CN112193702B - Unmanned on duty sells medicine drugstore - Google Patents
Unmanned on duty sells medicine drugstore Download PDFInfo
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- CN112193702B CN112193702B CN202011204212.3A CN202011204212A CN112193702B CN 112193702 B CN112193702 B CN 112193702B CN 202011204212 A CN202011204212 A CN 202011204212A CN 112193702 B CN112193702 B CN 112193702B
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- storage bin
- linear displacement
- displacement mechanism
- basket
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- 239000003814 drug Substances 0.000 title claims abstract description 601
- 230000001502 supplementing effect Effects 0.000 claims abstract description 37
- 229940079593 drug Drugs 0.000 claims abstract description 35
- 238000004321 preservation Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 168
- 238000006073 displacement reaction Methods 0.000 claims description 102
- 238000009413 insulation Methods 0.000 claims description 14
- 230000000007 visual effect Effects 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 238000011084 recovery Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 206010063385 Intellectualisation Diseases 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 238000012377 drug delivery Methods 0.000 description 4
- 239000013589 supplement Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004064 recycling Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
Classifications
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- 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
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- 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
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/0092—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for assembling and dispensing of pharmaceutical articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses an unmanned on duty medicine selling pharmacy, which comprises: the medicine dispenser comprises a medicine selling machine, a first medicine storage bin, a second medicine storage bin, a first medicine taking device, a second medicine taking device, a medicine supplementing device and a medicine transferring device; the card swiping through the medicine vending machine can automatically take medicines through the first medicine taking device and the second medicine taking device, and when medicines in the first medicine storage bin are insufficient, the medicines can be automatically supplemented through the second medicine storage bin, so that the supply quantity of the medicines is effectively ensured; the mode of manually supplementing the medicines is simple and convenient, and the practicability is high; the first medicine storage bin and the second medicine storage bin are both provided with heat preservation bin bodies, medicines requiring low temperature are isolated and stored, the supply types of the medicines are enlarged, service crowds are further enlarged, workers are not required to watch, the intellectualization and automation are truly realized, and the medicine selling pharmacy is of great significance to popularization.
Description
Technical Field
The invention relates to the field of automated pharmacy, in particular to an unattended medicine selling pharmacy.
Background
At present, along with the progress of social science and technology, the medical industry is developed more and more rapidly, and particularly in the aspect of pharmacy dispensing machines, various automatic equipment greatly improves the working efficiency of pharmacy staff, and great help is provided in the aspects of dispensing accuracy, medicine management systems and the like.
The existing automated equipment adopted by pharmacies and convenient pharmacies of various hospitals is based on manual drug delivery of pharmacists to complete a single prescription, so that unmanned drug delivery is not really realized, the degree of automation is low, and the problem of high labor cost exists.
Therefore, how to provide an automatic medicine selling pharmacy without the need of attended personnel is a problem to be solved by the person skilled in the art.
Disclosure of Invention
The present invention solves at least one of the above-mentioned technical problems in the prior art to a certain extent.
In view of the above, the invention aims to provide an unattended medicine selling pharmacy which can realize automatic medicine selling, is more convenient for medicine supplementing, and has simple operation and higher intelligent degree.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
An unattended medicine selling pharmacy comprising: the medicine vending machine comprises a medicine vending machine, a first medicine storage bin, a first medicine taking device and a second medicine taking device;
The first medicine storage bin comprises a medicine storage bin shell, a medicine rack and a medicine basket; taking the length direction of the medicine storage bin shell as the X-axis direction, the height direction of the medicine storage bin shell as the Y-axis direction and the width direction of the medicine storage bin shell as the Z-axis direction; the medicine racks are uniformly arranged on the inner walls of two sides of a plane where the XY axes are positioned in the medicine storage bin shell, and each medicine rack is provided with a medicine basket; the medicine selling machine is arranged at one end of the medicine storage bin shell;
the first medicine taking device comprises an XY biaxial movement mechanism and a first manipulator; the X-axis direction track in the XY biaxial movement mechanism is arranged at the top and the bottom of the medicine storage bin shell along the X-axis direction and is positioned between the two side walls of the medicine rack; the first manipulator is provided with a moving part capable of moving in the Z-axis direction and is arranged on a moving end in the Y-axis direction in the XY biaxial movement mechanism;
The second medicine taking device comprises a first mounting frame, a conveyor, a medicine outlet channel, a first medicine basket placing table, a first linear displacement mechanism and a second manipulator; the first mounting frame is arranged in the medicine storage bin shell and is close to the medicine vending machine; the conveyor is arranged at the top of the first mounting frame, the medicine outlet channel is arranged on the first mounting frame, and one end of the medicine outlet channel is communicated with a medicine taking port of the medicine selling machine, which corresponds to the conveying port of the driving conveyor, and the other end of the medicine outlet channel is communicated with the medicine taking port of the medicine selling machine; the first medicine basket placing table is arranged above the medicine outlet channel, the first linear displacement mechanism is arranged above the conveyor and opposite to the first medicine basket placing table, and the second manipulator is arranged on the moving end of the first linear displacement mechanism;
the XY biaxial movement mechanism drives the first manipulator to move, and the corresponding medicine basket is selected to be picked; and placing the medicine basket on the first medicine basket placing table, and driving the second manipulator to pick up the medicine in the medicine basket by the first linear displacement mechanism, putting the medicine on the conveyor, and conveying the medicine to the medicine taking port.
Compared with the prior art, the invention discloses an unattended medicine selling pharmacy, after a medicine selling machine performs a card swiping and medicine taking operation, an XY double-axial movement mechanism drives a first manipulator to move to a medicine frame position of a medicine to be taken, the first manipulator moves in a Z-axis direction to pick up the medicine frame and convey the medicine frame to be placed on a first medicine basket placing table, a first linear driving mechanism drives a second manipulator to act, the medicine is picked up and put into a conveyor, the conveyor conveys the medicine to a medicine outlet, and a medicine taking opening of the medicine selling machine is opened to finish medicine taking; the whole medicine taking process is completely automatic and intelligent, no attendant is required, medicine taking is more convenient and quick, and labor cost is reduced.
