge shell 2-2A and a right edge shell 2-2B, the central shell 2-1 has a built-in drug store 3, a left edge shell 2-2A and a right edge shell 2-2B A set of push rod equipment 4 is built in respectively.
  • the left edge shell 2-2A and the right edge shell 2-2B are respectively connected with the central shell 2-1 at the rear side through the left shaft 2-3A and the right shaft 2-3B,
  • the left edge shell 2-2A and the right edge shell 2-2B can be flipped along the left rotation axis 2-3A and the right rotation axis 2-3B respectively.
  • a left side lock 2-4A and a right side lock 2-4B are respectively arranged between the side and the front side of the central shell 2-1.
  • the induction door 6, the touch screen display 7, the smart speaker 8, and the visual sensor 9 are arranged on the front side of the central shell 2-1.
  • a medicine storehouse 3 includes a left medicine cabinet 3-1 and a right medicine cabinet 3-2, and the left medicine cabinet 3-1 and the right medicine cabinet 3-2 are fixed In the central shell 2-1, the gap 3-3 between the left medicine cabinet 3-1 and the right medicine cabinet 3-2 is not less than 15 cm, the bottom of the gap 3-3 is the conveyor belt 5, and the conveyor belt 5 is fixed in the center Inside the shell 2-1, the front end of the conveyor belt 5 is a temporary storage concave plate 6-1 for receiving medicines, the temporary storage concave plate 6-1 is fixed in the central shell 2-1, the left medicine cabinet 3-1 and the right medicine cabinet 3 -2 is further divided into a number of vertically and horizontally arranged medicine boxes 3-4, the width and height of the medicine boxes 3-4 can be adjusted, the medicine boxes 3-4 are arranged horizontally, each medicine box 3-4 stores one medicine category, each The medicine boxes 3-4 can be positioned by coordinates (X, Y), where X is the number of
  • Each box of medicines stored in each medicine box 3-4 can also be positioned by coordinates (X, Y). , Z), where X is the number of horizontal grids, Y is the number of vertical grids, and Z is the ordinal number in the medicine box 3-4.
  • the left medicine cabinet 3-1 is taken as an example to illustrate the structural features of the medicine box 3-4.
  • the medicine box 3-4 is open on both sides, and the outer shell is close to the left side.
  • the side wall of the first opening 3-4-1 on the side of 2-2A is provided with a first light strip 3-4-3 composed of no less than 5 diode lamps with chips and a first indicator light 3-4- 4.
  • the diode light strip 3-4-3 includes red light beads and green light beads.
  • the number of flashing green light beads is the number of existing drugs, and the number of flashing red light beads is the number of vacant drugs, or the number of vacant drugs. Replenish the number of medicine boxes.
  • the first indicator light 3-4-4 is the out-of-stock indicator light.
  • the replenishment personnel scan and identify the medicine through the visual sensor 9, and the corresponding medicine box 3-4 is the first indicator light 3- 4-4 is on, instructing the replenishment personnel to find the medicine box 3-4 to be replenished in time, according to the number of red light beads flashing, to know the number of replenishing the category in time, close to the second opening 3-4 of the gap 3-3 -2 is the medicine box 3-4, wherein the integer of the long diameter cm of the medicine box 3-4/the long diameter cm of the medicine packaging box is the maximum number of medicine boxes that can be accommodated in the medicine box 3-4, and the remainder is used For calculating the extra working distance of the push rod device 4.
  • the left edge shell 2-2A and the right edge shell 2-2B of an embodiment of the present invention have a set of push rod devices 4 built-in respectively, and the built-in push rod device 4 of the left edge shell 2-2A is taken as an example Explain its structural composition and working principle.
  • the main structure of the push rod device 4 is a Cartesian coordinate robot.
  • the Cartesian coordinate robot passes through the left vertical frame Y axis 4-1A, the right vertical frame Y axis 4-1B and the horizontal frame X axis 4- 2Fixed on the left edge shell 2-2A, the left vertical frame Y-axis 4-1A, the right vertical frame Y-axis 4-1B and the horizontal frame X-axis 4-2 also have the function of sliding rails, and the left intelligently controlled drive
  • the motor 4-3A and the right-side intelligently controlled drive motor 4-3B move in the vertical direction along the left vertical frame Y-axis 4-1A and the right vertical frame Y-axis 4-1B lead screw respectively, and the middle intelligently controls the drive motor 4-4 moves left and right along the lead screw of the horizontal frame X axis 4-2, and the Z axis direction is the end effector 4-5.
  • the end effector 4-5 of an embodiment of the present invention is connected with the intermediate intelligent control driving motor 4-4 through the fixing member 4-6, and the end effector 4-5 includes a servo motor 4-5-1 , reducer, controller, gear 4-5-2, rack 4-5-3, guide rail 4-5-4, among which, gear 4-5-2 and rack 4-5-3 use plastic teeth,
  • the height should not exceed 5 mm
  • the base band of rack 4-5-3 is made of silicone
  • the silicone is medical grade silicone
  • the hardness is 30 ⁇ 60 degrees
  • the length of rack 4-5-3 is not less than 40 cm
  • the thickness is not less than 8 mm.
  • the width is not less than 8 mm
  • the upper end 4-5-3-1A and the lower end 4-5-3-1B of the rack 4-5-3 are respectively provided with an upper pressure sensor 4-5-3-2A and a lower pressure sensor 4-5-3-2B
  • the guide rail 4-5-4 is a semi-circular grooved structure
  • a number of miniature rollers 4-5-4-1 are arranged in the groove
  • the ends of the guide rail 4-5-4 are respectively Set the upper block 4-5-4-2A and the lower block 4-5-4-2B
  • the guide rail 4-5-4 surrounds the gear 4-5-2 and the rack 4-5-3
  • the Cartesian coordinate robot is based on Algorithm, travel to the corresponding coordinate address, when the rack 4-5-3 moves with the gear 4-5-2, from the upper end 4-5-3-1A of the guide rail 4-5-4 or the lower end 4-5- 3-1B protrudes in the tangential direction, and is precisely inserted into the first opening 3-4-1 of the specific medicine box 3-4, and advances a certain distance, and pushes out the medicine
  • the Cartesian coordinate robot plans the travel route according to the shortest running distance algorithm.
  • the upper end 4-5-3-1A of the rack 4-5-3 is The end 4-5-3-1B can be extended and inserted into the medicine box 3-4 with the bidirectional rotation of the gear 4-5-2, wherein, according to the algorithm, the medicine cabinet 3-1 is equally divided into the upper medicine box 3 -4 and the lower medicine box 3-4, when the medicine to be pushed out is located in the upper medicine box 3-4, the gear 4-5-2 rotates so that the upper end 4-5-3-1A of the rack 4-5-3 extends When the medicine to be pushed out is located in the lower medicine box 3-4, the gear 4-5-2 rotates so that the lower end 4-5-3-1B of the rack 4-5-3 extends, and the guide rail 4-5-4
  • the upper stopper 4-5-4-2A and the lower stopper 4-5-4-2B prevent the rack 4-5-3 from disengaging from the gear 4-5-2, wherein, when multiple medicines need to be pushed out, according
  • a conveyor belt 5 is arranged in the gap 3-3 at a certain distance according to the height of the medicine storehouse 3 to ensure that the drop height of the medicine does not exceed 50 cm.
  • the structure of the conveyor belt 5 includes a driving wheel, a driven wheel, a track, a roller, a roller, a bracket, a second drive motor, a first photoelectric sensor, and a controller, wherein the driving wheel, the driven wheel, the track, the roller, the roller, and the bracket are all adopted. It is made of soft foamed plastic to reduce the damage of medicines caused by falling and colliding medicines.
  • the first photoelectric sensor is used to monitor the quantity of medicines arriving on the conveyor belt. In order to further reduce the damage caused by falling and collision of medicines, liquid medicines, medicines in glass bottles, medicines weighing more than 100 g are selected and distributed to medicine boxes 3-4 that are close to the top of the conveyor belt 5 for storage.
  • the conveyor belt 5 is connected to an intelligently controlled elevator, so that when the Cartesian coordinate robot end effector 4-5 pushes out the medicine, the intelligently controlled elevator moves synchronously, so that the medicine leaves the medicine box 3-4 and falls into the conveyor belt 5, to reduce the impact force of the medicine.
  • the cartesian coordinate robot and the intelligently controlled conveyor belt 5. plans the travel route according to the algorithm with the shortest running distance.
  • the intelligently controlled elevator chooses to use a screw system or a pulley block system. .
  • the induction door 6 of an embodiment of the present invention includes a temporary storage concave plate 6-1, an automatic door 6-4, a second photoelectric sensor 6-5, and a second light strip 6-5 composed of a diode lamp. 2.
  • the second indicator light 6-3 and the automatic door 6-4 use the left door 6-4A and the right door 6-4B to open in opposite directions.
  • the number of induction doors 6 is the same as the number of conveyor belts 5.
  • the conveyor belt 5 transports medicines to the temporary storage concave tray 6-1
  • the second photoelectric sensor 6-5 collects the information on the number of medicines in the temporary storage concave tray 6-1
  • the number of lights on the second light belt 6-2 is used to dynamically display the arrival at the temporary storage tray If the number of medicines in the concave plate 6-1 is the same as the number of medicines expected to arrive, the second indicator light 6-3 will be on, indicating that the medicine is taken, the automatic door 6-4 is opened, the medicine is taken, the automatic door 6-4 is closed, and the first The second indicator light 6-3 is off. If the medicine is not completed and the automatic door 6-4 is closed, the second indicator light 6-3 will continue to light up, reminding the completion of taking medicine, and the second light with the number of lights 6-2 is on to remind the Several boxes of medicines were not picked up.
  • the visual sensor 9 when the medicine is applied for the first time, the visual sensor 9 is used to scan and identify the supervision code, bar code, or outer packaging of the medicine, and retrieve it by means of a central data storage processor, a cloud server, or a network.
  • the visual sensor 9 scans and recognizes the supervision code, barcode, or outer packaging of the medicine, and the medicine data is synchronously mapped to the database and cloud server of the central data storage processor, and the medicine box 3-4 first indicator light corresponding to the medicine 3-4-4 is on, the first light strip 3-4-3 composed of diode lights displays the number of medicines that are out of stock, and guides the replenishment personnel to implement replenishment operations; when the patient sees a doctor, the visual sensor 9 is used to scan and identify the patient. Identity, identification ID card, medical insurance card, credit card, scan the patient
  • a body temperature detection sensor, a pulse detection sensor, a breathing motion sensor, a blood pressure detection sensor, and a blood oxygen saturation detection sensor are provided on the front side of the central casing 2-1.
  • the control unit is used for intelligent control of the internal controller of the device, including diode lights The first light strip 3-4-3, the second light strip 6-2 of the diode light, the first indicator light 3-4-4, the second indicator light 6-3, the Cartesian coordinate robot and its end effector 4-5 and Its servo motor 4-5-1, the first photoelectric sensor, the second photoelectric sensor 6-5, the elevator drive motor, the automatic door 6-4, the arithmetic unit includes CPU, GPU, NPU, used for the execution of the algorithm, the algorithm includes medicine Box 3-4 coordinate positioning (X, Y), drug coordinate positioning (X, Y, X), drug category identification and statistics, Cartesian coordinate robot end effector 4-5 travel planning, sensor acquisition data processing, human-computer interaction data Processing, further processing of cloud server computing data, the storage unit includes internal memory and external memory, which are used to store system software, application programs, algorithms, temporary data and short-term storage of permanent data.
  • the medicine kiosk 30 of an embodiment of the present invention adopts part of the existing building for isolation or uses an independent building to make a closed or semi-enclosed space structure.
  • the kiosk 30 at least includes a door 30-1, a lock, a plurality of walls, a ceiling, a floor, a pharmacy robot placement area 30-11, a stool 30-3, a ramp, a light 30-4, an audio and video camera 30-5 , the second touch screen display 30-6, the sound player 30-7, the emergency button 30-8, the disinfection equipment, the air conditioner, the area of which at least accommodates a single pharmacy robot 10 or a placement area 30-11 of the pharmacy complex 20 and at least one wheelchair and one stool 30-3, wherein the disinfection equipment includes ultraviolet lamps and disinfectant spray devices.
  • the medicine kiosk 30 can also be provided with a hand washing station 30-2, a medical equipment table 30-9, a toilet 30-10, and the medical equipment table 30-9 is provided with an intelligent stethoscope, an intelligent percussion hammer, Fully automatic electrocardiograph, self-service respiratory function tester, self-service EEG tester, self-service finger blood collection equipment, self-service blood sugar tester, automatic blood routine analyzer, toilet 30-10 settings and configuration of automatic urine and stool analyzer
  • the smart toilet 30-10-1 is convenient for patients to perform self-service auscultation, percussion, electrocardiogram, respiratory function, EEG examination, and self-service finger blood collection for rapid blood sugar detection, blood and urine analysis.
  • the pharmacy kiosk 30 is usually located in a remote town or rural area or a nearby community lacking a hospital, and the pharmacy kiosk 30 is isolated to serve nearby residents throughout the day; a self-service area can also be set up inside or outside the pharmacy to isolate
  • the pharmacy kiosk 30 provides services throughout the day; the pharmacy kiosk 30 can also be isolated in the outpatient self-service area of the hospital and provides services throughout the day; of course, public gathering places, such as commercial areas, stations, airports, and service halls in passenger ferry terminals
  • the pharmacy kiosk is isolated for 30, providing medical and pharmaceutical services throughout the day.
  • an air conditioner is installed in the chassis 1 to adjust the temperature and humidity in the medicine storehouse
  • an ozone generator is installed in the chassis 1, and the generated ozone is connected to the medicine storehouse 3 through a pipeline, and the air inside the medicine storehouse 3 is sterilized
  • the chassis 1 is provided with a disinfectant storage tank, spray equipment and pipelines, and the pipelines are respectively opened to a temporary storage concave plate 6-1, a touch screen display 7, and a casing 2.
  • a method for connecting a pharmacy robot device includes a single pharmacy robot 10 in series, a single pharmacy robot 10 in parallel, or a single pharmacy robot 10 in series and parallel. It is necessary to combine the actual needs and comprehensive planning of the structure of the medicine kiosk.
  • an embodiment of the present invention takes three single pharmacy robots 10 connected in series as an example to illustrate that the conjoined combination becomes a pharmacy complex 20.
