WO2022116252A1

WO2022116252A1 - Medicine storehouse

Info

Publication number: WO2022116252A1
Application number: PCT/CN2020/135732
Authority: WO
Inventors: 徐立
Original assignee: 苏州艾隆科技股份有限公司
Priority date: 2020-12-03
Filing date: 2020-12-11
Publication date: 2022-06-09
Also published as: CN112537588B; CN112537588A

Abstract

Provided in the present invention is a medicine storehouse, comprising: medicine storage racks, each medicine storage rack being divided into several storage compartments; a first rail provided at one side of each medicine storage rack, a first gripping device being provided on each first rail, and the first gripping device being slidable along the first rail; and a second rail, the second rail being in contact with one end of each first rail, a first transport cart being provided on the second rail, and the first transport cart being slidable along the second rail. The medicine storehouse supports automatic placement of storage boxes into preset storage compartments.

Description

a drug store

This application claims the priority of the invention patent application whose filing date is December 03, 2020, the application number is 202011409295.X, and the invention name is "a drug storehouse", the entire contents of which are incorporated into this application by reference.

technical field

The invention relates to the technical field of medicine storage, in particular to a medicine storehouse.

Background technique

In a drug storehouse of a hospital, a plurality of drug storage racks are usually provided, and several storage boxes can be stored in the drug storage rack, and the storage boxes are used for storing drugs. For ease of use, it is generally required that the drug storehouse can automatically absorb storage boxes and transport the storage boxes to preset drug storage racks.

Therefore, how to design a transport device that can automatically transport the storage box to the medicine storage rack has become an urgent problem to be solved.

SUMMARY OF THE INVENTION

The object of the present invention is to provide a drug storehouse.

In order to achieve one of the above purposes of the invention, an embodiment of the present invention provides a drug storehouse, comprising: a plurality of drug storage racks, the drug storage racks are divided into a plurality of storage compartments for storing storage boxes; The side is provided with a first track, and each first track is provided with a first grasping device, the first grasping device can slide along the first track, and the first grasping device can be stored from any storage compartment. The second track, the second track is in contact with one end of all the first tracks, and the first transport vehicle is arranged on the second track, so The first transport vehicle can slide along the second rail; when the first transport vehicle moves to the end of any first rail, the first grab device in the first rail can grab all the first rails. the storage box in the first transport vehicle, or put the grabbed storage box into the first transport vehicle.

As a further improvement of an embodiment of the present invention, it also includes: a plurality of third rails, each of which is provided with a second transport vehicle that can slide along the third rail; a second grab is provided on the second rail When the second transport vehicle is at the preset position, the second grab device can grab the storage box in the second transport vehicle into the first transport vehicle, or grab the storage box in the first transport vehicle into the first transport vehicle. in the second transporter.

As a further improvement of an embodiment of the present invention, the third track is an annular track.

As a further improvement of an embodiment of the present invention, it further includes: a groove is provided on the outer side of the third rail, a third rack is provided on the bottom surface of the groove, and the tops of both sides of the groove are provided with grooves. A folded edge extending inward is provided, and the third rail, groove and third rack extend in the same direction; both sides of the second transport vehicle are provided with several rotating wheels, and the bottom is provided with a third wheel. Two gears, and a drive module for driving the gears to rotate, the second transport vehicle is located in the groove, and several rotating wheels on both sides are clamped on the corresponding folded edges and the bottom surface of the groove Therebetween, the second gear meshes with the third rack.

As a further improvement of an embodiment of the present invention, the bottom surface of the groove is provided with two power supply rails arranged in parallel, and the two power supply rails are insulated from each other. The brushes each always rest against a different supply rail.

As a further improvement of an embodiment of the present invention, both the first grasping device and the second grasping device include: a manipulator, the hand of the manipulator is provided with a gripping device, and the gripping device can clamp or loosen Open the storage box.

As a further improvement of an embodiment of the present invention, the clamping device includes: a base, on which two first vertical plates are oppositely arranged, and the two first vertical plates are parallel to each other, and the two first vertical plates can away from or close to each other.