Preferably, in the above-mentioned unattended medicine selling pharmacy, the conveyor is a bidirectional conveyor;
The medicine recycling basket also comprises a visual identification system and a medicine recycling basket; the visual recognition system is arranged above the second manipulator; the medicine outlet channel and the medicine recovery basket are arranged at two ends of the first mounting frame and respectively correspond to two conveying ports of the conveyor; the scheme can confirm the medicine to be taken, and when the medicine taking error occurs, the medicine is conveyed into the medicine recovery basket through the conveyor; avoid the wrong condition of getting it filled, improve the accuracy of getting it filled, improve customer's use and experience.
Preferably, in the above-mentioned unattended medicine selling pharmacy, a placing table rotating mechanism is arranged at the bottom of the first medicine basket placing table, and the placing table rotating mechanism is installed above the medicine outlet channel;
The connecting end of the second manipulator is provided with a rotary manipulator which is arranged at the moving end of the first linear displacement mechanism; according to the scheme, the first medicine basket placing table can be rotated to enable the notch of the first medicine basket placing table to be aligned to the second manipulator, so that medicine taking is facilitated; the rotary manipulator can drive the second manipulator and the medicine that snatchs thereof to rotate, confirms through the visual identification system multi-angle, can remain the record, further improves the rate of accuracy of getting it filled.
Preferably, in the above-mentioned unattended medicine selling pharmacy, the first manipulator includes a second linear displacement mechanism and a medicine basket supporting plate, the second linear displacement mechanism is mounted on a moving end of the XY biaxial movement mechanism in the Y-axis direction along the Z-axis direction, and the medicine basket supporting plate is mounted on a moving end of the second linear displacement mechanism;
The second manipulator is a negative pressure sucker mechanism; in the scheme, the first manipulator can move to the corresponding medicine frame position through the moving end of the XY biaxial movement mechanism in the XY axis direction, is driven by the moving end of the second linear displacement mechanism to be inserted into the lower side of the medicine frame, and then lifts the medicine frame in the Y axis direction; conveying the medicine to a first medicine basket placing table to realize first-step picking of medicines; the second manipulator adopts negative pressure sucking disc structure, snatchs firmly, snatchs effectually, avoids the medicine box to drop in the motion process, realizes the picking of second portion.
Preferably, in the above-mentioned unattended medicine selling pharmacy, the unattended medicine selling pharmacy further comprises a heat-preserving cabin body, wherein the heat-preserving cabin body is provided with an automatic cabin door; the heat preservation cabin body is arranged on one side wall of the medicine storage cabin shell, on which the medicine racks are arranged, and a plurality of medicine racks are arranged inside the heat preservation cabin body; opening the automatic bin gate, wherein the first manipulator can pick up a medicine basket in the heat preservation bin body; the scheme can store normal-temperature medicines and medicines stored at low temperature, enriches the kinds of medicines stored and enlarges service population.
Preferably, in the above-mentioned unattended medicine selling pharmacy, the medicine vending machine further comprises a medicine supplementing device; the medicine supplementing device comprises a medicine supplementing shell, a medicine supplementing operation screen, a second installation frame, a third linear displacement mechanism, a second medicine basket placing table and a limiting baffle;
One end of the medicine storage bin shell is provided with a medicine supplementing port; the medicine supplementing shell is arranged above the medicine supplementing opening; the medicine supplementing operation screen is arranged on the medicine supplementing shell, and the second mounting frame is arranged at a position corresponding to the medicine supplementing opening in the inner cavity of the medicine storage bin shell; the third linear displacement mechanism is arranged at the top of the second mounting frame, and the moving end of the third linear displacement mechanism can move to the outside of the medicine storage bin shell along the medicine supplementing opening; the second medicine basket placing table is arranged on the moving end of the third linear displacement mechanism; the limiting baffle is arranged on a guide rail of one end, close to the medicine supplementing port, of the third linear displacement mechanism and is in sliding connection with the guide rail, and the side wall of the limiting baffle is connected with the second mounting frame through a spring; when the scheme is used for supplementing medicine, the medicine frame to be supplemented is taken down through the XY biaxial movement mechanism and conveyed to the second medicine basket placing table, the medicine frame is sent out of the medicine storage bin shell through the third linear displacement mechanism, workers supplement the medicine frame, after the medicine frame is supplemented, the medicine frame is brought back to the medicine storage bin shell through the third linear displacement mechanism, and the spring pulls the limiting baffle to reset, so that medicine supplementing is completed.
Preferably, in the above-mentioned unattended medicine selling pharmacy, the medicine vending machine further comprises a second medicine storage bin and a medicine transferring device; the second medicine storage bin has the same structure as the first medicine storage bin, and is provided with the XY biaxial movement mechanism, the first mechanical arm and the medicine supplementing device; the second medicine storage bin is parallel to the first medicine storage bin, and adjacent sides are mutually abutted; the side wall of the second medicine storage bin, which is abutted against the first medicine storage bin, is provided with a medicine transfer port;
The medicine transferring device comprises a third mounting frame, a fourth linear displacement mechanism and a third medicine basket placing table; the third mounting frame is arranged at the medicine transferring port, two fourth linear displacement mechanisms are arranged side by side, and the two fourth linear displacement mechanisms can move from the first medicine storage bin to the second medicine storage bin; the movable ends of the two fourth linear displacement mechanisms are provided with a third medicine basket placing table; according to the scheme, the medicine storage quantity of the medicine storage bin can be further increased, when medicines in the first medicine storage bin are insufficient, the two fourth linear displacement mechanisms of the medicine transfer device respectively convey third medicine basket placing tables placed on the medicine storage bin to the first medicine storage bin and the second medicine storage bin, the medicine basket to be supplemented in the first medicine storage bin and the standby medicine basket in the second medicine storage bin are simultaneously placed on the two third medicine basket placing tables of the medicine transfer device, the two medicine baskets are reversely conveyed into the second medicine storage bin and the first medicine storage bin through the fourth linear displacement mechanisms, medicine supplement is achieved through the XY biaxial movement mechanism and the first manipulator, frequent medicine supplement is not needed by workers, and labor intensity is reduced.