  • two, four or more single pharmacy robots can be used 10 in series
  • the front single pharmacy robot 10-1, the middle single pharmacy robot 10-2, and the rear single pharmacy robot 10-3 are connected in series in a front-to-rear arrangement
  • the chassis 1 and the drug store 3 of the three pharmacy robot devices Left edge shell 2-2A and right edge shell 2-2B
  • push rod device 4 conveyor belt 5 remain independent settings
  • its induction door 6, touch screen display 7, smart speaker 8, visual sensor 9, central data storage processor Commonly used, the conveyor belt 5, the electric circuit, and the communication line are connected with each other.
  • the rear side of the central shell 2-1 of the front single pharmacy robot 10-1, the front side of the central shell 2-1 of the middle single pharmacy robot 10-2 and The rear side and the rear side of the single pharmacy robot 10-3 are provided with openings on the front side of the central shell 2-1 corresponding to the induction door 6, so that the conveyor belts 5 of the three single pharmacy robots are seamlessly connected, and any medicine box 3- 4.
  • the launched medicines are transported to the shared temporary storage concave tray 6-1. In this way, the type and quantity of medicines stored in the conjoined medicine storehouse 3 will be greatly increased.
  • an embodiment of the present invention takes three single pharmacy robots 10 in parallel as an example to illustrate that the conjoined combination becomes a pharmacy complex 20.
  • different numbers of single pharmacy robots 10 can be used in parallel.
  • the body pharmacy robot 10-4, the center single pharmacy robot 10-5, and the right single pharmacy robot 10-6 are connected in parallel in a left-right arrangement. -1.
  • the left edge shell 2-2A and the right edge shell 2-2B, the induction door 6, the push rod device 4, and the conveyor belt 5 remain independent settings, and its touch screen display 7, smart speaker 8, visual sensor 9, central data storage
  • the processors are shared, and their circuits and communication lines are connected to each other, and are used to increase the types and quantities of medicines stored in the medicine storehouse 3 .
  • a plurality of single pharmacy robots 10 are arranged in series and parallel to form a pharmacy complex 20 in front and rear and left and right arrangements.
  • the touch screen display 7, the smart speaker 8, the visual sensor 9, and the central data storage processor are shared, and its circuits and communication lines are shared. Connected to each other to increase the variety and quantity of medicines and medical equipment.
  • an embodiment of the present invention takes five single pharmacy robots 10 in parallel or series-parallel and three medicine taking windows as an example to describe the device and method for medicine delivery in the pharmacy complex 20 .
  • a device for delivering medicines in a pharmacy complex 20 includes a first single pharmacy robot 10A, a second single pharmacy robot 10B, a third single pharmacy robot 10C, and a fourth single pharmacy robot 10D, the fifth single pharmacy robot 10E, the crawler carrying device 40, the first collecting bin 50-1, the second collecting bin 50-2, the third collecting bin 50-3, the first single pharmacy robot 10A, the second
  • the medicines of the individual pharmacy robot 10B, the third single pharmacy robot 10C, the fourth single pharmacy robot 10D, and the fifth single pharmacy robot 10E pass through the first conveyor belt 5A, the second conveyor belt 5B, the third conveyor belt 5C, and the fourth conveyor belt 5D.
  • the fifth conveyor belt 5E is transferred to the crawler belt carrying device 40.
  • the intelligent crawler belt carrying device 40 reciprocates and transports the medicine to the first collecting bin 50-1, or the second collecting bin 50-2, or the third collecting bin 50-1.
  • the configured visual sensor identifies the medicine, and the intelligent push device pushes the medicine into the first collection bin 50-1, the second collection bin 50-2, or the third collection bin 50-3.
  • a device for delivering medicines in a pharmacy complex includes a first single pharmacy robot 10A, a second single pharmacy robot 10B, a third single pharmacy robot 10C, a fourth single pharmacy robot 10C in parallel Single pharmacy robot 10D, fifth single pharmacy robot 10E, sixth single pharmacy robot 10F in series and parallel, seventh single pharmacy robot 10G, eighth single pharmacy robot 10H, ninth single pharmacy robot 10I,
  • the conveyor belts 5 of the robot 10B, the third single pharmacy robot 10C, the fourth single pharmacy robot 10D, and the fifth single pharmacy robot 10E are respectively connected with the sixth single pharmacy robot 10F, the seventh single pharmacy robot 10G, and the eighth single pharmacy robot 10F.
  • the conveyor belts 5 of the individual pharmacy robot 10H, the ninth individual pharmacy robot 10I, and the tenth individual pharmacy robot 10J are connected to realize the sixth individual pharmacy robot 10F, the seventh individual pharmacy robot 10G, the eighth individual pharmacy robot 10H,
  • the medicines of the ninth single pharmacy robot 10I and the tenth single pharmacy robot 10J pass through the first single pharmacy robot 10A, the second single pharmacy robot 10B, the third single pharmacy robot 10C, and the fourth single pharmacy robot 10D respectively.
  • the conveyor belt 5 of the fifth single pharmacy robot 10E is transported to the crawler carrying device 40, and according to the instruction, the medicine is pushed into the first collection bin 50-1, or the second collection bin 50-2, or The third collection bin 50-3.
  • a device for delivering medicines in a pharmacy complex 20 includes a first single pharmacy robot 10A, a second single pharmacy robot 10B, a third single pharmacy robot 10C, and a fourth single pharmacy robot 10D, the fifth single pharmacy robot 10E, the single track 60, the unmanned vehicle 70, the first collection warehouse 50-1, the second collection warehouse 50-2, and the third collection warehouse 50-3, according to the instructions, intelligent The man-cart 70 reciprocates on the single track 60.
  • the first single drugstore robot 10A, the second single drugstore robot 10B, the third single drugstore robot 10C, the fourth single drugstore robot 10D, and the fifth single drugstore robot 10E The unmanned vehicle 70 delivers the medicine to the unmanned vehicle 70, and the unmanned vehicle 70 transports the medicine to the corresponding area of the first collection warehouse 50-1, the second collection warehouse 50-2, or the third collection warehouse 50-3, and the configured visual sensor recognizes For medicines, the intelligent pushing device pushes the medicines into the first collection bin 50-1, or the second collection bin 50-2, or the third collection bin 50-3.
  • a device for delivering medicines in a pharmacy complex 50 includes a first unit pharmacy robot 10A, a second unit pharmacy robot 10B, a third unit pharmacy robot 10C, and a fourth unit pharmacy robot 10C.
  • the second collection warehouse 50-2 and the third collection warehouse 50-3 according to the instructions, the intelligent first unmanned vehicle 70-1 and the second unmanned vehicle 70-2 are respectively on the first track 60-1, The second track 60-2 reciprocates, and the first single pharmacy robot 10A, the second single pharmacy robot 10B, the third single pharmacy robot 10C, the fourth single pharmacy robot 10D, and the fifth single pharmacy robot 10E provide medicines Delivered to the first unmanned vehicle 70-1 and the second unmanned vehicle 70-2, the first unmanned vehicle 70-1 and the second unmanned vehicle 70-2 transport the medicine to the first collection warehouse 50-1, or In the corresponding area of the second collecting bin 50-2 or the third collecting bin 50-3, the visual sensor is configured to identify the medicine, and the intelligent pushing device pushes the medicine into the first collecting bin 50-1 or the second collecting bin 50- 2. Or the third collection bin 50-3.
  • a device for delivering medicines in a pharmacy complex 20 includes a first single pharmacy robot 10A, a second single pharmacy robot 10B, a third single pharmacy robot 10C, and a fourth single pharmacy robot 10C.
  • the fifth unmanned vehicle 70-5, the first collection warehouse 50-1, the second collection warehouse 50-2, the third collection warehouse 50-3, and the first intelligent unmanned vehicle 70-1 according to the instruction , the second unmanned vehicle 70-2, the third unmanned vehicle 70-3, the fourth unmanned vehicle 70-4, and the fifth unmanned vehicle 70-5 are on standby or running on the road platform 80 to deliver medicines to the first In the corresponding area of the collecting bin 50-1, the second collecting bin 50-2, or the third collecting bin 50-3, the configured visual sensor identifies the medicine, and the intelligent pushing device pushes the medicine into the first collecting bin 50-1, Or the second collection bin 50-2, or the third collection bin 50-3.
  • a device for delivering medicines in a pharmacy complex 20 includes a first unit pharmacy robot 10A, a second unit pharmacy robot 10B, a third unit pharmacy robot 10C, and a fourth unit pharmacy robot Robot 10D, fifth single pharmacy robot 10E, first proximal slide 91-1, second proximal slide 91-2, third proximal slide 91-3, fourth proximal slide 91-4 , the fifth proximal slide 91-5, the central slide 92, the first distal slide 93-1, the second distal slide 93-2, the third distal slide 93-3, the first collection bin 50-1, a second collection bin 50-2, and a third collection bin 50-3.
  • the robot arm places the switch 94 into the central slideway 92, the first switch 94-1, the second switch 94-2 Block the first distal slide 93-1 and the third distal slide 93-3 respectively, so that the first proximal slide 91-1, the second proximal slide 91-2, and the third proximal slide 91-3, the fourth proximal slide 91-4, the fifth proximal slide 91-5 pass through the central slide 92, the second distal slide 93-2 and the second collection bin 50-2, so that the first Medicines of a single pharmacy robot 10A, a second single pharmacy robot 10B, a third single pharmacy robot 10C, a fourth single pharmacy robot 10D, and a fifth single pharmacy robot 10E enter the second collection bin 50-2.
  • the robot arm places the switch 94 into the central slideway 92, and the first switch 94-1 blocks the second distal slideway track 93-2 and third distal slide 93-3 such that a first proximal slide 91-1, a second proximal slide 91-2, a third proximal slide 91-3, a fourth proximal slide
  • the slideway 91-4 and the fifth proximal slideway 91-5 pass through the central slideway 92 and the first distal slideway 93-1 and the first collection bin 50-1.
  • the first single pharmacy robot 10A, the second Medicines of the single pharmacy robot 10B, the third single pharmacy robot 10C, the fourth single pharmacy robot 10D, and the fifth single pharmacy robot 10E enter the first collection bin 50-1.
  • the robot arm places the switch 94 into the central slide 92, and the first switch 94-1 blocks the first distal slide track 93-1 and second distal slide 93-2 such that a first proximal slide 91-1, a second proximal slide 91-2, a third proximal slide 91-3, a fourth proximal slide
  • the slideway 91-4 and the fifth proximal slideway 91-5 pass through the central slideway 92 and the third distal slideway 93-3 and the third collection bin 50-3.
  • the first single pharmacy robot 10A, the second The medicines of the single pharmacy robot 10B, the third single pharmacy robot 10C, the fourth single pharmacy robot 10D, and the fifth single pharmacy robot 10E enter the third collection bin 50-3.
  • a device for delivering medicines in a pharmacy complex 20 includes a crawler bearing device 40, a first intelligent motor 95-1, a first pulley 96-1, a first rope 97-1, a second The smart motor 95-2, the second pulley 96-2, the second rope 97-2, one end of the first rope 97-1 and the second rope 97-2 are respectively wound around the first smart motor 95-1 and the second smart motor 95 -2 of the rotating shaft, the other ends of the first rope 97-1 and the second rope 97-2 are respectively fixed to both ends of the crawler belt carrying device 40.
  • the first intelligent motor 95-1 and the second intelligent motor 95-2 run synchronously, and the crawler bearing device 40 is accurately raised or lowered by winding or releasing the first rope 97-1 and the second rope 97-2.
  • the first smart motor 95-1, the first pulley 96-1, the first rope 97-1, the second smart motor 95-2, and the second pulley 96 in the pharmacy complex 20 deliver medicines.
  • the pulley lifting device composed of the second rope 97-2 can also be combined with the single track 60, the first track 60-1, the second track 60-2, the road platform 80, the first collection bin 50-1, the second track
  • the collecting bin 50-2 and the third collecting bin 50-3 are connected so that the single track 60, the first track 60-1, the second track 60-2, the road platform 80, the first collecting bin 50-1, the second collecting bin 50-2, the third collecting bin 50-3 is raised or lowered.
  • a device for delivering medicines in a pharmacy complex 20 includes a crawler bearing device 40, a first vertical rod 98-1, a first intelligent motor nut complex 99-1, a fixing frame 100, a first The second pole 98-2, the second intelligent motor nut complex 99-2, the first intelligent motor nut complex 99-1, and the second intelligent motor nut complex 99-2 are respectively connected to the fixing frame 100, and the first pole 98 -1.
  • One end of the second vertical rod 98-2 is respectively fixed to both ends of the crawler bearing device 40, and the other ends of the first vertical rod 98-1 and the second vertical rod 98-2 are free.
  • the first intelligent motor nut complex 99-1 and the second intelligent motor nut complex 99-2 run synchronously, and the crawler bearing device 40 is driven to rise by the first vertical rod 98-1 and the second vertical rod 98-2 or lower.
  • the pharmacy complex 20 is the first vertical rod 98-1, the first intelligent motor nut complex 99-1, the fixing frame 100, and the second vertical rod 98 for delivering medicines. -2.
  • the screw axial movement screw lifting device composed of the second intelligent motor nut complex 99-2 can also be combined with the single track 60, the first track 60-1, the second track 60-2, the road platform 80, The first collecting bin 50-1, the second collecting bin 50-2, and the third collecting bin 50-3 are connected so that the single track 60, the first track 60-1, the second track 60-2, the road platform 80, the first track The collecting bin 50-1, the second collecting bin 50-2, and the third collecting bin 50-3 are raised or lowered.
  • a device for delivering medicines in a pharmacy complex 20 includes a crawler bearing device 40, a first vertical rod 98-1, a first intelligent motor nut complex 99-1, a fixing frame 100, a first The two vertical rods 98-2, the second intelligent motor nut complex 99-2, the first intelligent motor nut complex 99-1, and the second intelligent motor nut complex 99-2 are respectively fixed to both ends of the crawler bearing device 40, One ends of the first vertical rod 98-1 and the second vertical rod 98-2 are respectively fixed to the fixing frame 100, and the other ends of the first vertical rod 98-1 and the second vertical rod 98-2 are free.
  • the first intelligent motor nut complex 99-1 and the second intelligent motor nut complex 99-2 run synchronously, and are driven by the first intelligent motor nut complex 99-1 and the second intelligent motor nut complex 99-2.
  • the track carrier 40 is raised or lowered.
  • the pharmacy complex 20 is the first vertical rod 98 - 1 , the first intelligent motor nut complex 99 - 1 , the fixing frame 100 , and the second vertical rod 98 for delivering medicines. -2.