As a further improvement of an embodiment of the present invention, two flanges are provided at the ends of the two first risers away from the base, and two opposite outer sides of the storage box are provided with recesses; two The flanges in the first riser can respectively be inserted into the recesses in the two outer sides simultaneously.

As a further improvement of an embodiment of the present invention, a first rack, a second rack and a first gear are arranged on the surface of the base, and the first and second racks are arranged parallel to each other and can slide along the extending direction thereof. The teeth of the first rack are arranged on the side facing the second rack, the teeth of the second rack are arranged on the side facing the first rack, and the first gear is located in the middle of the second and third racks, And the first gear is meshed with the second and third racks; a drive module, the drive module can drive the first gear to rotate; the first end of the first rack is provided with the first vertical plate, the first The second end portion of the two racks is provided with the first vertical plate, the first vertical plate extends in a direction away from the base, and the first and second end portions are oppositely arranged.

An embodiment of the present invention also provides a drug storehouse, comprising: a plurality of drug storage racks, the drug storage racks are divided into a plurality of storage compartments for storing storage boxes; a first conveying device is provided on one side of the drug storage rack , the medicine box dropped from any medicine storage box in the medicine storage rack can be dropped on the first transmission device; in the second transmission device, when the medicine box in each first transmission device is dropped, at least the medicine box can be dropped. Drop onto a second conveyor and be transported to the outlet end of the second conveyor; and a basket delivery device capable of delivering the basket to the outlet end of either of the second conveyors.

As a further improvement of an embodiment of the present invention, the first conveying device includes: a plurality of conveyor belts in series, wherein there is a gap between the first end of the first conveyor belt and the second end of the second conveyor belt, and the gap A second conveying device is arranged just below the first conveying belt, and the first end of the first conveying belt is adjacent to the second end of the second conveying belt.

As a further improvement of an embodiment of the present invention, a unique second conveying device is provided directly below the gap.

As a further improvement of an embodiment of the present invention, it further includes: a drug delivery pipeline, the position of the first end of the drug delivery pipeline is higher than the position of the second end, the first end is located just below the outlet end of the second conveying device, the The two ends are located just above the medicine basket conveying device.

Compared with the prior art, the technical effect of the present invention is that: an embodiment of the present invention provides a drug storehouse, comprising: a plurality of drug storage racks, the drug storage racks are divided into a plurality of storage compartments for storing storage boxes; One side is provided with a first track, and each first track is provided with a first grab device, the first grab device can slide along the first track, and the first grab device can grab from any storage compartment. Take the storage box, and put the storage box into any storage compartment; the second track, the second track is in contact with one end of all the first tracks, and a first transport vehicle is provided on the second track, the first transport The cart can slide along the second track; when the first transport cart moves to the end of any first track, the first grab device in the first track can grab the storage box in the first transport cart, or The grabbed storage box is put into the first transport cart. The drug library can automatically put storage boxes into preset storage compartments.

Description of drawings

Fig. 1A is the three-dimensional structure schematic diagram of the medicine storehouse in the embodiment of the present invention;

Fig. 1B is an enlarged view of area A in Fig. 1;

Figure 1C is an enlarged view of region B in Figure 1;

Figure 1D is an enlarged view of region C in Figure 1;

2 is a schematic three-dimensional structure diagram including a third rail in an embodiment of the present invention;

3 is a schematic three-dimensional structure diagram including a second transport vehicle in an embodiment of the present invention;

4 is a schematic three-dimensional structure diagram of a third rail in an embodiment of the present invention;

FIG. 5 is a schematic three-dimensional structure diagram of a gripping device in an embodiment of the present invention.

Detailed ways

The present invention will be described in detail below with reference to the various embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and structural, method, or functional changes made by those skilled in the art according to these embodiments are all included in the protection scope of the present invention.

Terms such as "upper," "over," "lower," "below," and the like, referring to spatially relative positions, are used herein for ease of illustration to describe one element or feature relative to another as shown in the figures The relationship of a unit or feature. The term spatially relative position may be intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

Also, it should be understood that although the terms first, second, etc. may be used herein to describe various elements or structures, these described objects should not be limited by these terms. These terms are only used to distinguish these described objects from each other. For example, the first grasping device may be referred to as the second grasping device, and similarly the second grasping device may also be referred to as the first grasping device, without departing from the scope of protection of the present application.