Preferably, in the above-mentioned unattended medicine selling pharmacy, the medicine rack includes a bracket and a stopper; the bracket is a strip-shaped fixing plate; the two brackets are sequentially and vertically arranged on the inner wall in the medicine storage bin shell along the X-axis direction, and a space is reserved between the two brackets; the limiting block is a strip-shaped limiting block, and a limiting groove is formed in the top of the limiting block; the two limiting blocks are arranged on the corresponding brackets along the Z-axis direction;
The medicine basket comprises a box body, an adjusting guide rail, a fixed baffle and an adjustable movable baffle; the top and one side surface of the box body are provided with openings, and the bottom of the box body is provided with clamping bulges corresponding to the limiting grooves; the box body is clamped on the bracket along the Z-axis direction, and an opening on the side face of the box body faces the first manipulator; the two adjusting guide rails are parallel and are arranged at the two ends of the bottom plate of the box body along the X-axis direction;
The fixed baffle and the adjustable movable baffle are both provided with two; the two fixed baffles are fixed on the inner walls of the box body at two ends of the adjusting guide rail, and the two adjustable movable baffles are arranged on the adjusting guide rail between the two fixed baffles and correspond to the two fixed baffles respectively;
The tops of the first medicine basket placing table, the second medicine basket placing table and the third medicine basket placing table are provided with limiting clamping grooves corresponding to the clamping protrusions; by adopting the scheme, the medicine basket can be placed on the strip-shaped limiting blocks, limiting is performed through the limiting grooves, a gap exists between the two linear limiting blocks, and the medicine basket can be lifted up to the Y-axis direction by the first manipulator, so that grabbing is realized, and the medicine basket is convenient and practical.
Preferably, in the above-mentioned unattended medicine selling pharmacy, the XY biaxial movement mechanism is an XY biaxial guide synchronous belt sliding table mechanism, and the first linear displacement mechanism, the second linear displacement mechanism, the third linear displacement mechanism and the fourth linear displacement mechanism are all single-axis linear guide synchronous belt sliding table mechanisms; this solution is a specific implementation of the movement of the product.
Preferably, in the above-mentioned unattended medicine selling pharmacy, the medicine selling machine includes a medicine selling machine housing, a controller, a medicine taking operation screen, a card reader, a printer and a keyboard input device; the medicine vending machine shell is provided with a medicine taking port, the medicine taking port is provided with a medicine taking bin gate, and the medicine taking bin gate is movably connected to the medicine taking port; the medicine selling machine shell is arranged at one end of the outer side of the medicine storage bin shell, and the controller, the medicine taking operation screen, the card reader, the printer and the keyboard input device are all arranged on the medicine selling machine shell;
The medicine taking operation screen, the card reader, the printer, the keyboard input device, the XY biaxial movement mechanism, the conveyor, the second manipulator, the visual identification system, the placing table rotating mechanism, the heat preservation cabin body, the medicine supplementing operation screen, the first linear displacement mechanism, the second linear displacement mechanism, the third linear displacement mechanism and the fourth linear displacement mechanism are all electrically connected with the controller; the scheme can realize the intellectualization and autonomy of selling the medicine, and truly realize the medicine selling mode without person on duty.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a pharmacy according to the present invention;
FIG. 2 is a schematic view of the structure of the drug-selling pharmacy with the outer housing removed;
FIG. 3 is a schematic diagram of the installation of a first and a second drug delivery mechanism in a drug delivery pharmacy according to the present invention;
FIG. 4 is a schematic diagram of a second mechanism for picking up drugs in the drug-selling pharmacy according to the present invention;
FIG. 5 is a schematic view of the medicine replenishment device in the medicine selling pharmacy according to the present invention;
FIG. 6 is a schematic view of the mounting location of a drug transfer device in a drug-selling pharmacy according to the present invention;
FIG. 7 is a schematic view of the structure of a medicine basket and a medicine rack in the medicine-selling pharmacy of the present invention;
FIG. 8 is a schematic view of a vending machine in a pharmacy according to the present invention;
FIG. 9 is a schematic view of the structure of the drug taking gate of the drug vending machine in the drug vending pharmacy according to the invention;
Fig. 10 is a bottom view of the dispensing gate of the dispensing machine of the dispensing pharmacy of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Example 1
An unattended medicine selling pharmacy comprising: a medicine selling machine 1, a first medicine storage bin 2, a first medicine taking device 3 and a second medicine taking device 4;
the first medicine storage bin 2 comprises a medicine storage bin shell 20, a medicine rack 21 and a medicine basket 22; taking the length direction of the medicine storage bin housing 20 as the X-axis direction, the height direction of the medicine storage bin housing 20 as the Y-axis direction, and the width direction of the medicine storage bin housing 20 as the Z-axis direction; the medicine shelves 21 are provided in plurality, the medicine shelves 21 are uniformly arranged on the inner walls of the two sides of the plane of the XY axis in the medicine storage bin shell 20, and each medicine shelf 21 is provided with a medicine basket 22; the medicine selling machine 1 is arranged at one end of the medicine storage bin shell 20;