  • the nut axial movement screw lifting device composed of the second intelligent motor nut complex 99-2 can also be combined with the single track 60, the first track 60-1, the second track 60-2, the road platform 80, the first track A collecting bin 50-1, a second collecting bin 50-2, and a third collecting bin 50-3 are connected, so that the single track 60, the first track 60-1, the second track 60-2, the road platform 80, the first track The bin 50-1, the second collecting bin 50-2, the third collecting bin 50-3 are raised or lowered.
  • a device for delivering medicines in a pharmacy complex 20 includes a crawler bearing device 40 , a hydraulic scissor lift platform device 101 , a fixing frame 100 , a first fixing seat 102 - 1 , and a second fixing seat 102-2, the lower end of the hydraulic scissor lift platform device 101 is connected to the fixed frame 100, and the upper end is connected to the crawler bearing device 40 through the first fixed seat 102-1 and the second fixed seat 102-2 respectively, an intelligent hydraulic scissor lift platform device 101 drives the crawler carrying device 40 to raise or lower accurately.
  • the pharmacy complex 20 is composed of a hydraulic scissor lift platform device 101 , a fixing frame 100 , a first fixing seat 102 - 1 and a second fixing seat 102 - 2 for delivering medicines.
  • the hydraulic scissor lift platform system can also be combined with the single track 60, the first track 60-1, the second track 60-2, the road platform 80, the first collection bin 50-1, the second collection bin 50-2, the third The collecting bins 50-3 are connected so that the single track 60, the first track 60-1, the second track 60-2, the road platform 80, the first collecting bin 50-1, the second collecting bin 50-2, the third collecting bin 50-3 raised or lowered.
  • hydraulic scissor lift platform for delivering medicines in the pharmacy complex 20 can also be replaced by a single-mast hydraulic lift platform or a double-mast hydraulic lift platform for the crawler bearing device 40 , single track 60, first track 60-1, second track 60-2, road platform 80, first collecting bin 50-1, second collecting bin 50-2, third collecting bin 50-3 raised or lowered .
  • a device for delivering medicines in a pharmacy complex includes a collection bin 50, a first vertical rod 98-1, a first intelligent motor nut complex 99-1, a fixing frame 100, a second vertical The rod 98-2, the second intelligent motor nut complex 99-2, the first intelligent motor nut complex 99-1, and the second intelligent motor nut complex 99-2 are fixed to the collecting bin 50, and the first vertical rod 98-1 , One end of the second vertical rod 98-2 is respectively fixed to the fixing frame 100, and the other ends of the first vertical rod 98-1 and the second vertical rod 98-2 are free. According to the instruction, the first intelligent motor nut complex 99-1 and the second intelligent motor nut complex 99-2 run synchronously, driving the collecting bin 50 to rise or fall.
  • the method flow of a pharmacy robot includes drug sales, supplementation, drug preparation, connection, and grid deployment.
  • the steps 200 of the drug sales method of an embodiment of the present invention are as follows: 210: Pharmacy is a doctor service, which includes: 212: The patient uses a visual sensor to scan on the spot, biometrics, passes identity authentication, and uses a smart speaker voice interaction or touch screen display. The main appeals and symptoms are submitted through video interaction, and the visual sensor collects the patient's face and tongue information.
  • the intelligent diagnosis and treatment system judges whether there is an acute or chronic disease face, nutritional abnormality, emotional abnormality, or mental abnormality, and supplements the medical history, if any
  • the recent paper or electronic version of the medical examination report prompting the examination report to be scanned and recognized by the visual sensor or uploaded through the patient's mobile smart terminal App, combined with the real-time detection of basic physical signs such as body temperature, pulse, respiration, blood pressure, blood oxygen saturation and other data and The results of rapid blood glucose and blood tests, with the authorization of the patient, call the patient's previous health data, medication history, and allergy history, and the intelligent diagnosis and treatment system infers the preliminary clinical diagnosis, issues treatment recommendations, and issues electronic prescriptions. For diseases that are interfered with, the patient is reminded to go to the hospital for treatment.
  • the patient authorizes the smart contract signed by the patient to reflect his or her wishes.
  • the patient's past health data, medication history, and allergy history data are stored in the public cloud or private industry using blockchain encryption technology.
  • step 212 The patient directly purchases prescription drugs, and needs to provide the paper or electronic prescription issued by the doctor. If not, enter the on-site process of step 212; 220: The pharmacy is the pharmacist service, which includes: 222: The patient is in step 212 and step 212.
  • the electronic prescription obtained by 214, or the electronic prescription imported through the mobile smart terminal App is uploaded and stored to the cloud server, and the face, social security card, or ID card is recognized, and the name, gender, age, height, weight, and contact information of the prescribed patient are checked. , allergy history, disease conditions, medical diagnosis, check the medicine and dosage, check the doctor’s signature, and ensure that the prescription is complete, accurate and true.
  • the visual sensor scanning area is used for data collection and identification of key prescription information. Face recognition is combined with social security card or ID card identification to check prescription, check diagnosis, check medicine, check dosage, and check doctor's signature to ensure the completeness, accuracy, and safety of the prescription.
  • Authenticity encrypted by blockchain technology and stored in the cloud server, the party here will be marked as used in the database; 226: When a patient buys over-the-counter drugs, they only need face recognition combined with social security card scanning to verify the patient, and through human-computer interaction 228: There is no drug in the pharmacy, and the processing method is as follows: 228-1: The patient can choose the drug arrival notification service through human-computer interaction, or 228-2: Accept the prompt information, go to the store Purchase medicines from nearby outlets or pharmacies that are stocked, or 228-3: choose third-party logistics door-to-door medicine delivery service; 230: The patient confirms whether to purchase medicine through human-computer interaction, if so, go to 240, if not, the service is terminated; 240: Pay the fee; 250: The Cartesian coordinate robot addresses the position of the medicine box where the medicine is located, the end effector rack of the push rod device extends into the corresponding medicine box, pushes out the medicine, the medicine falls into the conveyor belt, and the conveyor belt sends the medicine
  • the upper pressure sensor or the lower pressure sensor on the end senses the medicine packing box, push out one medicine packing box every time the length (cm) of one medicine packing box is advanced until the required number of medicine packing boxes is reached; 260: the left door and the right side of the sensing door The door is opened, the patient takes medicine, the second photoelectric sensor monitors the temporary storage concave plate, and judges whether all the medicines are taken out. The number of medicines that have not been taken from the disk is the same, and is prompted by the voice interaction of the smart speaker or the touch screen display. If so, go to step 300 .
  • the process 300 of a pharmacy or a pharmaceutical service method includes the following steps: 310: the drug supply chain service includes data sharing with drug manufacturers, so that they can perceive changes in market demand, adjust drug production capacity in time, and clarify research and development directions; The supply chain dynamically senses the drug inventory, and provides drug replenishment, drug replacement nearing expiry date, and defective drug recall services through logistics; 320: Pharmacy services include the following: 322: Receive imported electronic prescriptions, and send service information and electronic Prescription; 324: Electronic prescriptions and paper prescriptions are marked on the cloud server industry-wide shared database, indicating that the prescription has been dispensed and taken, so that the prescription will not be used for repeated drug purchases; 326: Follow-up, including medication precautions, Indications, contraindications, how to take medicines, etc.
  • Pharmacy management includes: Real-time statistics of the drug storehouse drug information, monitoring whether the drug inventory of the pharmacy robot in each network is insufficient, if so, it will send a replenishment inventory request to the supply chain, and the supply chain platform will replenish the inventory to the corresponding network pharmacy robot according to the replenishment inventory request, according to seasonal changes in disease spectrum changes , predict the dynamic needs of drugs, so that the supply chain platform needs to increase the demand for pre-stocking drugs and remove them in time or reduce the demand for shrinking drug categories.
  • the process 400 of the drug application method includes the following steps: 410: the cloud server statistical data includes the drug category, specification, dosage form, packaging size, drug supervision code to be replenished, and the category and quantity of the near-expired drug; 420: supply The chain platform prepares goods according to the cloud server statistics; 430: The logistics platform transports the drugs to be replenished to the pharmacy robot device network; 440: The chassis brake is unlocked, the pharmacy robot device is moved to the open space, and the connection between the edge shell and the central shell is unlocked, revealing the left The side medicine cabinet and the right medicine cabinet and medicine box are replenished by manual replenishment method or robot replenishment method; 442: The manual replenishment method includes replenishment personnel scanning the medicine through the mobile smart terminal App or visual sensor 8, and the medicine corresponds to The first indicator light of the medicine box is on, showing the lack of medicine, and guiding the replenishment personnel to find the medicine box that is lacking medicine in time and accurately, and according to the number of red lights, accurately make up the lack
  • the method for stocking medicines in one embodiment of the present invention includes inventory data collection and inventory data statistical analysis.
  • the inventory data includes drug application data, drug sales data, and drug data near expiration dates.
  • Statistical analysis of the inventory data can sense the dynamic changes of drug categories and quantities, and submit them in time. Replenishment requests to predict future demand trends for medicines.
  • the grid deployment of an embodiment of the present invention includes site selection, pharmacy kiosk configuration, single or conjoined pharmacy robot device, and drug category selection.
  • Supplier data sharing enables patients to obtain more drug information and obtain drugs and services through multiple channels.
  • the method for delivering medicines in a pharmacy complex includes a lifting and lowering method of a conveying device and a lifting and lowering method of a collecting bin, which are used to lift medicines to a suitable height and solve the problem of users bending over to take medicines.
  • the lifting method of a conveying device includes a lifting and lowering method of a screw device, a lifting and lowering method of a rope device, and a lifting and lowering method of a hydraulic device. To the height of the collection warehouse, it assists the delivery of medicines to the collection warehouse for users to take medicines.
  • a method for lifting and lowering a screw device includes a method for axially moving a screw in combination with a transport device and a screw lifting device, and a method for axially moving a nut in which the transport device is combined with the screw lifting device.
  • the axial movement method of the lead screw in which the transport device is combined with the lead screw lifting device includes: one end of the lead screw is fixed to the transport device, the other end is free, and the nut, the intelligent motor, and the controller are fixed to the support part of the pharmacy robot body through the connecting piece. The intelligent motor starts, and the nut drives the lead screw to reciprocate, thereby realizing the lifting and lowering of the conveying device.
  • the method of axial movement of the nut in combination with the lead screw lifting device includes: one end of the lead screw is fixed on the support part of the pharmacy robot body, the other end is free, the nut, the intelligent motor and the controller are fixed on the transport device through the connecting piece, when the intelligent When the motor starts, the nut drives the conveying device to reciprocate, so as to realize the lifting and lowering of the conveying device.
  • a method for raising and lowering a rope device includes a method for raising and lowering a conveying device combined with a pulley cable device, and a method for raising and lowering a conveying device in combination with an axle cable device.
  • the lifting method of the transport device combined with the pulley rope device includes: the driven wheel is connected to the transport device, the driving wheel is connected to the intelligent motor, one end of the rope is fixed to the support part of the pharmacy robot body, the driving wheel is connected to the driving wheel through the driven wheel, the intelligent motor is rotated forward, and the driving wheel The rope is wound to drive the driven wheel to rise, so that the conveying device rises, the intelligent motor rotates in the opposite direction, the driving wheel releases the rope, and drives the driven wheel to descend, so that the conveying device is lowered.
  • the lifting method of the transport device combined with the wheel shaft rope device includes: two sets of wheel shaft rope devices are respectively fixed on the support parts of the pharmacy robot body, corresponding to both ends of the transport device, one end of the rope is connected to the driving wheel, and the other end is connected to the transport device.
  • the intelligent motor of the axle rope device runs synchronously, and the driving wheel winds or releases the rope to drive the conveying device to rise or fall.
  • the lifting method of a hydraulic device includes a lifting method of a transport device combined with a hydraulic scissor lift platform, a lifting method of a transport device combined with a single mast hydraulic lifting platform, and a transport device combined with a double mast hydraulic lifting platform lifting method.
  • the base of the hydraulic lifting platform is arranged at the bottom of the pharmacy robot body, the upper part receives the conveying device, the intelligent vane pump is activated, and the lifting of the hydraulic lifting platform drives the lifting and lowering of the conveying device.
  • An embodiment of the method for raising and lowering the collecting bin of the present invention is used to lower the height of the collecting bin to the pharmacy robot conveyor belt or the height of the conveying device, and after collecting the medicines, raise the collecting bin to a height that is convenient for users to take medicine, including: lifting the lead screw device Method, rope device lifting method, hydraulic device lifting method.
  • a method for delivering medicines in a pharmacy complex includes a crawler method, a chute method, and an unmanned vehicle method, which is used to solve the problem of medicine intercommunication and collection.
  • the crawler method for drug intercommunication and collection in a pharmacy complex includes a single-user service method and a multi-user parallel service method.
  • the single-user service of the crawler method includes: (1) The medicines in the medicine box of the pharmacy complex reach the crawler device through the conveyor belt, the crawler device starts, and runs reciprocatingly according to the algorithm, and the medicine reaches the collection bin of the corresponding user, and passes through the push device.
  • the multi-user parallel service process 500 of the crawler method includes the following steps: 510: Algorithm calculates the time required for parallel users to take medicines, including the position of the robot in the single pharmacy where the medicines are located, the optimal route selection, and the quantity of medicines; 520: Sort the users according to the required time, and prioritize the users with the least time required to serve the users, thereby reducing the overall waiting time of the users; 530: Complete the drug delivery of the users in sequence.
  • the chute method of an embodiment of the present invention includes a single-user service method and a multi-user parallel service method.
  • the single-user service process 600 of the chute method includes the following steps: 610: According to the algorithm, the robot arm accurately places the switch into the central chute, so that the proximal chute and the distal chute are connected, and the distal chute 620: The medicines in the medicine box of the pharmacy complex reach the proximal slideway, the central slideway, and the far-end slideway through the conveyor belt, and then enter the collecting bin; 630: The collecting bin is raised to the point where the medicine is taken. Service window for users to take medicine.
  • the multi-user parallel service process 700 of the chute method according to an embodiment of the present invention includes: 710: Calculate the time required for users to take medicines according to an algorithm; 720: Rank the users according to the required time; The user's overall waiting time; 740: Complete the user's drug delivery in sequence.
  • An unmanned vehicle method includes a single-track unmanned vehicle method, a dual-track unmanned vehicle method, and a trackless unmanned vehicle method.