In the drawings of the specification, "Front" indicates front, "Back" indicates rear, "Left" indicates left, and "Right" indicates right.

Embodiment 1 of the present invention provides a drug library, as shown in FIG. 1A and FIG. 1B , including:

Several medicine storage racks 1 are divided into several storage compartments for storing storage boxes 8; here, as shown in FIG. 1A, the medicine storage rack 1 may contain several medicines distributed along the left and right directions Storage cabinets, each storage cabinet is divided into several storage layers in the up-down direction, each storage layer is divided into several storage compartments along the left-right direction, and each storage compartment is used for storing the storage boxes 8 . The plurality of drug storage racks 1 are distributed along the front-rear direction. It should be noted that, in FIG. 1A , only one medicine storage cabinet is shown on each medicine storage rack 1 , but in practice, there may be more than one medicine storage cabinet.

One side of the medicine storage rack 1 is provided with a first rail 3A, and a first grab device 3A1 is provided on each of the first rails 3A, and the first grab device 3A1 can slide along the first rail 3A, so The first grabbing device 3A1 can grab the storage box 8 from any storage compartment, and can put the storage box 8 into any storage compartment; here, as shown in FIG. The left end of the storage rack 1 extends all the way to the right end. When the storage box 8 is put in, the first gripping device 3A1 will first clamp a storage box 8 filled with medicines, and then move to the side of the preset storage compartment. , then the storage box 8 can be put into the preset storage compartment, and then the storage box 8 can be released. Likewise, when taking out the storage box 8, the first gripping device 3A1 will first move to one side of the preset storage compartment, then clamp a storage box 8 from the storage compartment, take it away, and then move along the first A track 3A movement and send away.

Here, the first gripping device 3A1 can move to one side of any medicine storage cabinet, and can touch any storage compartment in each storage layer in the medicine storage cabinet.

The second rail 3B, which is in contact with one end of all the first rails 3A, is provided on the second rail 3B with a first transport vehicle 3B1 capable of sliding along the second rail 3B ; When the first transport vehicle 3B1 moves to the end of any of the first rails 3A, the first grabbing device 3A1 in the first rail 3A can grab the first transport vehicle 3B1 The storage box 8, or the captured storage box 8 is put into the first transport vehicle 3B1. Here, the second rail 3B is in contact with one end of all the first rails 3A, and the "contact" here should not be interpreted as connection in a narrow sense, and its specific meaning can be understood as: for the first rail 3A, in the second rail 3B has an area corresponding to the end of the first rail 3A, when the first transport vehicle 3B1 moves to this area (the base moves to the end of the first rail 3A), the first grabbing device 3A1 can Grab the storage box 8 in the first transport vehicle 3B1. As shown in FIG. 1C, a plurality of storage boxes 8 may be provided on the first transport vehicle 3B1.

Here, in actual use, the first transport vehicle 3B1 will slide on the second track 3B. It can be understood that the storage box 8 filled with medicines can be placed on the first transport vehicle 3B1, and the medicine box is finally used. to the preset memory cell. Likewise, empty storage boxes 8 are finally placed on the first transport cart 3B1.

Optionally, each drug storage rack 1 may be provided with a corresponding first rail 3A; at the same time, two drug storage racks 1 may share a first rail 3A. Similarly, a second rail 3B may be provided at both the left and right ends of the first rail 3A, or as shown in FIG. 1A , only one second rail 3B may be provided at the left end, and the second rail 3B may extend along the front and rear. direction extension. A plurality of first transport vehicles 3B1 may be arranged on the second track 3B, each first transport vehicle 3B1 works independently, and each first grab device 3A1 also works independently. It can be understood that this will greatly increase the Improve work efficiency.