The first medicine taking device 3 comprises an XY biaxial movement mechanism 30 and a first manipulator 31; the X-axis direction track in the XY biaxial movement mechanism 30 is arranged at the top and the bottom of the medicine storage bin housing 20 along the X-axis direction and is positioned between the two side walls of the medicine rack 21, where the medicine storage bin housing 20 is arranged; the first robot 31 is provided with a moving member capable of moving in the Z-axis direction, and is mounted on a moving end in the Y-axis direction in the XY biaxial movement mechanism 30
The second medicine taking device 4 comprises a first mounting frame 40, a conveyor 41, a medicine outlet channel 42, a first medicine basket placing table 43, a first linear displacement mechanism 44 and a second manipulator 45; the first mounting frame 40 is mounted in the medicine storage bin housing 20 at a position close to the medicine vending machine 1; the conveyor 41 is arranged at the top of the first mounting frame 40, the medicine outlet channel 42 is arranged on the first mounting frame 40, and one end of the medicine outlet channel is communicated with a medicine taking port of the medicine vending machine 1 corresponding to the conveying port of the conveyor 41; the first medicine basket placing table 43 is arranged above the medicine outlet channel 42, the first linear displacement mechanism 44 is arranged above the conveyor 41, the first medicine basket placing table 43 is opposite, and the second manipulator 45 is arranged on the moving end of the first linear displacement mechanism 44;
The XY biaxial movement mechanism 30 drives the first manipulator 31 to move, and selects the corresponding medicine basket 22; and the medicine basket 22 is placed on the first medicine basket placing table 43, and the first linear displacement mechanism 44 drives the second manipulator 45 to pick up the medicine in the medicine basket 22, deliver the medicine onto the conveyor 41 and convey the medicine to the medicine taking port.
The first manipulator 31 in this embodiment includes a second linear displacement mechanism mounted on the moving end of the XY biaxial movement mechanism 30 in the Y-axis direction along the Z-axis direction, and a medicine basket supporting plate mounted on the moving end of the second linear displacement mechanism;
the second manipulator 45 is a negative pressure suction cup mechanism.
In the embodiment, the device also comprises a thermal insulation cabin body 23, and the thermal insulation cabin body 23 is provided with an automatic cabin door; the thermal insulation cabin 23 is arranged on one side wall of the medicine storage cabin shell 20, on which the medicine racks 21 are arranged, and a plurality of medicine racks 21 are arranged inside the thermal insulation cabin; the automatic door is opened, and the first manipulator 31 can pick up the medicine basket 22 in the thermal insulation cabin 23.
Specifically, the heat preservation interval of the heat preservation cabin body 23 is 2-8 ℃.
In this embodiment, a medicine replenishment device 5 is further included; the medicine replenishment device 5 includes a medicine replenishment housing 50, a medicine replenishment operation screen 51, a second mounting frame 52, a third linear displacement mechanism 53, a second medicine basket placing table 54, and a limit baffle 55;
One end of the medicine storage bin shell 20 is provided with a medicine supplementing port 200; the medicine replenishment housing 50 is installed above the medicine replenishment port 200; the medicine replenishment operation screen 51 is mounted on the medicine replenishment housing 50, and the second mounting frame 52 is mounted in the inner cavity of the medicine storage bin housing 20 at a position corresponding to the medicine replenishment port 200; the third linear displacement mechanism 53 is mounted on the top of the second mounting frame 52, and the moving end thereof can move to the outside of the medicine storage bin housing 20 along the medicine replenishment port 200; the second medicine basket receiving table 54 is installed on the moving end of the third linear displacement mechanism 53; the limit baffle 55 is installed on the guide rail of the third linear displacement mechanism 53 near one end of the medicine supplementing port 200 and is in sliding connection with the guide rail, and the side wall of the limit baffle 55 is connected with the second installation frame through a spring 56.
In the present embodiment, the medicine rack 21 includes a bracket 210 and a stopper 211; the bracket 210 is a strip-shaped fixing plate; the two brackets 210 are sequentially and vertically arranged on the inner wall in the medicine storage bin shell 20 along the X-axis direction, and a space is reserved between the two brackets 210; the limiting block 211 is a strip-shaped limiting block 211, and a limiting groove is formed in the top of the limiting block 211; two limiting blocks 211 are arranged on the corresponding brackets 210 along the Z-axis direction;
The medicine basket 22 includes a case 220, an adjusting guide rail 221, a fixed barrier 222, and an adjustable movable barrier 223; the top and one side of the box 220 are provided with openings, and the bottom is provided with clamping bulges corresponding to the limit grooves; the box 220 is clamped on the bracket 210 along the Z-axis direction, and the opening of the side face of the box faces the first manipulator 31; the two adjusting guide rails 221 are arranged, and the two adjusting guide rails 221 are parallel and are arranged at two ends of the bottom plate of the box body 220 along the X-axis direction;
Both the fixed baffle 222 and the adjustable movable baffle 223 are provided with two; two fixed baffles 222 are fixed on the inner wall of the box body 220 at two ends of the adjusting guide rail 221, and two adjustable movable baffles 223 are installed on the adjusting guide rail 221 between the two fixed baffles 222 and respectively correspond to the two fixed baffles 222;
The tops of the first medicine basket receiving table 43, the second medicine basket receiving table 54 and the third medicine basket receiving table 72 are provided with a stopper groove corresponding to the engaging protrusion.