  • the single-track unmanned vehicle method of an embodiment of the present invention provides a single-user service including: (1) The medicines in the medicine box of the pharmacy complex arrive at the unmanned vehicle through the conveyor belt, the unmanned vehicle starts, and runs reciprocatingly according to the algorithm, and all medicines are gathered to the unmanned vehicle.
  • the human-car and unmanned vehicles then run to the corresponding user's collection warehouse, and push all the medicines to the corresponding user's collection warehouse through the push device, and the collection warehouse is raised to the height of the user's medicine-taking window; (2)
  • the medicines in the medicine box of the pharmacy complex pass through the conveyor belt After reaching the unmanned vehicle, after the unmanned vehicle carries all the medicines, the unmanned vehicle and the track rise to the height of the corresponding user's collection warehouse, and all the medicines are pushed to the corresponding user's collection warehouse through the push device.
  • the multi-user parallel service process 800 of the single-track unmanned vehicle method includes: 810: Calculate the time required for parallel users to take medicines according to an algorithm; 820: Rank the users according to the required time; 830: Priority service requires the least time User, reduce the overall waiting time of the user; 840: Complete the drug delivery of the user in sequence.
  • the single-user service of the dual-track unmanned vehicle method includes: (1) the medicines in the medicine box of the pharmacy complex arrive at the unmanned vehicle through the conveyor belt, the unmanned vehicle starts, and according to the algorithm, the two unmanned vehicles run back and forth, All the medicines are gathered in the unmanned vehicle, and the unmanned vehicle then runs to the corresponding user's collection warehouse, pushes all the medicines to the corresponding user's collection warehouse through the push device, and the collection warehouse is raised to the height of the user's medicine-taking window; (2) Pharmacy complex The medicine in the medicine box reaches the unmanned vehicle through the conveyor belt. After the unmanned vehicle carries all the medicines, the unmanned vehicle and the track rise to the height of the corresponding user's collection warehouse, and the push device pushes all the medicines to the corresponding user's collection warehouse.
  • the multi-user parallel service of the dual-track unmanned vehicle method includes: (1) when serving two users, one unmanned vehicle serves one user respectively; (2) when serving three users, calculating according to an algorithm It takes time for users to take medicines, and the users are sorted according to the required time.
  • the priority service takes the least time for users, which reduces the overall waiting time of users and implements medicine delivery.
  • the single-user service of the trackless unmanned vehicle method includes: (1) each single pharmacy robot is equipped with an unmanned vehicle, the medicines in the medicine box arrive at the unmanned vehicle through the conveyor belt, the unmanned vehicle starts, and runs to the corresponding The user's collection warehouse is pushed to the corresponding user's collection warehouse by the push device. After the collection warehouse receives all the medicines, the collection warehouse is raised to the user's medicine taking port; (2) Each single pharmacy robot is equipped with an unmanned vehicle, and no unmanned After the vehicle carries all the medicines, the unmanned vehicle and the road platform rise to the height of the corresponding user's collection warehouse, and the medicine is pushed to the corresponding user's collection warehouse through the push device.
  • the multi-user parallel service process 900 of the trackless unmanned vehicle method includes: 910: configure one unmanned vehicle for each single pharmacy robot; 920: algorithm calculates the time required for the user to take medicines; 930: according to the required time Sort the users, prioritize the users with the least time required to serve the users, and reduce the overall waiting time of the users; 940: Complete the drug delivery of the users in sequence.
  • a user process 1000 of multiple unmanned vehicles serving an embodiment of the present invention includes: 1010: the unmanned vehicle configured by each individual pharmacy robot is on standby at any time; 1020: receiving medicines delivered by the pharmacy robot conveyor belt; 730: when the user All the medicines needed arrive at the unmanned vehicle, and the unmanned vehicle carrying the medicine starts and runs to the collection warehouse corresponding to the user; 1040: The unmanned vehicle without medicine continues to stand by; 1050: The medicine is pushed to the The collection bin corresponding to the user; 1060: The collection bin is raised to the height of the user's medicine taking window for the user to take medicine.
  • the process 1100 of multiple unmanned vehicles serving multiple users respectively in an embodiment of the present invention includes: 1110: configure one unmanned vehicle for each single pharmacy robot; 1120: match each user with an exclusive unmanned vehicle; 1130: exclusive The unmanned vehicle is on call at any time to receive the medicines delivered by the pharmacy robot conveyor; 1140: When all the medicines of the user arrive at the exclusive unmanned vehicle, the exclusive unmanned vehicle will run to the corresponding user’s collection warehouse; 1150: Pushed to the corresponding user by the push device 1160: The collection warehouse is raised to the user's medicine taking window for the user to take medicine.
  • the process 1200 of multiple unmanned vehicles to cooperatively serve multiple users in an embodiment of the present invention includes: 1210: configure one unmanned vehicle for each single pharmacy robot; 1220: match each user with two or more exclusive unmanned vehicles car; 1230: The exclusive unmanned vehicle is on call at any time, and the exclusive unmanned vehicle is planned according to the algorithm and the principle of the least overall time consumption, and the medicines delivered by the robot conveyor belt of the single pharmacy are received; 1240: When all the medicines of the user arrive at the exclusive unmanned vehicle , the exclusive unmanned vehicles all run to the corresponding user's collection warehouse; 1250: All the medicines on the exclusive unmanned vehicles are delivered to the corresponding user's collection warehouse through the push device; 1260: The collection warehouse is raised to the user's medicine taking window for the user to take medicine.