Here, as shown in FIG. 1C, the first transport vehicle 3B1 includes a bottom plate 3B12, the bottom of the bottom plate 3B12 is slidably connected with the second rail 3B, and a rack is provided on the second rail 3B, and the extension direction of the rack is the same as that of the second rail 3B. The extension directions of the two rails are the same. A motor 3B11 is arranged on the upper surface of the base plate 3B12, and a gear is arranged on the lower surface. The gear is engaged with the rack. Track 3B slides. A plurality of clamping devices 3B13 are provided on the bottom plate 3B12, and the clamping devices 3B13 can clamp or release the storage box 8 .

In this embodiment, as shown in FIG. 1A , FIG. 1D , FIG. 2 , FIG. 3 and FIG. 4 , it further includes: a plurality of third rails 71 , and each third rail 71 is provided with a third rail 71 that can slide along the third rail 71 . Two transport vehicles 72; a second grab device 3B2 is provided on the second rail 3B, when the second transport vehicle 72 is at a preset position, the second grab device 3B2 can remove the storage box 8 in the second transport vehicle 72 Pick up into the first transport vehicle 3B1 or pick up the storage boxes 8 in the first transport vehicle 3B1 into the second transport vehicle 72 . Here, in practice, there is usually an operating table, and the drug store and the operating table may not be located in the same position (for example, one is upstairs and the other is downstairs), that is, the third rail 71 has a position (This position is not the above-mentioned preset position) is the same position as the console. Thus, the storage box 8 can be transported to a predetermined position by means of the third rail 71, so that the second gripping device 3B2 can grasp the storage box 8 into the first transport vehicle 3B1, and at the same time can also transport the first transport The empty storage boxes 8 in the cart 3B1 are grabbed into the second transport cart 72 .

Optionally, the number of the third rails 71 can be multiple, and the number of the second grabbing devices 3B2 can also be multiple, a part of which is specially used for feeding the storage box 8 full of medicines to the preset. The other part is dedicated to receiving the empty storage boxes 8 in the first transport vehicle 3B1 and transporting them to the operation station. Optionally, each of the first transport vehicles 3B1 may be provided with a corresponding second grasping device 3B2, or a plurality of first transport vehicles 3B1 may share a second grasping device 3B2.

In this embodiment, the third track 71 is an annular track. In the annular track, the second transport vehicle 72 can slide along the same direction, so as to facilitate the operation. For example, in the situation shown in FIG. 1D , there are two annular tracks in total.

In this embodiment, as shown in FIG. 4 and FIG. 5 , a groove 711 is provided on the outer side of the third rail 71 , a third rack 712 is provided on the bottom surface of the groove 711 , and the groove 711 The tops of the two sides are provided with inwardly extending folds 713, and the third rail 71, the groove 711 and the third rack 712 all extend in the same direction;

A plurality of rotating wheels 721 are provided on both sides of the second transport vehicle 72, a second gear 722 is provided at the bottom, and a drive module for driving the gears to rotate is also provided. The second transport vehicle 72 is located in the In the groove 711 , several rotating wheels 721 on both sides are clamped between the corresponding folded edges 713 and the bottom surface of the groove 711 , and the second gear 722 is engaged with the third rack 712 .

The transport vehicle 72 may also be provided with a control module, and the control module may command control (for example, receive control commands sent by the terminal through wireless communication, etc.), and then the control module may control the driving module to work, and then the gear 722 Starting to rotate, since the gear 722 and the rack 712 are engaged, the transport vehicle 72 can move along the groove 711 . Since several rotating wheels 721 are clamped between the corresponding flanges 713 and the bottom surface of the grooves 711 on both sides of the transporter 72, the flanges 713 can effectively prevent the second transporter 72 from slipping from the recesses. The groove 711 falls off, and there is rolling friction between the rotating wheel 721 and the bottom surface of the groove 711 and the flange 713, and the friction force is relatively small.

In this embodiment, as shown in FIG. 4 and FIG. 5 , the bottom surface of the groove 711 is provided with two parallel power supply rails 714 , and the two power supply rails 714 are insulated from each other. Two brushes 723, the two brushes 723 always abut against different power supply rails 714, respectively. Here, through the two power rails 714, the transporter 72 can be supplied with electrical power (direct current or alternating current can be provided), and the brush 723 can slide along the surface of the power rail 714, but is always in contact with the surface of the power rail 714. Relying on it, then, you can always obtain electricity. Optionally, the brush 713 has certain elasticity.