In this embodiment, the XY biaxial movement mechanism 30 is an XY biaxial guide synchronous belt sliding table mechanism, and in the first linear displacement mechanism 44, the second linear displacement mechanism and the third linear displacement mechanism 53, the medicine vending machine 1 includes a medicine vending machine housing 10, a controller, a medicine taking operation panel 11, a card reader 12, a printer 13 and a keyboard input device 14; the medicine vending machine shell 10 is provided with a medicine taking port 100, the medicine taking port 100 is provided with a medicine taking bin gate 15, and the medicine taking bin gate 15 is movably connected to the medicine taking port; the medicine selling machine shell 10 is arranged at one end of the outer side of the medicine storage bin shell 20, and the controller, the medicine taking operation screen 11, the card reader 12, the printer 13 and the keyboard input device 14 are all arranged on the medicine selling machine shell 10;
The medicine taking operation screen 11, the card reader 12, the printer 13, the keyboard input device 14, the XY biaxial movement mechanism 30, the conveyor 41, the second manipulator 45, the thermal insulation cabin 23, the first linear displacement mechanism 44, the second linear displacement mechanism and the third linear displacement mechanism 53 are all electrically connected with the controller.
Example 2
Referring to fig. 1-10, the unattended pharmacy according to the present invention comprises:
A medicine selling machine 1, a first medicine storage bin 2, a first medicine taking device 3 and a second medicine taking device 4;
the first medicine storage bin 2 comprises a medicine storage bin shell 20, a medicine rack 21 and a medicine basket 22; taking the length direction of the medicine storage bin housing 20 as the X-axis direction, the height direction of the medicine storage bin housing 20 as the Y-axis direction, and the width direction of the medicine storage bin housing 20 as the Z-axis direction; the medicine shelves 21 are provided in plurality, the medicine shelves 21 are uniformly arranged on the inner walls of the two sides of the plane of the XY axis in the medicine storage bin shell 20, and each medicine shelf 21 is provided with a medicine basket 22; the medicine selling machine 1 is arranged at one end of the medicine storage bin shell 20;
The first medicine taking device 3 comprises an XY biaxial movement mechanism 30 and a first manipulator 31; the X-axis direction track in the XY biaxial movement mechanism 30 is arranged at the top and the bottom of the medicine storage bin shell 20 along the X-axis direction and is positioned between the two side walls of the medicine storage bin shell 20 provided with the medicine rack 21; the first robot 31 is provided with a moving member capable of moving in the Z-axis direction, and is mounted on a moving end in the Y-axis direction in the XY biaxial movement mechanism 30
The second medicine taking device 4 comprises a first mounting frame 40, a conveyor 41, a medicine outlet channel 42, a first medicine basket placing table 43, a first linear displacement mechanism 44 and a second manipulator 45; the first mounting frame 40 is mounted in the medicine storage bin housing 20 at a position close to the medicine vending machine 1; the conveyor 41 is arranged at the top of the first mounting frame 40, the medicine outlet channel 42 is arranged on the first mounting frame 40, and one end of the medicine outlet channel is communicated with a medicine taking port of the medicine vending machine 1 corresponding to the conveying port of the conveyor 41; the first medicine basket placing table 43 is arranged above the medicine outlet channel 42, the first linear displacement mechanism 44 is arranged above the conveyor 41, the first medicine basket placing table 43 is opposite, and the second manipulator 45 is arranged on the moving end of the first linear displacement mechanism 44;
The XY biaxial movement mechanism 30 drives the first manipulator 31 to move, and selects the corresponding medicine basket 22; and the medicine basket 22 is placed on the first medicine basket placing table 43, and the first linear displacement mechanism 44 drives the second manipulator 45 to pick up the medicine in the medicine basket 22, deliver the medicine onto the conveyor 41 and convey the medicine to the medicine taking port.
In the present embodiment, the conveyor 41 is a bidirectional conveyor;
Also included are a visual recognition system 46 and a drug retrieval basket 47; the visual recognition system 46 is installed above the second robot 45; the medicine discharging path 42 and the medicine recovery basket 47 are installed at both ends of the first mounting frame 40 to correspond to the two conveying ports of the conveyor 41, respectively.
In the present embodiment, a placement table rotating mechanism is provided at the bottom of the first medicine basket placement table 43, and is installed above the medicine outlet passage 42;
the connection end of the second manipulator 45 is provided with a rotary manipulator, which is mounted at the moving end of the first linear displacement mechanism 44.
Specifically, the placing table rotating mechanism is a motor and a rotating tray, the motor is vertically fixed on the medicine outlet channel 42, the rotating tray is fixed on an output shaft of the motor, and the bottom of the first medicine basket placing table 43 is fixed on the rotating tray.
In the present embodiment, the first robot 31 includes a second linear displacement mechanism mounted on the moving end of the XY biaxial movement mechanism 30 in the Y-axis direction along the Z-axis direction, and a medicine basket supporting plate mounted on the moving end of the second linear displacement mechanism;
the second manipulator 45 is a negative pressure suction cup mechanism.
In the embodiment, the device also comprises a thermal insulation cabin body 23, and the thermal insulation cabin body 23 is provided with an automatic cabin door; the thermal insulation cabin 23 is arranged on one side wall of the medicine storage cabin shell 20, on which the medicine racks 21 are arranged, and a plurality of medicine racks 21 are arranged inside the thermal insulation cabin; the automatic door is opened, and the first manipulator 31 can pick up the medicine basket 22 in the thermal insulation cabin 23.
Specifically, the heat preservation interval of the heat preservation cabin body 23 is 2-8 ℃.