  • the system of an embodiment of the present invention includes an operating system, software, algorithms, a drug screening system, an AI verification system, an intelligent diagnosis and treatment system, a drug delivery system, a drug sales system, a drug management system, a third-party support system, a database, and a data encryption system , Medical information sharing and supervision system, drug circulation traceability system, electronic prescription system, cloud service, 5G, settlement system; among them, the operating system includes pharmacy robot device and Cartesian coordinate robot operating system, and the software includes pharmacy robot device and Cartesian coordinate robot software , Mobile intelligent terminal applications, algorithms include Cartesian coordinate robot operation algorithm, control algorithm, drug big data analysis and prediction algorithm, intelligent diagnosis and treatment deep machine learning algorithm; among them, the drug screening system is based on the service area in different seasons.
  • Dynamic consumption data screening the category and quantity of drugs, appropriately increasing the category and quantity of certain drugs, and timely reducing the number of drugs with shrinking demand; among them, the AI verification system is used for drug category and dosage form verification, prescription verification, drug replenishment and drug launch Verification; among them, the intelligent diagnosis and treatment system traverses the latest clinical practice diagnosis and treatment operation specifications of human medicine and medical knowledge map, and obtains the patient's main appeals, symptoms, signs, past medical history and examination results.
  • the drug administration system includes drug monitoring, database data retrieval, human-computer interaction or computer-computer interaction; among which, the data encryption system adopts blockchain technology, write patient data and drug data into blocks and publish them to public or private cloud servers; among them, the pharmacy management system includes drug supply chain management, pharmacy management, and pharmacy management; among them, the drug sales system is approved after the prescription is verified. , traverse the medicines in the drugstore. If there is stock, the Cartesian robot will execute the delivery.
  • the third-party support system includes drug manufacturers, drug distributors, logistics, drug regulatory agencies, communication service providers, and third-party equipment maintenance; among them, the drug circulation traceability system uses blockchain technology to monitor drug circulation in real time All links until after the patient takes it.
  • a system for delivering medicines in a pharmacy complex includes a pharmacy robot, other medical robots connected to the Internet of Things, a remote intelligent medical system, a mobile intelligent terminal, a processor, and a computer stored on a memory and running on the processor Instructions, the computer instructions, when executed by the processor, complete the delivery of the medication by the pharmacy complex.
  • the computer-readable storage medium of one embodiment of the present invention stores instructions, programs, code sets, or instruction sets that are loaded and executed by a processor to implement a monolithic pharmacy Robots and pharmacy complexes deliver medicines.

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Abstract

一种药房机器人装置，包括单体药房机器人（10）和多个单体药房机器人联结成的药房综合体（20），执行药品补货、发货、盘货功能，结合AI核验系统和智能诊断系统，实现药房即医师服务、药房即药师服务和药房即药事服务，多个单体药房机器人串联、并联、或串并联，增加储存药品种类和数量，并行服务多个用户。

Description

一种药房机器人装置、方法及系统 技术领域
本发明属于医疗机器人领域，更具体地涉及一种药房机器人的装置、服务方法及系统。
 背景技术
因一些常见病、多发病、慢性病，人们需要经常去医院看诊或去药店买药。
某些情形下，比如在较小的城镇和农村，距离医院远，而药店相对稀少，病人获得医疗和医药服务就会不方便。医院运行成本高，大量接诊常见病、多发病和慢性病病人，收益低，难以长期维持医院运转。药店的店租和人力成本高，推高了医药服务价格，加重病人经济负担。
与疑难杂症和需要手术治疗的疾病相比，常见病、多发病、慢性病诊疗操作标准化程度高，对症治疗的药品相对恒定，完全可以通过将具备医师看诊、药师审核、发药、药事服务功能的结构简单的药房机器人抵近配置到偏远的小城镇和农村地区，高效率服务病人，降低药房门店运营成本。
 技术问题
本发明的目的是提供一种药房机器人装置，执行药房基本功能，结合AI核验系统和智能诊断系统，实现药房即医师服务、药房即药师服务和药房即药事服务，高效率服务病人，降低药房门店运营成本。
 技术解决方案
本发明的一个实施例的药房机器人装置包括单体药房机器人，多个所述单体药房机器人联结成药房综合体。
本发明的一个实施例的单体药房机器人包括底盘和机器人本体，所述底盘承载所述机器人本体，所述机器人本体设置外壳、药库、推杆设备、传送带、感应门、触摸屏显示器、智能音箱、视觉传感器、中央数据存储处理器、无线通讯设备。
本发明的一个实施例的药房综合体包括多联单体药房机器人和传送药装置，所述传送药装置将所述多联单体药房机器人联结为整体结构。
本发明的一个实施例的多联单体药房机器人包括串联单体药房机器人、并联单体药房机器人、串并联单体药房机器人，所述串联单体药房机器人由多个所述单体药房机器人前后排列组合，所述并联单体药房机器人由多个所述单体药房机器人左右排列组合，所述串并联单体药房机器人由多个所述单体药房机器人以前后串联排列和左右并联排列进行组合，所述传送药装置连接多个串联的所述单体药房机器人的传送带。
优选地，所述外壳包括1个中央壳和2个边缘壳，中央壳内置药库，边缘壳设于中央壳两侧，边缘壳内置推杆设备，边缘壳后侧与中央壳后侧通过转轴联结，边缘壳前侧与中央壳前侧之间设锁。
优选地，所述药库包含2个药柜，药柜固定于中央壳内，药柜与药柜间隙底部为传送带，药柜进一步分割为若干纵横阵列排列的药箱。
优选地，所述推杆设备包含2个直角坐标机器人，直角坐标机器人通过框架固定于两侧边缘壳。
优选地，所述传送带还可联结智能控制的升降机，使得直角坐标机器人末端执行器推出药品时，智能控制的升降机同步移动，该药品离开药箱即落入传送带上。
本发明的一个实施例的传送药装置包括运送装置、汇集仓、升降装置，所述运送装置连接所述单体药房机器人的传送带，所述汇集仓连接所述运送装置，所述升降装置连接所述运送装置或所述汇集仓。
优选地，所述运送装置包括履带承载装置、滑道装置、无人车装置，横跨连接多个并联或串并联的所述单体药房机器人。
本发明的一个实施例的药房机器人方法，实现药房服务，包括售药方法、补药方法、盘药方法、联体方法、网格化部署方法。
本发明的一个实施例的售药方法流程100包括如下步骤：110：药房机器人即医师服务；120：药房机器人即药师服务；130：确认，人机交互提醒病人，是否购药，如是，则进入下一步；140：支付费用；150：直角坐标机器人推出药品；160：感应门开启，病人取药；170：药房机器人即药事服务。
本发明的一个实施例的上药方法流程200包括如下步骤：210：云服务器统计数据；220：供应链平台按照云服务器统计数据备货；230：物流平台将拟补货药品运送至药房机器人装置网点；240：显露药库、药柜、药箱；250：补货人员补齐缺货的全部药箱；260：药房机器人装置归位，底盘制动器锁定。
本发明的一个实施例的联体方法包括串联、并联和串并联，所述串联由多个单体药房机器人前后排列组合实现，所述并联由多个单体药房机器人左右排列组合实现，所述串并联由多个所述单体药房机器人以前后串联排列和左右并联排列进行组合，用于更多的增加药库储存药品品类和数量。
本发明的一个实施例的网格化部署方法包括网点选址、药亭配置、药房机器人装置采用所述单体药房机器人还是所述药房综合体、药品品类选择，其中，服务区域内网点之间，以及与其他药店、医院药房、供应商数据共享，方便用户获取药品信息，多渠道获得药品和服务。
优选地，所述补货人员补货流程还可由补货机器人实施。
本发明的一个实施例的系统包括药品筛选系统、AI核验系统、智能诊疗系统、上药系统、售药系统、药事管理系统、第三方支持系统、数据库管理系统、数据加密系统、医药信息共享及监管系统、药品流通追溯体系、电子处方系统、云服务、5G、结算系统。
 有益效果
（1）药品存放更密集，空间利用更充分，比如药房机器人装置单体的药库药箱数最大可达900个，每个药箱可容纳5~10盒药品，基本实现储存至少600个药品品类，至少3000盒药品，如将多个药房机器人装置单体串联、并联或串并联，药库将涵盖全部常用药品和医疗用品。
（2）药房机器人装置整体功能完整，结构简单，设计紧凑，维护方便，比如坐标机器人及末端执行器简单耐用，可靠性高，灵活性好；比如采用设置万向轮的底盘，移动方便；简洁的外壳结构，可开启和锁闭，补货时，直观可视。
（3）药房机器人装置成本低廉，其组件在市场上供应充足，比如成本占比较大的坐标机器人及末端执行器、触摸屏显示器、智能音箱设备，市场价格已经低至百元级人民币。
（4）实现了药房即医师服务、药房即药师服务和药房即药事服务功能，使得药房智能化发生质变，为病人节省时间和费用，提高更周到全面医疗、医药及后继服务。
（5）配合药亭设置智能听诊器、智能叩诊锤、全自动心电图机、自助式呼吸功能检查仪、自助式脑电图检查仪、自助手指血采集设备、自助血糖检查仪、全自动血常规分析仪、全自动尿便分析仪等简单易用医疗检查设备，方便病人自助式实施听诊、叩诊、心电图、呼吸功能、脑电图检查、血糖检测、血液和尿便分析，省却医院看诊的舟车劳顿。
（6）设置和部署药房机器人装置和药亭，其难度小、门槛低，节约社会资源、降低药店运营成本。
 附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例描述中所需要使用的附图作简要地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域的技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他附图。
图1是单体药房机器人外形结构示意图；图2是单体药房机器人药库布局结构示意图；图3是单体药房机器人药箱结构示意图；图4单体药房机器人直角坐标机器人设备结构示意图；图5是单体药房机器人直角坐标机器人末端执行器结构示意图；图6是单体药房机器人感应门结构示意图；图7是药亭布局设置示意图；图8是多个单体药房机器人串联联体示意图；图9是多个单体药房机器人并串联联体示意图；图10是多个单体药房机器人并联履带承载输送结构示意图；图11是多个单体药房机器人串并联履带承载输送结构示意图；图12是多个单体药房机器人并联单轨道无人车输送结构示意图；图13是多个单体药房机器人并联双轨道无人车输送结构示意图；图14是多个单体药房机器人并联无轨无人车输送结构示意图；图15是多个单体药房机器人并联滑道输送结构示意图；图16A是多个单体药房机器人并联中间滑道贯通结构示意图；图16B是多个单体药房机器人并联左侧滑道贯通结构示意图；图16C是多个单体药房机器人并联右侧滑道贯通结构示意图；图17是多个单体药房机器人并联履带装置滑轮绳索升降结构示意图；图18A是多个单体药房机器人并联履带装置丝杆轴向运动丝杠升降结构示意图；图18B是多个单体药房机器人并联履带装置螺母轴向运动丝杠升降结构示意图；图19是多个单体药房机器人并联履带装置液压剪叉升降平台升降结构示意图；图20是多个单体药房机器人并联汇集仓螺母轴向运动丝杠升降结构示意图。
 本发明的最佳实施方式
本发明较佳实施例的药房机器人装置包括单体药房机器人，多个所述单体药房机器人联结成药房综合体。单体药房机器人包括底盘和机器人本体，所述底盘承载所述机器人本体，所述机器人本体设置外壳、药库、推杆设备、传送带、感应门、触摸屏显示器、智能音箱、视觉传感器、中央数据存储处理器、无线通讯设备。药房综合体包括多联单体药房机器人和传送药装置，所述传送药装置将所述多联单体药房机器人联结为整体结构。
本发明较佳实施例的多联单体药房机器人包括串联单体药房机器人、并联单体药房机器人、串并联单体药房机器人，所述串联单体药房机器人由多个所述单体药房机器人前后排列组合，所述并联单体药房机器人由多个所述单体药房机器人左右排列组合，所述串并联单体药房机器人由多个所述单体药房机器人以前后串联排列和左右并联排列进行组合，所述传送药装置连接多个串联的所述单体药房机器人的传送带。
本发明较佳实施例的传送药装置包括运送装置、汇集仓、升降装置，所述运送装置连接所述单体药房机器人的传送带，所述汇集仓连接所述运送装置，所述升降装置连接所述运送装置或所述汇集仓。
本发明较佳实施例的药房机器人方法包括售药方法、补药方法、盘药方法、联体方法、网格化部署方法。
本发明较佳实施例的售药方法流程100包括如下步骤：110：药房机器人即医师服务；120：药房机器人即药师服务；130：确认，人机交互提醒病人，是否购药，如是，则进入下一步；140：支付费用；150：直角坐标机器人推出药品；160：感应门开启，病人取药；170：药房机器人即药事服务。