In this embodiment, as shown in FIG. 1B , FIG. 1D and FIG. 5 , the first grasping device 3A1 and the second grasping device 3B2 both include:

The manipulator, the hand 3A12 of the manipulator is provided with a gripping device 6 that can grip or loosen the storage box 8 . Here, the manipulator further includes a trunk 3A11 that can slide along the first rail 3A or the second rail 3B.

In this embodiment, the gripping device 6 includes: a base 61 , two first vertical plates 62 are oppositely arranged on the base 61 , and the two first vertical plates 62 are parallel to each other, and the two first vertical plates 62 are parallel to each other. able to move away from or close to each other.

In this embodiment, two flanges 63 are provided at the ends of the two first vertical plates 62 away from the base 61, and two opposite outer sides of the storage box 8 are provided with recesses; The flanges 63 in a riser 62 can respectively be inserted into recesses in the two outer sides simultaneously.

In this embodiment, as shown in FIG. 5 , a first rack 61B, a second rack 61C and a first gear 64 are provided on the surface of the base 61 . The first and second racks are arranged parallel to each other and can be along the Its extending direction slides, the teeth of the first rack 61B are arranged on the side facing the second rack 61C, the teeth of the second rack 61C are arranged on the side facing the first rack 61B, and the first gear 64 is located on the side facing the first rack 61B. The middle of the second and third racks, and the first gear 64 meshes with the second and third racks;

a driving module, which can drive the first gear 64 to rotate;

The first vertical plate 62 is disposed at the first end of the first rack 61B, and the first vertical plate 62 is disposed at the second end of the second rack 61C. extending in the direction, and the first and second ends are arranged opposite to each other.

Here, when the first gear 64 rotates along the first turning direction, the two first risers 62 move away from each other, so that the storage box 8 can be released; when the first gear 64 rotates along the second turning direction, the two first vertical plates 62 move away from each other. The risers 62 are close to each other so that both sides of the storage box 8 can be clamped. Here, in actual use, the storage box 8 is usually a square casing, and since the two first risers 62 are parallel to each other, they can only fit two sides of the square casing.

Here, as shown in FIG. 5 , the end of each first vertical plate 62 facing the base 61 is provided with a horizontal plate 62A, and the top surfaces of the second and third gears away from the bottom surface 61 are fixedly connected to the horizontal plate 62A. , for example, with bolts.

Here, when the first gear 64 rotates along the first turning direction, the two first risers 62 are separated from each other, so that the storage box 8 can be released. It can be understood that, in the end, the first gear 64 needs to stop rotating. Therefore, An object detector 65 may be provided on the base 61, and a vertical baffle 66 may be provided on the second rack 61C. When the two first risers 62 are away from each other and the storage box 8 is released, the The first vertical plate 62 continues to move away until the object detector 65 detects the vertical baffle 66, and the first gear 64 can be controlled to stop rotating.

Here, a limiting device can be provided between the base 61 and the second and third racks, so that the second and third racks can slide along the extending direction thereof. Two sliding rods extending in the direction, each sliding rod is provided with a slider, the first rack 61B is fixedly connected to one slider, and the second rack 61C is fixedly connected to the other slider; or set on the base 61 There are two grooves, and each groove extends along the extending direction. Each groove is provided with a sliding block that can slide back and forth along the groove, and the first rack 61B is fixedly connected to a sliding block. , the second rack 61C is fixedly connected to another slider; and so on.

The second embodiment of the present invention provides a drug storehouse, as shown in FIG. 1A and FIG. 1B , including:

A first conveying device 2A is provided on one side of the medicine storage rack 1, and any medicine box dropped from any medicine storage box 8 in the medicine storage rack 1 can be dropped on the first conveying device 2A; Two conveying devices 2B, when the medicine box in each first transmission device 2A is dropped, it can at least fall onto one second conveying device 2B and be conveyed to the outlet end of the second conveying device 2B; the medicine basket conveying device 4, The medicine basket conveying device 4 can convey medicine baskets to the outlet end of any of the second conveying devices 2B.