In this embodiment, a medicine replenishment device 5 is further included; the medicine replenishment device 5 includes a medicine replenishment housing 50, a medicine replenishment operation screen 51, a second mounting frame 52, a third linear displacement mechanism 53, a second medicine basket placing table 54, and a limit baffle 55;
One end of the medicine storage bin shell 20 is provided with a medicine supplementing port 200; the medicine replenishment housing 50 is installed above the medicine replenishment port 200; the medicine replenishment operation screen 51 is mounted on the medicine replenishment housing 50, and the second mounting frame 52 is mounted in the inner cavity of the medicine storage bin housing 20 at a position corresponding to the medicine replenishment port 200; the third linear displacement mechanism 53 is mounted on the top of the second mounting frame 52, and the moving end thereof can move to the outside of the medicine storage bin housing 20 along the medicine replenishment port 200; the second medicine basket receiving table 54 is installed on the moving end of the third linear displacement mechanism 53; the limit baffle 55 is installed on the guide rail of the third linear displacement mechanism 53 near one end of the medicine supplementing port 200 and is in sliding connection with the guide rail, and the side wall of the limit baffle 55 is connected with the second installation frame through a spring 56.
In this embodiment, the medicine storage device further comprises a second medicine storage bin 6 and a medicine transfer device 7; the second medicine storage bin 6 has the same structure as the first medicine storage bin 2, and is provided with an XY biaxial movement mechanism 30, a first manipulator 31 and a medicine supplementing device 5; the second medicine storage bin 6 is parallel to the first medicine storage bin 2, and adjacent sides are mutually abutted; the side wall of the second medicine storage bin 6, which is abutted against the first medicine storage bin 2, is provided with a medicine transfer port 60;
The medicine transferring apparatus 7 includes a third mounting frame 70, a fourth linear displacement mechanism 71, and a third medicine basket placing table 72; the third mounting frame 70 is arranged at the medicine transferring opening 60, two fourth linear displacement mechanisms 71 are arranged, and the two fourth linear displacement mechanisms 71 are arranged side by side and can all move from the first medicine storage bin 2 to the second medicine storage bin 6; the moving ends of the two fourth linear displacement mechanisms 71 are each provided with a third medicine basket receiving table 72.
In the present embodiment, the medicine rack 21 includes a bracket 210 and a stopper 211; the bracket 210 is a strip-shaped fixing plate; the two brackets 210 are sequentially and vertically arranged on the inner wall in the medicine storage bin shell 20 along the X-axis direction, and a space is reserved between the two brackets 210; the limiting block 211 is a strip-shaped limiting block 211, and a limiting groove is formed in the top of the limiting block 211; two limiting blocks 211 are arranged on the corresponding brackets 210 along the Z-axis direction;
The medicine basket 22 includes a case 220, an adjusting guide rail 221, a fixed barrier 222, and an adjustable movable barrier 223; the top and one side of the box 220 are provided with openings, and the bottom is provided with clamping bulges corresponding to the limit grooves; the box 220 is clamped on the bracket 210 along the Z-axis direction, and the opening of the side face of the box faces the first manipulator 31; the two adjusting guide rails 221 are arranged, and the two adjusting guide rails 221 are parallel and are arranged at two ends of the bottom plate of the box body 220 along the X-axis direction;
Both the fixed baffle 222 and the adjustable movable baffle 223 are provided with two; two fixed baffles 222 are fixed on the inner wall of the box body 220 at two ends of the adjusting guide rail 221, and two adjustable movable baffles 223 are installed on the adjusting guide rail 221 between the two fixed baffles 222 and respectively correspond to the two fixed baffles 222;
The tops of the first medicine basket receiving table 43, the second medicine basket receiving table 54 and the third medicine basket receiving table 72 are provided with a stopper groove corresponding to the engaging protrusion.
In the present embodiment, the XY biaxial movement mechanism 30 is an XY biaxial guide synchronous belt slide mechanism, and the first linear displacement mechanism 44, the second linear displacement mechanism, the third linear displacement mechanism 53, and the fourth linear displacement mechanism 71 are all uniaxial linear guide synchronous belt slide mechanisms.
In this embodiment, the drug dispenser 1 includes a drug dispenser housing 10, a controller, a drug-taking operation panel 11, a card reader 12, a printer 13, and a keyboard input device 14; the medicine vending machine shell 10 is provided with a medicine taking port 100, the medicine taking port 100 is provided with a medicine taking bin gate 15, and the medicine taking bin gate 15 is movably connected to the medicine taking port; the medicine selling machine shell 10 is arranged at one end of the outer side of the medicine storage bin shell 20, and the controller, the medicine taking operation screen 11, the card reader 12, the printer 13 and the keyboard input device 14 are all arranged on the medicine selling machine shell 10;
The medicine taking operation panel 11, the card reader 12, the printer 13, the keyboard input device 14, the XY biaxial movement mechanism 30, the conveyor 41, the second manipulator 45, the visual recognition system 46, the placement table rotation mechanism, the thermal insulation cabinet 23, the medicine replenishment operation panel 51, the first linear displacement mechanism 44, the second linear displacement mechanism, the third linear displacement mechanism 53, and the fourth linear displacement mechanism 71 are all electrically connected to the controller.
Specifically, the video recognition system is a camera shooting assembly and comprises a camera, a storage unit and a wireless connection unit.
Specifically, the printing machine 13 is of the type: Q803P.
Specifically, card reader 12 is an east letter multifunction card reader module.
Specifically, the motor types of the XY biaxial movement mechanism 30, the first linear displacement mechanism 44, the second linear displacement mechanism, the third linear displacement mechanism 53, and the fourth linear displacement mechanism 71 are the yi gas stepping motor NEMA17.
Specifically, the medicine taking operation screen 11 and the medicine supplementing operation screen 51 are all integrated with a tablet personal computer of an industrial-scale industrial-control touch screen of Senke.