本发明较佳实施例的上药方法流程200包括如下步骤：210：云服务器统计数据；220：供应链平台按照云服务器统计数据备货；230：物流平台将拟补货药品运送至药房机器人装置网点；240：显露药库、药柜、药箱；250：补货人员补齐缺货的全部药箱；260：药房机器人装置归位，底盘制动器锁定。
本发明较佳实施例的联体方法包括串联、并联和串并联，所述串联由多个单体药房机器人前后排列组合实现，所述并联由多个单体药房机器人左右排列组合实现，所述串并联由多个所述单体药房机器人以前后串联排列和左右并联排列进行组合，用于更多的增加药库储存药品品类和数量。
本发明较佳实施例的网格化部署方法包括网点选址、药亭配置、药房机器人装置采用所述单体药房机器人还是所述药房综合体、药品品类选择，其中，服务区域内网点之间，以及与其他药店、医院药房、供应商数据共享，方便用户获取药品信息，多渠道获得药品和服务。
本发明较佳实施例的系统包括药品筛选系统、AI核验系统、智能诊疗系统、上药系统、售药系统、药事管理系统、第三方支持系统、数据库管理系统、数据加密系统、医药信息共享及监管系统、药品流通追溯体系、电子处方系统、云服务、5G、结算系统。
 本发明的实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不是用于限制本发明。
需要说明的是，本实施例的上、下、左、右等方位语，仅是互为相对概念或是以产品的正常使用状态为参考的，而不应该认为是具有限制性的。
参见图1-图20，本发明的一个实施例的药房机器人装置包括单体药房机器人10，多个所述单体药房机器人联结成药房综合体20。
如图1-6所示，本发明的一个实施例的单体药房机器人10包括底盘1、外壳2、药库3、推杆设备4、传送带5、感应门6、触摸屏显示器7、智能音箱8、视觉传感器9、中央数据存储处理器、无线通讯设备，中央数据存储处理器通过无线通讯设备实现底盘1、外壳2、药库3、推杆设备4、传送带5、感应门6、触摸屏显示器7、智能音箱8、视觉传感器9的数据链接和智能控制。
参见图1，本发明的一个实施例的底盘1包括底座1-3、四个万向轮1-1、制动器1-2、电源及电源接口1-4，电源包括外接电源和蓄电池，提供电力。外壳2包括中央壳2-1、左侧边缘壳2-2A和右侧边缘壳2-2B，中央壳2-1内置药库3，左侧边缘壳2-2A和右侧边缘壳2-2B分别内置1套推杆设备4，左侧边缘壳2-2A和右侧边缘壳2-2B分别与中央壳2-1在后侧通过左侧转轴2-3A和右侧转轴2-3B联结，左侧边缘壳2-2A和右侧边缘壳2-2B分别可沿左侧转轴2-3A和右侧转轴2-3B翻转，左侧边缘壳2-2A和右侧边缘壳2-2B的前侧分别与中央壳2-1前侧之间设左侧锁2-4A和右侧锁2-4B。感应门6、触摸屏显示器7、智能音箱8、视觉传感器9设置于中央壳2-1前侧。
参见图2和图3，本发明的一个实施例的药库3包含左侧药柜3-1和右侧药柜3-2，左侧药柜3-1和右侧药柜3-2固定于中央壳2-1内，左侧药柜3-1和右侧药柜3-2之间间隙3-3距离不少于15 cm，间隙3-3底部为传送带5，传送带5固定于中央壳2-1内，传送带5前端为接收药品的临储凹盘6-1，临储凹盘6-1固定于中央壳2-1内，左侧药柜3-1和右侧药柜3-2进一步分割为若干纵横排列的药箱3-4，药箱3-4宽度和高度可调节，药箱3-4呈水平设置，每个药箱3-4存放1个药品品类，每个药箱3-4均可坐标定位（X, Y），其中，X为横格数，Y为竖格数，每个药箱3-4存放的每一盒药品也可坐标定位（X, Y, Z），其中，X为横格数，Y为竖格数，Z为药箱3-4内排列序数，当前面排列序数药品被取出后，后面排列序数药品位置前移，相应的重新排序。
本实施例中，参见图3，以左侧药柜3-1为例说明药箱3-4结构特征，本发明的一个实施例的药箱3-4两侧开口，其中靠近左侧外侧壳2-2A一侧的第一开口3-4-1的侧壁设置带芯片的不少于5个二极管灯组成的第一灯带3-4-3和1个第一指示灯3-4-4，二极管灯带3-4-3包括发红色光灯珠和发绿色光灯珠，闪烁绿色光灯珠的数目为已有药品数目，闪烁红色光灯珠的数目为空缺药品数目，或需要补充药品盒数目，第一指示灯3-4-4为缺货指示灯，补货人员将药品经视觉传感器9扫描识别，则对应的缺药品类的药箱3-4第一指示灯3-4-4亮，指引补货人员及时找到待补货的药箱3-4，依据红色光灯珠闪烁的数目，及时知晓补充该品类的数目，靠近间隙3-3的第二开口3-4-2为药品出药箱3-4口，其中，药箱3-4长径cm/药品包装盒长径cm的整数即为该药箱3-4可容纳的药品盒数最大值，余数用于计算推杆设备4的额外工作距离。
参见图4，本发明的一个实施例的左侧边缘壳2-2A和右侧边缘壳2-2B分别内置1套推杆设备4，以左侧边缘壳2-2A内置推杆设备4为例说明其结构组成及工作原理，推杆设备4主体结构为一个直角坐标机器人，直角坐标机器人通过左侧垂直框架Y轴4-1A、右侧垂直框架Y轴4-1B和水平框架X轴4-2固定于左侧边缘壳2-2A，左侧垂直框架Y轴4-1A、右侧垂直框架Y轴4-1B和水平框架X轴4-2同时具备滑轨功能，左侧智能控制的驱动电机4-3A和右侧智能控制的驱动电机4-3B分别沿着左侧垂直框架Y轴4-1A、右侧垂直框架Y轴4-1B的丝杠在垂直方向移动，中间智能控制驱动电机4-4沿着水平框架X轴4-2的丝杠左右移动，Z轴方向为末端执行器4-5。
如图5所示，本发明的一个实施例的末端执行器4-5通过固定部件4-6与中间智能控制驱动电机4-4联结，末端执行器4-5包括伺服电机4-5-1、减速器、控制器、齿轮4-5-2、齿条4-5-3、导轨4-5-4，其中，齿轮4-5-2和齿条4-5-3采用塑料齿，齿高不超过5 mm，齿条4-5-3基带采用硅胶，硅胶为医用级硅胶，硬度30~60度，齿条4-5-3长度不少于40 cm、厚度不少于8 mm，宽度不少于8 mm，齿条4-5-3的上末端4-5-3-1A和下末端4-5-3-1B分别设置上压力传感器4-5-3-2A和下压力传感器4-5-3-2B，其中，导轨4-5-4为半圆形带凹槽结构，凹槽内设置若干微型滚轴4-5-4-1，导轨4-5-4的末端分别设置上挡片4-5-4-2A和下挡片4-5-4-2B，导轨4-5-4包绕齿轮4-5-2和齿条4-5-3，直角坐标机器人依据算法，行进到相应的坐标地址，齿条4-5-3随齿轮4-5-2移动时，从导轨4-5-4的上末端4-5-3-1A或下末端4-5-3-1B以切线方向伸出，精确插入特定的药箱3-4的第一开口3-4-1，并推进一定距离，将药箱3-4内药品推出，药品从第二开口3-4-2落入传送带5，当需要推出多个药品时，直角坐标机器人依据最短运行距离算法，规划行进路线，其中，齿条4-5-3的上末端4-5-3-1A和下末端4-5-3-1B随着齿轮4-5-2的双向转动均可伸出、插入药箱3-4推进，其中，依据算法，将药柜3-1均分为上部药箱3-4和下部药箱3-4，当需要推出的药品位于上部药箱3-4时，齿轮4-5-2转动使得齿条4-5-3的上末端4-5-3-1A伸出，当需要推出的药品位于下部药箱3-4时，齿轮4-5-2转动使得齿条4-5-3的下末端4-5-3-1B伸出，导轨4-5-4的上挡片4-5-4-2A和下挡片4-5-4-2B预防齿条4-5-3脱离齿轮4-5-2，其中，当需要推出多个药品时，依据直角坐标机器人和传送带5智能升降机共计最短距离运行算法，规划行进路线，其中，直角坐标机器人和其末端执行器4-5定位精度小于0.5 mm。
参见图2，本发明的一个实施例中，根据药库3的高度，间隔一定距离，在间隙3-3设置一个传送带5，以保障药品降落高度不超过50 cm。传送带5结构包括主动轮、从动轮、履带、滚轮、滚子、支架、第二驱动电机、第一光电传感器、控制器，其中，主动轮、从动轮、履带、滚轮、滚子、支架均采用柔软发泡塑料制作，减轻药品跌落碰撞导致的药品破损，其中，第一光电传感器用于监测到达传送带的药品数量，经过与处方载明的药品数量比对，达到配药数量，则第二驱动电机工作，为了进一步减轻药品跌落碰撞导致破损，将液体药品、玻璃瓶装药品、重量超过100 g药品选择分配到靠近传送带5上方距离较近的药箱3-4储放。
本发明的其他实施例中，传送带5联结智能控制的升降机，使得直角坐标机器人末端执行器4-5推出药品时，智能控制的升降机同步移动，使得该药品离开药箱3-4即落入传送带5上，减轻药品受到冲击力，当需要推出多个药品时，直角坐标机器人和智能控制的传送带5升降机的按照运行距离最短的算法规划行进路线，智能控制的升降机选择采用丝杠系统或滑轮组系统。
参见图2和图6，本发明的一个实施例的感应门6包括临储凹盘6-1、自动门6-4、第二光电传感器6-5、二极管灯组成的第二灯带6-2、第二指示灯6-3，自动门6-4采用左侧门6-4A和右侧门6-4B对开方式，感应门6设置数量与传送带5数量一致。传送带5输送药品到达临储凹盘6-1，第二光电传感器6-5采集临储凹盘6-1内药品数目信息，第二灯带6-2亮灯数目用于动态显示到达临储凹盘6-1内药品数目，若与预计到达药品数目一致，则第二指示灯6-3亮，提示取药，自动门6-4开启，取药完成，自动门6-4关闭，第二指示灯6-3灯灭，若取药未完成，自动门6-4关闭，则第二指示灯6-3持续亮，提醒完成取药，第二灯带6-2亮灯数目提醒还有几盒药品未取。
参见图1，本发明的一个实施例中，当首次上药时，视觉传感器9用于扫描并识别药品的监督码、条形码、或外包装，借助中央数据存储处理器、云服务器、或网络检索，获取药品品类、规格、剂型、生产日期和失效期，自动将该药品数据添加到中央数据存储处理器的数据库，依据该药品重量、性状、外包装的长度、宽度和高度，分配适宜的药箱3-4，若没有适宜的药箱3-4，则提示上药人员调节药箱3-4长度、宽度和高度，收纳该品类，更新后的数据库同步上传到云服务器；当再次补货上药时，视觉传感器9扫描并识别药品的监督码、条形码、或外包装，药品数据同步映射到中央数据存储处理器的数据库和云服务器，该药品对应的药箱3-4第一指示灯3-4-4亮，二极管灯组成的第一灯带3-4-3显示缺药的数目，指引补货人员实施补货操作；当病人看诊时，视觉传感器9用于扫描并识别病人身份、识别身份证、医保卡、信用卡，扫描病人面部、身体特征，协助诊断。
本发明的一个实施例的中央壳2-1前侧设置体温检测传感器、脉搏检测传感器、呼吸运动传感器、血压检测传感器、血氧饱和度检测传感器，结合触摸屏显示器7、智能音箱8提供的人机交互，用于病人自助身体检查；右侧边缘壳2-2B内置的无线通讯设备包括近场通讯组件和远程通讯组件，近场通讯组件用于装置内部通讯和附近病人移动智能终端通讯，远程通讯组件用于数据上传和下载、远程诊疗；右侧边缘壳2-2B内置的中央数据存储处理器包括控制单元、运算单元和存储单元，控制单元用于装置内部控制器的智能控制，包括二极管灯第一灯带3-4-3、二极管灯第二灯带6-2、第一指示灯3-4-4、第二指示灯6-3、直角坐标机器人及其末端执行器4-5及其伺服电机4-5-1、第一光电传感器、第二光电传感器6-5、升降机驱动电机、自动门6-4，运算单元包括CPU、GPU、NPU，用于算法的执行，算法包括药箱3-4坐标定位（X,Y）、药品坐标定位（X,Y,X）、药品品类识别和统计、直角坐标机器人末端执行器4-5行进规划、传感器采集数据处理、人机交互数据处理、云服务器运算数据的进一步处理，存储单元包括内存储器和外存储器，用于储存系统软件、应用程序、算法、临时数据和短时间存储永久数据。
参见图7，本发明的一个实施例的药亭30采用已有建筑的部分区域进行隔离或使用独立建筑，制作封闭或半封闭空间结构，药亭30通电、通水、通气、通5G，药亭30至少包括一个门30-1、锁、多个墙面、天花板、地板、药房机器人放置区30-11，设置凳子30-3、坡道、照明灯30-4、音视频摄像头30-5、第二触摸屏显示器30-6、声音播放器30-7、应急按钮30-8、消毒设备、空气调节器，其面积至少容纳一个单体药房机器人10或药房复合体20的放置区30-11和至少一个轮椅和一个凳子30-3，其中，消毒设备包括紫外线灯和消毒剂喷雾装置。
本发明的其他实施例中，参见图7，药亭30还可设置洗手台30-2、医疗设备台30-9、卫生间30-10，医疗设备台30-9设置智能听诊器、智能叩诊锤、全自动心电图机、自助式呼吸功能检查仪、自助式脑电图检查仪、自助手指血采集设备、自助血糖检查仪、全自动血常规分析仪，卫生间30-10设置配置全自动尿便分析仪的智能马桶30-10-1，方便病人自助式实施听诊、叩诊、心电图、呼吸功能、脑电图检查，自助采集手指血液，用于快速血糖检测、血液和尿便分析。
本实施例中，药亭30通常设在偏远小镇或农村或附近缺少医院的社区，隔离出药亭30，全天为附近居民服务；也可以在药店内部或药店外部设立自助服务区，隔离出药亭30，全天提供服务；也可以在医院门诊自助服务区隔离出药亭30，全天提供服务；当然，公众聚集场所，比如商业区、车站、机场、客轮码头的服务大厅内，隔离出药亭30，全天提供医疗和医药服务。
本发明的其他实施例中，底盘1内设置空气调节器，调节药库内温度和湿度，底盘1内设置制臭氧机，产生的臭氧经管道连接到药库3，供药库3内部空气消毒，底盘1设置消毒剂储存罐、喷雾设备及管道，管道分别开口临储凹盘6-1、触摸屏显示器7、外壳2。
如图8和图9所示，本发明的一个实施例的药房机器人装置联体方法包括单体药房机器人10串联、单体药房机器人10并联或单体药房机器人10串并联，具体采用何种联体方式，需要结合实际需求和药亭结构综合规划。
参见图8，本发明的一个实施例以三个单体药房机器人10串联为例说明其联体组合成为药房复合体20，实际应用中可以采用两个、四个或更多个单体药房机器人10串联，前侧单体药房机器人10-1、中间单体药房机器人10-2、后侧单体药房机器人10-3以前后排列方式进行串联，三个药房机器人装置的底盘1、药库3、左侧边缘壳2-2A和右侧边缘壳2-2B、推杆设备4、传送带5保持独立设置，其感应门6、触摸屏显示器7、智能音箱8、视觉传感器9、中央数据存储处理器共用，其传送带5、电路、通讯线路相互连通，其中，前侧单体药房机器人10-1的中央壳2-1后侧、中间单体药房机器人10-2的中央壳2-1前侧和后侧以及后侧单体药房机器人10-3的中央壳2-1前侧与感应门6对应的位置设开口，使得三个单体药房机器人的传送带5无缝连接，将任何药箱3-4推出的药品运送到共用的临储凹盘6-1，如此，则将大大增加联体药库3储存的药品种类和数量。
参见图9，本发明的一个实施例以三个单体药房机器人10并联为例说明其联体组合成为药房复合体20，实际应用中可以采用不同数量的单体药房机器人10并联，左侧单体药房机器人10-4、居中单体药房机器人10-5、右侧单体药房机器人10-6以左右排列方式进行并联，三个单体药房机器人10的底盘1、药库3、中央壳2-1、左侧边缘壳2-2A和右侧边缘壳2-2B、感应门6、推杆设备4、传送带5保持独立设置，其触摸屏显示器7、智能音箱8、视觉传感器9、中央数据存储处理器共用，其电路、通讯线路相互连通，用于增加药库3储存的药品种类和数量。另外，多个单体药房机器人10前后排列和左右排列方式进行串并联组合成为药房复合体20，其触摸屏显示器7、智能音箱8、视觉传感器9、中央数据存储处理器共用，其电路、通讯线路相互连通，用于更多的增加药品和医疗器材的种类和数量。
如图10-图20所示，本发明的一个实施例以五个单体药房机器人10并联或串并联、设置三个取药窗口为例，进行说明药房综合体20药品输送的装置、方法。
参见图10，本发明的一个实施例的药房综合体20输送药品的装置包括第一单体药房机器人10A、第二单体药房机器人10B、第三单体药房机器人10C、第四单体药房机器人10D、第五单体药房机器人10E、履带承载装置40、第一汇集仓50-1、第二汇集仓50-2、第三汇集仓50-3，第一单体药房机器人10A、第二单体药房机器人10B、第三单体药房机器人10C、第四单体药房机器人10D、第五单体药房机器人10E的药品经第一传送带5A、第二传送带5B、第三传送带5C、第四传送带5D、第五传送带5E传递到履带承载装置40，按照指令，智能化的履带承载装置40往复运行，把药品运送到第一汇集仓50-1、或第二汇集仓50-2、或第三汇集仓50-3对应区域，配置的视觉传感器识别药品，智能化的推送装置把药品推送入第一汇集仓50-1、或第二汇集仓50-2、或第三汇集仓50-3。