Here, as shown in FIG. 1A , the first transfer device 2A will extend from the left end to the right end of the medicine storage rack 1 . When the medicine needs to be taken, the storage box 8 where the medicine is located will send out the medicine box containing the medicine, and then the medicine box will drop to the first conveying device 2A, and then reach the second conveying device 2B, It will then be transported to the outlet end and then sent to the medicine basket.

In this embodiment, the first conveying device 2A includes: a plurality of conveying belts 2A1 connected in series, wherein there is a gap between the first end of the first conveying belt and the second end of the second conveying belt, and the space is directly below the space. A second conveyor 2B is provided, the first end of the first conveyor being adjacent to the second end of the second conveyor. Here, when the pill box is dropped on a conveyor belt 2A1, the conveyor belt 2A1 will rotate, and the pill box will be transported to move in the direction of the gap, and will eventually fall from the gap and into the second conveyor 2B , it can be understood that the size of the gap needs to be larger than the size of the medicine box, so that the medicine box can be dropped from the gap.

Optionally, the second conveyor 2B may be composed of several conveyor belts adjacent to each other. The first rail 3A, the second rail 3B and the first conveyor 2A are all located on the same horizontal plane, and the second conveyor 2B is located lower than the first conveyor 2A. For each drug storage rack 1, the first rail 3A and the first conveyor 2A are located on different sides thereof. Understandably, this can effectively reduce the area occupied by the drug depot.

In this embodiment, a unique second conveying device 2B is provided directly below the gap. Here, in practice, after a medicine is dropped from the storage box 8, it is better to determine the position of the medicine box, so that it can be accurately dropped into the preset medicine basket. The ability to fall into a second conveyor 2B would cause confusion and facilitate precise monitoring of the position of the cartridge.

In this embodiment, it also includes: a medicine delivery pipeline 5, the position of the first end of the medicine delivery pipeline 5 is higher than the position of the second end, the first end is located directly below the outlet end of the second conveying device 2B, the second end is located It is located directly above the medicine basket delivery device 4 . Here, the medicine box will drop from one end of the second conveying device 2B, then drop to the inlet end of the medicine delivery pipe 4, then drop from the outlet end, and then drop into the medicine basket.

It should be understood that although this specification is described in terms of embodiments, not each embodiment only includes an independent technical solution. This description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole, and each The technical solutions in the embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

The series of detailed descriptions listed above are only specific descriptions for the feasible embodiments of the present invention, and they are not used to limit the protection scope of the present invention. Changes should all be included within the protection scope of the present invention.

Claims

A kind of medicine storehouse, is characterized in that, comprises:

a number of medicine storage racks (1) divided into storage compartments for storing storage boxes (8);

A first rail (3A) is provided on one side of the medicine storage rack (1), and a first grab device (3A1) is provided on each of the first rails (3A), and the first grab device (3A1) Can slide along the first track (3A), the first grab device (3A1) can grab the storage box (8) from any storage compartment, and can put the storage box (8) into any storage box grid;

A second rail (3B), the second rail (3B) is in contact with one end of all the first rails (3A), a first transport vehicle (3B1) is provided on the second rail (3B), the first transport The cart (3B1) can slide along the second track (3B); when the first transport cart (3B1) moves to the end of any one of the first tracks (3A), the first track (3A) The first grasping device (3A1) in the first transport vehicle (3B1) can grasp the storage box (8) in the first transport vehicle (3B1), or put the grasped storage box (8) into the first transport vehicle (3B1) middle.
The medicine storehouse according to claim 1, is characterized in that, also comprises:

a plurality of third rails (71), each of which is provided with a second transport vehicle (72) capable of sliding along the third rail (71);

A second grabbing device (3B2) is provided on the second track (3B), and when the second transport vehicle (72) is at a preset position, the second grabbing device (3B2) can hold the second transport vehicle (72) The storage box (8) in the first transport vehicle (3B1) is picked up, or the storage box (8) in the first transport vehicle (3B1) is picked up into the second transport vehicle (72).
The medicine storehouse according to claim 2, is characterized in that:

The third track (71) is an annular track.
medicine storehouse according to claim 3, is characterized in that, also comprises:

A groove (711) is provided on the outer side of the third rail (71), a third rack (712) is provided on the bottom surface of the groove (711), and both sides of the groove (711) An inwardly extending hem (713) is provided at the top of the , and the third rail (71), groove (711) and third rack (712) all extend in the same direction;

Both sides of the second transport vehicle (72) are provided with several rotating wheels (721), the bottom is provided with a second gear (722), and a drive module for driving the gear to rotate is also provided. The transport vehicle (72) is located in the groove (711), and several rotating wheels (721) on both sides are clamped between the corresponding folded edges (713) and the bottom surface of the groove (711). The second gear (722) meshes with the third rack (712).
medicine storehouse according to claim 4, is characterized in that:

The bottom surface of the groove (711) is provided with two parallel power supply rails (714), the two power supply rails (714) are insulated from each other, and two electric brushes (723) are provided at the bottom of the second transport vehicle (72). ), the two brushes (723) each always rest against a different supply rail (714).
The medicine storehouse according to any one of claims 1-5, characterized in that, the first grasping device (3A1) and the second grasping device (3B2) both comprise:

A manipulator, the hand (3A12) of the manipulator is provided with a gripping device (6), the gripping device (6) being capable of gripping or loosening the storage box (8).
The drug storehouse according to claim 6, characterized in that, the gripping device (6) comprises:

A base (61), the base (61) is provided with two first vertical plates (62) opposite to each other, and the two first vertical plates (62) are parallel to each other, and the two first vertical plates (62) can be separated from each other or close.
medicine storehouse according to claim 3, is characterized in that:

The ends of the two first risers (62) away from the base (61) are provided with two flanges (63), and two opposite outer sides of the storage box (8) are provided with recesses;

The flanges (63) in the two first risers (62) can respectively be inserted into the recesses in the two outer sides simultaneously.
medicine storehouse according to claim 8, is characterized in that:

A first rack (61B), a second rack (61C) and a first gear (64) are arranged on the surface of the base (61), and the first and second racks are arranged parallel to each other and can be along the extending direction thereof Sliding, the teeth of the first rack (61B) are arranged on the side facing the second rack (61C), the teeth of the second rack (61C) are arranged on the side facing the first rack (61B), the The first gear (64) is located in the middle of the second and third racks, and the first gear (64) meshes with both the second and third racks;

a drive module, which can drive the first gear (64) to rotate;

The first vertical plate (62) is disposed on the first end of the first rack (61B), the first vertical plate (62) is disposed on the second end of the second rack (61C), and the first vertical plate (62) is disposed on the second end of the second rack (61C). The vertical plate (62) extends in a direction away from the base (61), and the first and second ends are oppositely arranged.
A kind of medicine storehouse, is characterized in that, comprises:

a number of medicine storage racks (1) divided into storage compartments for storing storage boxes (8);

A first conveying device (2A) is provided on one side of the medicine storage rack (1), and the medicine box dropped from any medicine storage box (8) in the medicine storage rack (1) can be dropped on the said medicine storage rack (1). on the first conveyor (2A);

In the second transmission device (2B), when the medicine box in each first transmission device (2A) falls, it can drop onto at least one second transmission device (2B) and be transported to the second transmission device (2B). export end;

A medicine basket conveying device (4) capable of conveying medicine baskets to the outlet end of any second conveying device (2B).
The drug storehouse according to claim 10, characterized in that the first delivery device (2A) comprises:

A plurality of conveyor belts (2A1) connected in series, wherein there is a gap between the first end of the first conveyor belt and the second end of the second conveyor belt, and a second conveyor device (2B) is arranged directly below the gap, the first The first end of the conveyor belt is adjacent to the second end of the second conveyor belt.
medicine storehouse according to claim 10, is characterized in that:

A single second conveyor (2B) is provided directly below the gap.
The drug storehouse according to claim 10, further comprising:

The medicine delivery pipeline (5), the position of the first end of the medicine delivery pipeline (5) is higher than the position of the second end, the first end is located directly below the outlet end of the second conveying device (2B), and the second end is located at the Right above the basket conveyor (4).