Specifically, the medicine taking process of the invention comprises the following steps:
step 1: the medicine vending machine 1 swipes the card;
step 2: the medicine taking operation screen 11 confirms medicine taking information;
step 3: the medicine selling machine 1 receives the prescription;
Step 4: the XY biaxial movement mechanism 30 drives the first manipulator 31 to move to the designated medicine rack position, and the first manipulator 31 removes the corresponding medicine frame 22; if the medicine to be taken is in the heat-preserving cabin 23, the XY biaxial movement mechanism 30 drives the first manipulator 31 to move to the position of the appointed medicine rack, the automatic cabin door of the heat-preserving cabin 23 is opened, and the first manipulator 31 takes down the corresponding medicine frame 22;
Step 5: the XY biaxial movement mechanism 30 drives the first manipulator 31 to place the medicine frame on the first medicine basket placing table 43, and the placing table rotating mechanism drives the first medicine basket placing table 43 to rotate 90 degrees, so that the opening of the medicine frame 22 is aligned with the second manipulator 45;
Step 6: the first linear displacement mechanism 44 drives the second manipulator 45 to move towards the medicine frame 22, the second manipulator 45 absorbs medicines, the rotary manipulator drives the second manipulator 45 to rotate, and the visual recognition system 46 shoots, records and recognizes the medicines in multiple directions; and deliver the medicine to the conveyor 41; repeating the above operations for medicines with multiple standards;
Step 7: judging that the prescription information is correct, conveying the medicine to a medicine taking port by forward movement of the conveyor 41, opening a medicine taking bin gate 15, and finishing medicine taking by an operator;
with erroneous information, the conveyor 41 moves in reverse to convey the medicine to the medicine recovery basket, waiting for the person to clean the medicine periodically.
Specifically, the automatic medicine supplementing process of the invention comprises the following steps:
step 1: the system judges a medicine region set value in a certain medicine basket in the first medicine storage bin 2;
Step 2: the XY biaxial movement mechanism 30 in the first medicine storage bin 2 drives the first manipulator 31 to move to the front of the corresponding medicine frame 22 to be supplemented, and the medicine frame is taken down and placed on one of the third medicine basket placing tables 72 of the medicine transferring device 7;
Step 3: the XY biaxial movement mechanism 30 in the second medicine storage bin 6 drives the first manipulator 31 to move to the front of the corresponding medicine replacement frame 22, and the first manipulator is taken down and placed on the other third medicine basket placing table 72 of the medicine transfer device 7;
step 4: the two third medicine basket placing tables 72 of the medicine transferring apparatus 7 move reversely to the opposite medicine storage bin;
Step 5: the XY biaxial movement mechanisms 30 in the first medicine storage bin 2 and the second medicine storage bin 6 respectively drive the first manipulator 31 to put the medicine frames 22 at the interchange positions back to the corresponding medicine racks, and medicines with multiple standards repeat the above flow to finish medicine supplement.
Specifically, the manual medicine supplementing process of the invention comprises the following steps:
step 1: the worker selects information of the supplementary medicine on the medicine supplementary operation screen 51;
Step 2: the XY biaxial movement mechanism 30 drives the first manipulator 31 to place the medicine frame 22 on the second medicine basket placing table 54 on the medicine replenishing device 5, and the third linear displacement mechanism 53 conveys the medicine frame 22 to the outside of the medicine storage bin along the medicine replenishing opening for replenishing medicine for staff;
Step 3: after the completion of the medicine replenishment, the third linear displacement mechanism 53 withdraws the medicine frame 22 along the medicine replenishment port;
Step 4: the XY biaxial movement mechanism 30 drives the first manipulator 31 to place the medicine frame 22 on the original medicine rack, and the above-mentioned flow is repeated for medicines of multiple specifications, thus completing the manual medicine replenishment.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. An unattended medicine selling pharmacy, comprising: a medicine selling machine (1), a first medicine storage bin (2), a first medicine taking device (3) and a second medicine taking device (4);
The first medicine storage bin (2) comprises a medicine storage bin shell (20), a medicine rack (21) and a medicine basket (22); taking the length direction of the medicine storage bin shell (20) as the X-axis direction, the height direction of the medicine storage bin shell (20) as the Y-axis direction and the width direction of the medicine storage bin shell (20) as the Z-axis direction; the medicine racks (21) are provided with a plurality of medicine racks (21), the medicine racks (21) are uniformly arranged on the inner walls of two sides of a plane where the XY axes are positioned in the medicine storage bin shell (20), and each medicine rack (21) is provided with a medicine basket (22); the medicine selling machine (1) is arranged at one end of the medicine storage bin shell (20);
The first medicine taking device (3) comprises an XY biaxial movement mechanism (30) and a first manipulator (31); the X-axis direction track in the XY biaxial movement mechanism (30) is arranged at the top and the bottom of the medicine storage bin shell (20) along the X-axis direction and is positioned between two side walls of the medicine rack (21) where the medicine storage bin shell (20) is arranged; the first manipulator (31) is provided with a moving component capable of moving in the Z-axis direction and is mounted on a moving end in the Y-axis direction in the XY biaxial movement mechanism (30);
The second medicine taking device (4) comprises a first mounting frame (40), a conveyor (41), a medicine outlet channel (42), a first medicine basket placing table (43), a first linear displacement mechanism (44) and a second manipulator (45); the first mounting frame (40) is arranged in the medicine storage bin shell (20) and is close to the medicine vending machine (1); the conveyor (41) is arranged at the top of the first mounting frame (40), the medicine outlet channel (42) is arranged on the first mounting frame (40), and one end of the medicine outlet channel is communicated with a medicine taking port of the medicine vending machine (1) corresponding to the other end of the medicine outlet channel, which is used for driving the conveyor (41); the first medicine basket placing table (43) is arranged above the medicine outlet channel (42), the first linear displacement mechanism (44) is arranged above the conveyor (41), the first linear displacement mechanism is opposite to the first medicine basket placing table (43), and the second mechanical arm (45) is arranged on the moving end of the first linear displacement mechanism (44);
The XY biaxial movement mechanism (30) drives the first manipulator (31) to move, and the corresponding medicine basket (22) is selected to be picked up; the medicine basket (22) is placed on the first medicine basket placing table (43), the first linear displacement mechanism (44) drives the second manipulator (45) to pick up medicines in the medicine basket (22), and the medicines are put on the conveyor (41) and conveyed to the medicine taking port;
the conveyor (41) is a bidirectional conveyor;
Also comprises a visual recognition system (46) and a medicine recovery basket (47); the visual recognition system (46) is arranged above the second manipulator (45); the medicine outlet channel (42) and the medicine recovery basket (47) are arranged at two ends of the first mounting frame (40) and respectively correspond to two conveying ports of the conveyor (41);
A placement table rotating mechanism is arranged at the bottom of the first medicine basket placement table (43), and is arranged above the medicine outlet channel (42);
the connecting end of the second manipulator (45) is provided with a rotary manipulator, and the rotary manipulator is arranged at the moving end of the first linear displacement mechanism (44).