如图11所示，本发明的一个实施例的药房综合体输送药品的装置，包括并联的第一单体药房机器人10A、第二单体药房机器人10B、第三单体药房机器人10C、第四单体药房机器人10D、第五单体药房机器人10E、以及串并联的第六单体药房机器人10F、第七单体药房机器人10G、第八单体药房机器人10H、第九单体药房机器人10I、第十单体药房机器人10J、履带承载装置40、第一汇集仓50-1、第二汇集仓50-2、第三汇集仓50-3，第一单体药房机器人10A、第二单体药房机器人10B、第三单体药房机器人10C、第四单体药房机器人10D、第五单体药房机器人10E的传送带5分别与第六单体药房机器人10F、第七单体药房机器人10G、第八单体药房机器人10H、第九单体药房机器人10I、第十单体药房机器人10J的传送带5连通，实现第六单体药房机器人10F、第七单体药房机器人10G、第八单体药房机器人10H、第九单体药房机器人10I、第十单体药房机器人10J的药品分别经第一单体药房机器人10A、第二单体药房机器人10B、第三单体药房机器人10C、第四单体药房机器人10D、第五单体药房机器人10E的传送带5运送到履带承载装置40，并按照指令，经智能化的推送装置把药品推送入第一汇集仓50-1、或第二汇集仓50-2、或第三汇集仓50-3。
参见图12，本发明的一个实施例的药房综合体20输送药品的装置包括第一单体药房机器人10A、第二单体药房机器人10B、第三单体药房机器人10C、第四单体药房机器人10D、第五单体药房机器人10E、单轨道60、无人车70、第一汇集仓50-1、第二汇集仓50-2、第三汇集仓50-3，按照指令，智能化的无人车70在单轨道60上往复运行，第一单体药房机器人10A、第二单体药房机器人10B、第三单体药房机器人10C、第四单体药房机器人10D、第五单体药房机器人10E的药品传递到无人车70，无人车70把药品运送到第一汇集仓50-1、或第二汇集仓50-2、或第三汇集仓50-3对应区域，配置的视觉传感器识别药品，智能化的推送装置把药品推送入第一汇集仓50-1、或第二汇集仓50-2、或第三汇集仓50-3。
如图13所示，本发明的一个实施例的药房综合体50输送药品的装置包括第一单体药房机器人10A、第二单体药房机器人10B、第三单体药房机器人10C、第四单体药房机器人10D、第五单体药房机器人10E、第一轨道60-1、第二轨道60-2、第一无人车70-1、第二无人车70-2、第一汇集仓50-1、第二汇集仓50-2、第三汇集仓50-3，按照指令，智能化的第一无人车70-1、第二无人车70-2分别在第一轨道60-1、第二轨道60-2往复运行，第一单体药房机器人10A、第二单体药房机器人10B、第三单体药房机器人10C、第四单体药房机器人10D、第五单体药房机器人10E的药品传递到第一无人车70-1、第二无人车70-2，第一无人车70-1、第二无人车70-2把药品运送到第一汇集仓50-1、或第二汇集仓50-2、或第三汇集仓50-3对应区域，配置的视觉传感器识别药品，智能化的推送装置把药品推送入第一汇集仓50-1、或第二汇集仓50-2、或第三汇集仓50-3。
如图14所示，本发明的一个实施例的药房综合体20输送药品的装置，包括第一单体药房机器人10A、第二单体药房机器人10B、第三单体药房机器人10C、第四单体药房机器人10D、第五单体药房机器人10E、道路平台80、第一无人车70-1、第二无人车70-2、第三无人车70-3、第四无人车70-4、第五无人车70-5、第一汇集仓50-1、第二汇集仓50-2、第三汇集仓50-3，按照指令，智能化的第一无人车70-1、第二无人车70-2、第三无人车70-3、第四无人车70-4、第五无人车70-5在道路平台80待命或运行，把药品运送到第一汇集仓50-1、或第二汇集仓50-2、或第三汇集仓50-3对应区域，配置的视觉传感器识别药品，智能化的推送装置把药品推送入第一汇集仓50-1、或第二汇集仓50-2、或第三汇集仓50-3。
参见图15，本发明的一个实施例的药房综合体20输送药品的装置，包括第一单体药房机器人10A、第二单体药房机器人10B、第三单体药房机器人10C、第四单体药房机器人10D、第五单体药房机器人10E、第一近端滑道91-1、第二近端滑道91-2、第三近端滑道91-3、第四近端滑道91-4、第五近端滑道91-5、中枢滑道92、第一远端滑道93-1、第二远端滑道93-2、第三远端滑道93-3、第一汇集仓50-1、第二汇集仓50-2、第三汇集仓50-3。
如图16A所示，本发明的一个实施例的药房综合体20输送药品的装置，按照指令，机械臂把道岔94置入中枢滑道92，第一道岔94-1、第二道岔94-2分别阻断第一远端滑道93-1、第三远端滑道93-3，使得第一近端滑道91-1、第二近端滑道91-2、第三近端滑道91-3、第四近端滑道91-4、第五近端滑道91-5经中枢滑道92、第二远端滑道93-2与第二汇集仓50-2贯通，使得第一单体药房机器人10A、第二单体药房机器人10B、第三单体药房机器人10C、第四单体药房机器人10D、第五单体药房机器人10E的药品进入第二汇集仓50-2。
如图16B所示，本发明的一个实施例的药房综合体20输送药品的装置，按照指令，机械臂把道岔94置入中枢滑道92，第一道岔94-1阻断第二远端滑道93-2和第三远端滑道93-3，使得第一近端滑道91-1、第二近端滑道91-2、第三近端滑道91-3、第四近端滑道91-4、第五近端滑道91-5经中枢滑道92、第一远端滑道93-1与第一汇集仓50-1贯通，第一单体药房机器人10A、第二单体药房机器人10B、第三单体药房机器人10C、第四单体药房机器人10D、第五单体药房机器人10E的药品进入第一汇集仓50-1。
如图16C所示，本发明的一个实施例的药房综合体20输送药品的装置，按照指令，机械臂把道岔94置入中枢滑道92，第一道岔94-1阻断第一远端滑道93-1和第二远端滑道93-2，使得第一近端滑道91-1、第二近端滑道91-2、第三近端滑道91-3、第四近端滑道91-4、第五近端滑道91-5经中枢滑道92、第三远端滑道93-3与第三汇集仓50-3贯通，第一单体药房机器人10A、第二单体药房机器人10B、第三单体药房机器人10C、第四单体药房机器人10D、第五单体药房机器人10E的药品进入第三汇集仓50-3。
参见图17，本发明的一个实施例的药房综合体20输送药品的装置，包括履带承载装置40、第一智能电机95-1、第一滑轮96-1、第一绳索97-1、第二智能电机95-2、第二滑轮96-2、第二绳索97-2，第一绳索97-1、第二绳索97-2的一端分别缠绕第一智能电机95-1、第二智能电机95-2的转轴，第一绳索97-1、第二绳索97-2的另外一端分别固定于履带承载装置40的两端。按照指令，第一智能电机95-1、第二智能电机95-2同步运行，通过缠绕或释放第一绳索97-1、第二绳索97-2，使得履带承载装置40准确升高或降低。
当然，本发明的一个实施例的药房综合体20输送药品的第一智能电机95-1、第一滑轮96-1、第一绳索97-1、第二智能电机95-2、第二滑轮96-2、第二绳索97-2组成的滑轮升降装置，还可以与单轨道60、第一轨道60-1、第二轨道60-2、道路平台80、第一汇集仓50-1、第二汇集仓50-2、第三汇集仓50-3连接，使得单轨道60、第一轨道60-1、第二轨道60-2、道路平台80、第一汇集仓50-1、第二汇集仓50-2、第三汇集仓50-3升高或降低。
参见图18A，本发明的一个实施例的药房综合体20输送药品的装置，包括履带承载装置40、第一立杆98-1、第一智能电机螺母复合体99-1、固定架100、第二立杆98-2、第二智能电机螺母复合体99-2，第一智能电机螺母复合体99-1、第二智能电机螺母复合体99-2分别连接固定架100，第一立杆98-1、第二立杆98-2的一端分别固定于履带承载装置40的两端，第一立杆98-1、第二立杆98-2的另外一端游离。按照指令，第一智能电机螺母复合体99-1、第二智能电机螺母复合体99-2同步运行，通过第一立杆98-1和第二立杆98-2带动履带承载装置40升高或降低。
当然，如图18A所示的本发明的一个实施例的药房综合体20输送药品的第一立杆98-1、第一智能电机螺母复合体99-1、固定架100、第二立杆98-2、第二智能电机螺母复合体99-2组成的丝杆轴向运动丝杠升降装置，还可以与单轨道60、第一轨道60-1、第二轨道60-2、道路平台80、第一汇集仓50-1、第二汇集仓50-2、第三汇集仓50-3连接，使得单轨道60、第一轨道60-1、第二轨道60-2、道路平台80、第一汇集仓50-1、第二汇集仓50-2、第三汇集仓50-3升高或降低。
参见图18B，本发明的一个实施例的药房综合体20输送药品的装置，包括履带承载装置40、第一立杆98-1、第一智能电机螺母复合体99-1、固定架100、第二立杆98-2、第二智能电机螺母复合体99-2，第一智能电机螺母复合体99-1、第二智能电机螺母复合体99-2分别固定于履带承载装置40的两端，第一立杆98-1、第二立杆98-2的一端分别固定于固定架100，第一立杆98-1、第二立杆98-2的另外一端游离。按照指令，第一智能电机螺母复合体99-1、第二智能电机螺母复合体99-2同步运行，通过第一智能电机螺母复合体99-1、第二智能电机螺母复合体99-2带动履带承载装置40升高或降低。
当然，如图18B所示的本发明的一个实施例的药房综合体20输送药品的第一立杆98-1、第一智能电机螺母复合体99-1、固定架100、第二立杆98-2、第二智能电机螺母复合体99-2组成的螺母轴向运动丝杠升降装置，还可以与单轨道60、第一轨道60-1、第二轨道60-2、道路平台80、第一汇集仓50-1、第二汇集仓50-2、第三汇集仓50-3连接，使得单轨道60、第一轨道60-1、第二轨道60-2、道路平台80、第一汇集仓50-1、第二汇集仓50-2、第三汇集仓50-3升高或降低。
参见图19，本发明的一个实施例的药房综合体20输送药品的装置，包括履带承载装置40、液压剪叉升降平台装置101、固定架100、第一固定座102-1、第二固定座102-2，液压剪叉升降平台装置101下端连接固定架100，上端分别经第一固定座102-1和第二固定座102-2连接履带承载装置40，智能化的液压剪叉升降平台装置101带动履带承载装置40精准升高或降低。
当然，如图19所示的本发明的一个实施例的药房综合体20输送药品的液压剪叉升降平台装置101、固定架100、第一固定座102-1、第二固定座102-2组成的液压剪叉升降平台系统还可以与单轨道60、第一轨道60-1、第二轨道60-2、道路平台80、第一汇集仓50-1、第二汇集仓50-2、第三汇集仓50-3连接，使得单轨道60、第一轨道60-1、第二轨道60-2、道路平台80、第一汇集仓50-1、第二汇集仓50-2、第三汇集仓50-3升高或降低。
另外，如图19所示的本发明的一个实施例的药房综合体20输送药品的液压剪叉升降平台还可由单桅式液压升降平台或双桅式液压升降平台替代，用于履带承载装置40、单轨道60、第一轨道60-1、第二轨道60-2、道路平台80、第一汇集仓50-1、第二汇集仓50-2、第三汇集仓50-3升高或降低。
参见图20，本发明的一个实施例的药房综合体输送药品的装置，包括汇集仓50、第一立杆98-1、第一智能电机螺母复合体99-1、固定架100、第二立杆98-2、第二智能电机螺母复合体99-2，第一智能电机螺母复合体99-1、第二智能电机螺母复合体99-2固定于汇集仓50，第一立杆98-1、第二立杆98-2的一端分别固定于固定架100，第一立杆98-1、第二立杆98-2的另外一端游离。按照指令，第一智能电机螺母复合体99-1、第二智能电机螺母复合体99-2同步运行，带动汇集仓50升高或降低。
本发明一个实施例的药房机器人方法流程，包括售药、补药、盘药、联结、网格化部署。
本发明一个实施例的售药方法流程200步骤如下：210：药房即医师服务，其包括：212：病人在现场采用视觉传感器扫描，生物识别，通过身份认证，采用智能音箱语音交互或触摸屏显示器录入或视频交互方式提交主要诉求和症状，视觉传感器采集病人面象信息、舌象信息，智能诊疗系统判断有无急性或慢性病面容、有无营养异常、情感异常、精神异常，补充询问病史，如有近期的纸质或电子版医学检查报告，提示将检查报告经视觉传感器扫描识别或经病人移动智能终端App上传，结合即时检测的体温、脉搏、呼吸、血压、血氧饱和度等基本体征数据和血糖及血液快速检测结果，经病人授权，调用病人既往健康数据和用药史、过敏史，智能诊疗系统推断初步临床诊断，出具治疗建议，开具电子处方，必要时，比如急性疾病、肿瘤、需要外科干预的疾病，则提醒病人去医院看诊，其中，病人授权由病人签署的智能合约体现其意愿，病人既往健康数据和用药史、过敏史数据采用区块链加密技术存储在公有云或行业私有云服务器；214：病人远程通过移动智能终端App进行语音或视频交互，提交主要诉求和症状，病人上传移动智能终端采集的病人面象信息、舌象信息、声音信息、体温、脉搏、呼吸、血压、血氧饱和度等基本体征数据，如有近期的纸质或电子版医学检查报告，经移动智能终端App上传，经病人授权，调用既往健康数据和用药史、过敏史，补充询问病史，智能诊疗系统推断初步诊断，出具治疗建议，开具电子处方，必要时，提醒病人去医院看诊；216：病人直接选购非处方药，可通过智能音箱或触摸屏显示器进行人机交互，直接提交非处方药选购需求；218：病人直接选购处方药，则需要提供医师开具的纸质或电子处方，若无，则进入步骤212的现场流程；220：药房即药师服务，其包括：222：病人在步骤212和步骤214获取的电子处方，或通过移动智能终端App导入的电子处方，上传并存储到云服务器，人脸、社保卡、或身份证识别，核对处方病人姓名、性别、年龄、身高、体重、联系方式、过敏史、疾病情况、医学诊断，核对药品和剂量、核对医师签名，确保处方完整、准确、真实，其中，核对药品和剂量包括医学诊断与用药是否相符、剂量是否存在不足或超量、是否存在药品配伍禁忌，其中，核对医师签名通过调用数据库医师执业资质数据、电子签名或电子印章备案数据实现；224：病人将纸质处方扫描或拍照通过移动智能终端App导入，也可将纸质处方放置到药房机器人的视觉传感器扫描区进行数据采集并识别处方关键信息，人脸识别结合社保卡或身份卡识别，核对处方、核对诊断、核对药品、核对剂量、核对医师签名，确保处方的完整性、准确性、真实性，经过区块链技术加密并存储到云服务器，则此处方将在数据库内被标注已经使用；226：病人购买非处方药，只需人脸识别结合社保卡扫描，核对病人，通过人机交互方式，病人直接选择药品品类及数量；228：药房无药，处理方法如下：228-1：病人通过人机交互方式可选择药品到货通知服务，或228-2：接受提示信息，到存有备货的邻近网点或药店购药，或228-3：选择第三方物流送药上门服务；230：病人通过人机交互确认是否购药，如是，则进入240，若不是，则服务终止；240：支付费用；250：直角坐标机器人寻址药品所处的药箱位置，推杆设备末端执行器齿条伸入相应药箱，推出药品，药品落入传送带，由传送带将药品送到临储凹盘，处方的全部药品均进入临储凹盘后，感应门第二指示灯亮，同时，二极管灯第二灯排亮灯数目与全部药品数目一致，其中，齿条在药箱内推进时，齿条末端上压力传感器或下压力传感器感知药品包装盒后，每推进一个药品包装盒长度（cm），则推出一盒药品，直至达到需要的药品盒数；260：感应门的左侧门和右侧门对开开启，病人取药，第二光电传感器监测临储凹盘，判断药品是否全部取走，如否，则第二指示灯继续亮，二极管灯第二灯排亮灯数目与临储凹盘未取的药品数目一致，并通过智能音箱语音交互或触摸屏显示器提示，如是，进入步骤300。
本发明一个实施例的药房即药事服务方法流程300包括如下步骤：310：药品供应链服务包括与药品制造商数据共享，使其感知市场需求变化，及时调整药品产能，明确研发方向；第三方供应链动态感知药品库存，通过物流提供药品补充、临近失效期药品更换、问题药品召回服务；320：药学服务包括如下：322：接收导入的电子处方，向病人的移动智能终端发送服务信息和电子处方；324：电子处方与纸质处方在云服务器全行业共享数据库标注，提示已经配药和取药，使得该处方不会被用于重复购药；326：随访跟进，包括将用药注意事项、适应症、禁忌症、如何服用药品等发送到病人移动智能终端，适时提醒病人按时正确用药，用药后异常情况识别与处理；328：慢性病药品即将用完，通过移动智能终端App提前提醒病人购药，通过移动智能终端App提醒病人定期检查并评估治疗效果、评估生活质量变化，依据检查和评估结果，为病人提供药品剂量增量或减量建议，或更换治疗方案建议；330：药房管理包括：实时统计药库药品信息，监测各个网点药房机器人药品库存是否不足，若是，则向供应链发送补充库存请求，供应链平台根据补充库存请求向相应网点药房机器人补库存，依据季节变化疾病谱的改变，预测药品动态需要，使得供应链平台预先备货需求增大药品品类并及时下架或减少需求萎缩药品品类。
本发明一个实施例的上药方法流程400包括如下步骤：410：云服务器统计数据包括拟补货的药品品类、规格、剂型、包装尺寸、药品监督码，临近过期药品品类、数量；420：供应链平台按照云服务器统计数据备货；430：物流平台将拟补货药品运送至药房机器人装置网点；440：底盘制动器解锁，移动药房机器人装置至开阔空间，边缘壳与中央壳间联结解锁，显露左侧药柜和右侧药柜、药箱，补货采用人工补货方法或机器人补货方法；442：人工补货方法包括补货人员通过移动智能终端App或视觉传感器8扫描药品，该药品对应的药箱第一指示灯亮，显示缺药状态，指引补货人员及时准确找到缺药的药箱，并依据发红色光灯数目，精准补足欠缺的药品，如此重复运作，补齐缺货的全部药箱；444：机器人补货方法包括补货机器人机械臂配置吸盘和计算机视觉设备，通过近场无线通讯组件与药房机器人装置建立链接，智能识别和智能控制使得吸盘将拟补货药品准确识别并精准置入缺药的药箱，并将药品推进适当距离，该距离由算法精确计算获得，如此重复运动，补齐全部缺货的药箱；450：边缘壳与中央壳联结并锁定，将药房机器人装置移动归位，底盘制动器锁定。
本发明一个实施例的盘药方法包括库存数据采集和库存数据统计分析，库存数据包括上药数据、售药数据、邻近失效期药品数据，库存数据统计分析感知药品品类、数量动态变化，及时提交补货请求，预测药品未来需求趋势。
本发明一个实施例的网格化部署包括网点选址、药亭配置、药房机器人装置采用单体还是联体、药品品类选择，其中，服务区域内网点之间，以及与其他药店、医院药房、供应商数据共享，方便病人获取更多药品信息，多种渠道获得药品和服务。
本发明的一个实施例的药房综合体输送药品的方法包括运送装置升降方法、汇集仓升降方法，用于提升药品到合适高度，解决用户弯腰取药问题。
本发明的一个实施例的运送装置升降方法包括丝杠装置升降方法、绳索装置升降方法、液压装置升降方法，用于降低运送装置到药房机器人传送带的高度，承接传送带传递的药品，升高运送装置到汇集仓的高度，协助药品输送到汇集仓，供用户取药。
本发明的一个实施例的丝杠装置升降方法包括运送装置结合丝杠升降装置的丝杆轴向运动方法和运送装置结合丝杠升降装置的螺母轴向运动方法。其中，运送装置结合丝杠升降装置的丝杆轴向运动方法包括：丝杆一端固定于运送装置，另一端游离，螺母、智能电机、控制器经联结件固定于药房机器人本体的支撑部位，当智能电机启动，螺母带动丝杆往复运行，实现所述运送装置升降。其中，运送装置结合丝杠升降装置的螺母轴向运动方法包括：丝杆一端固定于药房机器人本体的支撑部位，另一端游离，螺母、智能电机、控制器经联结件固定于运送装置，当智能电机启动，螺母带动运送装置往复运动，实现运送装置升降。
本发明的一个实施例的绳索装置升降方法包括运送装置结合滑轮绳索装置升降方法、运送装置结合轮轴绳索装置升降方法。其中，运送装置结合滑轮绳索装置升降方法包括：从动轮连接运送装置，主动轮连接智能电机，绳索一端固定于药房机器人本体的支撑部位，经从动轮连接主动轮，智能电机正向转动，主动轮缠绕绳索，带动从动轮上升，使得所述运送装置升高，智能电机反向转动，主动轮释放绳索，带动从动轮下降，使得所述运送装置降低。其中，运送装置结合轮轴绳索装置升降方法包括：两组轮轴绳索装置分别固定于药房机器人本体的支撑部位，分别对应于运送装置的两端，绳索一端连接主动轮，另外一端连接运送装置，两组轮轴绳索装置的智能电机同步运行，主动轮缠绕或释放绳索，带动运送装置上升或下降。
本发明的一个实施例的液压装置升降方法包括运送装置结合液压剪叉升降平台升降方法、运送装置结合单桅式液压升降平台升降方法、运送装置结合双桅式液压升降平台升降方法。其中，液压升降平台基座设置于药房机器人本体底部，上部承接运送装置，智能叶片泵启动，液压升降平台升降带动运送装置升降。
本发明的一个实施例的汇集仓升降方法用于降低汇集仓到药房机器人传送带的高度或运送装置的高度，汇集药品后，升高汇集仓到方便用户取药的高度，包括：丝杠装置升降方法、绳索装置升降方法、液压装置升降方法。
本发明的一个实施例的一药房综合体输送药品的方法包括履带方法、滑道方法、无人车方法，用于解决药品互通汇集问题。
本发明的一个实施例的药房综合体药品互通汇集的履带方法包括单用户服务方法、多用户并行服务方法。
本发明的一个实施例的履带方法单用户服务包括：（1）药房综合体药箱药品经传送带到达履带装置，履带装置启动，按照算法，往复运行，药品到达对应用户的汇集仓，经推送装置推送全部药品到对应用户的汇集仓，汇集仓升高到用户取药窗口高度；（2）药房综合体药箱药品经传送带到达履带装置，全部药品聚集到履带装置的一端，履带装置再运行到对应用户的汇集仓，经推送装置推送全部药品到对应用户的汇集仓，汇集仓升高到用户取药窗口高度；（3）药房综合体药箱药品经传送带到达履带装置，履带装置承载全部药品后，履带装置升到对应用户的汇集仓的高度，经推送装置推送全部药品到对应用户的汇集仓。
本发明的一个实施例的履带方法多用户并行服务流程500包括以下步骤：510：算法计算并行用户取用药品需要时间，包括药品所在单体药房机器人位置、最优路线选择、药品数量；520：按需要时间给用户排序，优先服务需要时间最少用户，减少用户总体等待时间；530：依次完成用户的药品输送。
本发明的一个实施例的滑道方法包括单用户服务方法、多用户并行服务方法。
本发明的一个实施例的滑道方法单用户服务流程600包括以下步骤：610：按照算法，机械臂把道岔准确置入中枢滑道，使得近端滑道和远端滑道贯通，远端滑道对应用户选择的取药服务窗口；620：药房综合体药箱药品经传送带到达近端滑道、中枢滑道、远端滑道，进入所述汇集仓；630：汇集仓升高到取药服务窗口，供用户取药。
本发明的一个实施例的滑道方法多用户并行服务流程700包括：710：按照算法，计算用户取用药品需要时间；720：按需要时间给用户排序；730：优先服务需要时间最少用户，减少用户总体等待时间；740：依次完成用户的药品输送。
本发明的一个实施例的无人车方法包括单轨道无人车方法、双轨道无人车方法、无轨无人车方法。
本发明的一个实施例的单轨道无人车方法单用户服务包括：（1）药房综合体药箱药品经传送带到达无人车，无人车启动，按照算法，往复运行，全部药品聚集到无人车，无人车再运行到对应用户的汇集仓，经推送装置推送全部药品到对应用户的汇集仓，汇集仓升高到用户取药窗口高度；（2）药房综合体药箱药品经传送带到达无人车，无人车承载全部药品后，无人车及轨道升到对应用户的汇集仓高度，经推送装置推送全部药品到对应用户的汇集仓。
本发明的一个实施例的单轨无人车方法多用户并行服务流程800包括：810：依据算法，计算并行用户取用药品需要时间；820：按需要时间给用户排序；830：优先服务需要时间最少用户，减少用户总体等待时间；840：依次完成用户的药品输送。
本发明的一个实施例的双轨道无人车方法单用户服务包括：（1）药房综合体药箱药品经传送带到达无人车，无人车启动，按照算法，两个无人车往复运行，全部药品聚集到无人车，无人车再运行到对应用户的汇集仓，经推送装置推送全部药品到对应用户的汇集仓，汇集仓升高到用户取药窗口高度；（2）药房综合体药箱药品经传送带到达无人车，无人车承载全部药品后，无人车及轨道升到对应用户的汇集仓的高度，经推送装置推送全部药品到对应用户的汇集仓。
本发明的一个实施例的双轨道无人车方法多用户并行服务包括：（1）当服务两个用户时，一个无人车分别服务一个用户；（2）当服务三个用户，依据算法计算用户取用药品需要时间，按需要时间给用户排序，优先服务需要时间最少用户，减少用户总体等待时间，实施药品运送。
本发明的一个实施例的无轨无人车方法单用户服务包括：（1）每个单体药房机器人配置一个无人车，药箱药品经传送带到达无人车，无人车启动，运行到对应用户的汇集仓，经推送装置推送到对应用户的汇集仓，汇集仓收纳全部药品后，汇集仓升高到用户取药口；（2）每个单体药房机器人配置一个无人车，无人车承载全部药品后，无人车及道路平台升到对应用户的汇集仓的高度，经推送装置推送药品到对应用户的汇集仓。
本发明的一个实施例的无轨无人车方法多用户并行服务流程900包括：910：每个单体药房机器人配置一个无人车；920：算法计算用户取用药品需要时间；930：按需要时间给用户排序，优先服务需要时间最少用户，减少用户总体等待时间；940：依次完成用户的药品输送。
本发明的一个实施例的多个无人车服务一个用户流程1000包括：1010：每个单体药房机器人配置的无人车随时待命；1020：接收药房机器人传送带送达的药品；730：当用户需要的全部药品到达无人车，承载药品的所述无人车启动，运行到对应用户的所述汇集仓；1040：无药品的无人车继续原地待命；1050：经推送装置推送药品到对应用户的汇集仓；1060：汇集仓升高到用户取药窗口高度，供用户取药。
本发明的一个实施例的多个无人车分别服务多个用户流程1100包括：1110：每个单体药房机器人配置一个无人车；1120：每个用户匹配一个专属无人车；1130：专属无人车随时待命，接收由药房机器人传送带送达的药品；1140：当用户的全部药品到达专属无人车，专属无人车运行到对应用户的汇集仓；1150：经推送装置推送到对应用户的汇集仓；1160：汇集仓升高到用户取药窗口，供用户取药。
本发明的一个实施例的多个无人车协同服务多个用户流程1200包括：1210：每个单体药房机器人配置一个无人车；1220：每个用户匹配两个或两个以上专属无人车；1230：专属无人车随时待命，按照算法，总体用时最少原则规划专属无人车运行路线，接收由单体药房机器人传送带送达的药品；1240：当用户的全部药品到达专属无人车，专属无人车全部运行到对应用户的汇集仓；1250：经推送装置把全部专属无人车上药品输送到对应用户的汇集仓；1260：汇集仓升高到用户取药窗口，供用户取药。
本发明一个实施例的系统包括操作系统、软件、算法、药品筛选系统、AI核验系统、智能诊疗系统、上药系统、售药系统、药事管理系统、第三方支持系统、数据库、数据加密系统、医药信息共享及监管系统、药品流通追溯体系、电子处方系统、云服务、5G、结算系统；其中，操作系统包括药房机器人装置和直角坐标机器人操作系统，软件包括药房机器人装置和直角坐标机器人软件、移动智能终端应用程序，算法包括直角坐标机器人运行算法、控制算法、药品大数据分析预测算法、智能诊疗深度机器学习算法；其中，药品筛选系统依据服务区域在不同季节，其服务人群疾病谱系和动态消耗数据，筛选药品的品类和数量，适当增加某些药品品类和数量，及时减少需求萎缩药品数量；其中，AI核验系统用于药品品类和剂型核验、处方核验、上药补货和推出药品核验；其中，智能诊疗系统遍历人类医学最新临床实践诊疗操作规范和医学知识图谱，在获得病人主要诉求、症状、体征、既往病史和检查结果等结构化、半结构化、非结构化数据基础上，提取特征值，借助人工智能算法，获得临床诊断，并出具治疗方案；其中，上药系统包括药品监测、数据库数据调取、人机交互或机机交互；其中，数据加密系统采用区块链技术，将病人数据、药品数据写入区块，发布到公有云或私有云服务器；其中，药事管理系统包括药品供应链管理、药学管理和药房管理；其中，售药系统在处方核验通过后，遍历药库内药品，若有货，则直角坐标机器人执行实施出货，若无货，则为病人提供药品到货通知服务，或告知存有备货的邻近网点，或委托第三方物流送药上门服务；其中，第三方支持系统包括药品制造商、药品流通商、物流、药监机构、通讯服务商、第三方设备检修维护；其中，药品流通追溯体系采用区块链技术，实时监测药品流通所有环节，直到病人服用后。
本发明的一个实施例的药房综合体输送药品的系统包括药房机器人、物联网联结的其他医疗机器人、远程智能医疗系统、移动智能终端、处理器以及存储在存储器上并在处理器上运行的计算机指令，所述计算机指令被处理器运行时，完成药房综合体输送药品。
本发明的一个实施例的计算机可读取存储介质存储指令、程序、代码集或指令集，所述指令、所述程序、所述代码集或指令集由处理器加载并执行以实现单体药房机器人和药房综合体输送药品。
本申请旨在涵盖本发明的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本发明的一般性原理并包括本发明未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本发明的范围仅由所附的权利要求来限制。
 工业实用性
（1）可实施性：所属技术领域的普通技术人员在阅读了本申请文件公开的整体技术内容后，能将该发明创造的主题予以客观再现。
（2）可再现性：所属技术领域普通技术人员根据公开的技术内容，能够重复实施本申请中为达到其目的所采用的技术方案，这种重复实施没有数量上的限制，不依赖任何随机因素，而且每次实施的结果相同。
（3）有益性：本申请技术方案的药房机器人和由药房机器人构建的药房复合体，能够能产生积极的经济和社会效益。

Claims (14)

  1. 一种药房机器人装置，具备药房基本功能，其特征在于：包括单体药房机器人，多个所述单体药房机器人联结成药房综合体。
  2. 如权利要求1所述的装置，其特征在于：所述单体药房机器人包括底盘和机器人本体，所述底盘承载所述机器人本体，所述机器人本体设置外壳、药库、推杆设备、传送带、感应门、触摸屏显示器、智能音箱、视觉传感器、中央数据存储处理器、无线通讯设备。
  3. 如权利要求1所述的装置，其特征在于：所述药房综合体包括多联单体药房机器人和传送药装置，所述传送药装置将所述多联单体药房机器人联结为整体结构。
  4. 如权利要求2和3所述的装置，其特征在于：所述多联单体药房机器人包括串联单体药房机器人、并联单体药房机器人、串并联单体药房机器人，所述串联单体药房机器人由多个所述单体药房机器人前后排列组合，所述感应门、触摸屏显示器、智能音箱、视觉传感器、中央数据存储处理器共用，所述传送带、电路、通讯线路相互连通；所述并联单体药房机器人由多个所述单体药房机器人左右排列组合，所述触摸屏显示器、智能音箱、视觉传感器、中央数据存储处理器共用，电路、通讯线路相互连通，所述传送药装置连接多个所述单体药房机器人的传送带；所述串并联单体药房机器人由多个所述单体药房机器人以前后串联排列和左右并联排列进行组合，所述触摸屏显示器、智能音箱、视觉传感器、中央数据存储处理器共用，电路、通讯线路相互连通，所述传送药装置连接多个串联的所述单体药房机器人的传送带。
  5. 如权利要求2所述的装置，其特征在于：所述外壳包括1个中央壳和2个边缘壳，中央壳内置药库，边缘壳设于中央壳两侧，边缘壳内置推杆设备，所述药库包含2个药柜，药柜固定于中央壳内，药柜与药柜间隙底部为传送带，药柜包括多个药箱，所述推杆设备包含2个直角坐标机器人，所述直角坐标机器人包括末端执行器，所述末端执行器包括伺服电机、减速器、控制器、齿轮、齿条、导轨，导轨为包绕齿轮和齿条的半圆形带凹槽结构。
  6. 如权利要求2所述的装置，其特征在于：所述传送带还可联结智能控制的升降机，使得直角坐标机器人末端执行器推出药品时，智能控制的升降机同步移动，该药品离开药箱即落入传送带上。
  7. 如权利要求3所述的装置，其特征在于：所述传送药装置包括运送装置、汇集仓、升降装置，所述运送装置连接所述单体药房机器人的传送带，所述汇集仓连接所述运送装置，所述升降装置连接所述运送装置或所述汇集仓。
  8. 如权利要求7所述的装置，其特征在于：所述运送装置包括履带承载装置、滑道装置、无人车装置，横跨连接多个并联或串并联的所述单体药房机器人。
  9. 一种药房机器人方法，实现药房服务，其特征在于：包括售药方法、补药方法、盘药方法、联体方法、网格化部署方法。
  10. 如权利要求9所述的方法，其特征在于：所述售药方法流程100包括如下步骤：110：药房机器人即医师服务；120：药房机器人即药师服务；130：确认，人机交互提醒病人，是否购药，如是，则进入下一步；140：支付费用；150：直角坐标机器人寻址药品，推出药品；160：感应门开启，病人取药；170：药房机器人即药事服务。
  11. 如权利要求9所述的方法，其特征在于：所述上药方法流程200包括如下步骤：210：云服务器统计数据；220：供应链平台按照云服务器统计数据备货；230：物流平台将拟补货药品运送至药房机器人装置网点；240：底盘制动器解锁，显露药库、药柜、药箱；250：补货人员精准补足欠缺药品。
  12. 如权利要求9所述的方法，其特征在于：所述联体方法包括串联、并联和串并联，所述串联由多个单体药房机器人前后排列组合实现，所述并联由多个单体药房机器人左右排列组合实现，所述串并联由多个所述单体药房机器人以前后串联排列和左右并联排列进行组合。
  13. 如权利要求9所述的方法，其特征在于：所述网格化部署方法包括网点选址、药亭配置、选择单体药房机器人联体方式。
  14. 一种药房机器人系统，其特征在于：包括药品筛选系统、AI核验系统、智能诊疗系统、上药系统、售药系统、药事管理系统、第三方支持系统、数据库管理系统、数据加密系统、医药信息共享及监管系统、药品流通追溯体系、电子处方系统、云服务、5G、结算系统。
PCT/CN2021/078173 2020-07-06 2021-02-26 一种药房机器人装置、方法及系统 WO2022007421A1 (zh)

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