2. An unattended pharmacy according to claim 1, wherein the first manipulator (31) comprises a second linear displacement mechanism and a medicine basket carrier, the second linear displacement mechanism being mounted on the moving end of the XY biaxial movement mechanism (30) in the Z-axis direction, the medicine basket carrier being mounted on the moving end of the second linear displacement mechanism;
The second manipulator (45) is a negative pressure sucker mechanism.
3. An unattended pharmacy according to claim 2, further comprising a thermal insulation hatch (23), the thermal insulation hatch (23) being provided with an automatic hatch; the heat preservation cabin body (23) is arranged on one side wall of the medicine storage cabin shell (20) provided with the medicine racks (21), and a plurality of medicine racks (21) are arranged inside the heat preservation cabin body; and opening the automatic bin door, and enabling the first manipulator (31) to pick up the medicine basket (22) in the heat-preservation bin body (23).
4. An unattended pharmacy according to claim 3, further comprising drug replenishment means (5); the medicine supplementing device (5) comprises a medicine supplementing shell (50), a medicine supplementing operation screen (51), a second installation frame (52), a third linear displacement mechanism (53), a second medicine basket placing table (54) and a limiting baffle plate (55);
One end of the medicine storage bin shell (20) is provided with a medicine supplementing port (200); the medicine replenishment housing (50) is installed above the medicine replenishment port (200); the medicine supplementing operation screen (51) is arranged on the medicine supplementing shell (50), and the second mounting frame (52) is arranged at a position corresponding to the medicine supplementing opening (200) in the inner cavity of the medicine storage bin shell (20); the third linear displacement mechanism (53) is arranged at the top of the second mounting frame (52), and the moving end of the third linear displacement mechanism can move to the outside of the medicine storage bin shell (20) along the medicine supplementing opening (200); the second medicine basket placing table (54) is arranged on the moving end of the third linear displacement mechanism (53); the limiting baffle (55) is arranged on a guide rail of the third linear displacement mechanism (53) close to one end of the medicine supplementing port (200) and is in sliding connection with the guide rail, and the side wall of the limiting baffle (55) is connected with the second mounting frame through a spring (56).
5. An unattended pharmacy according to claim 4, further comprising a second drug storage bin (6) and drug transfer means (7); the second medicine storage bin (6) has the same structure as the first medicine storage bin (2), and is provided with the XY biaxial movement mechanism (30), the first mechanical arm (31) and the medicine supplementing device (5); the second medicine storage bin (6) is parallel to the first medicine storage bin (2), and adjacent sides are mutually abutted; a drug transfer port (60) is formed in the side wall of the second drug storage bin (6) which is abutted against the first drug storage bin (2);
The medicine transferring device (7) comprises a third mounting frame (70), a fourth linear displacement mechanism (71) and a third medicine basket placing table (72); the third mounting frame (70) is mounted at the medicine transferring port (60), two fourth linear displacement mechanisms (71) are arranged, and the two fourth linear displacement mechanisms (71) are arranged side by side and can move from the first medicine storage bin (2) to the second medicine storage bin (6); and the moving ends of the two fourth linear displacement mechanisms (71) are respectively provided with a third medicine basket placing table (72).
6. An unattended pharmacy according to claim 5, characterized in that the drug rack (21) comprises a bracket (210) and a stopper (211); the bracket (210) is a strip-shaped fixed plate; the two brackets (210) are sequentially and vertically arranged on the inner wall in the medicine storage bin shell (20) along the X-axis direction, and a space is reserved between the two brackets (210); the limiting block (211) is a strip-shaped limiting block (211), and a limiting groove is formed in the top of the limiting block; two limiting blocks (211) are arranged on the corresponding brackets (210) along the Z-axis direction;
The medicine basket (22) comprises a box body (220), an adjusting guide rail (221), a fixed baffle (222) and an adjustable movable baffle (223); the top and one side of the box body (220) are provided with openings, and the bottom of the box body is provided with clamping bulges corresponding to the limiting grooves;
The box body (220) is clamped on the bracket (210) along the Z-axis direction, and an opening on the side face of the box body faces the first manipulator (31); the two adjusting guide rails (221) are arranged, and the two adjusting guide rails (221) are parallel and are arranged at two ends of the bottom plate of the box body (220) along the X-axis direction;
The fixed baffle (222) and the adjustable movable baffle (223) are provided with two; the two fixed baffles (222) are fixed on the inner walls of the box body (220) at the two ends of the adjusting guide rail (221), and the two adjustable movable baffles (223) are arranged on the adjusting guide rail (221) between the two fixed baffles (222) and respectively correspond to the two fixed baffles (222);
the top of the first medicine basket placing table (43), the second medicine basket placing table (54) and the third medicine basket placing table (72) is provided with a limiting clamping groove corresponding to the clamping protrusion.
7. The unattended pharmacy according to claim 6, wherein the XY biaxial movement mechanism (30) is an XY biaxial guide synchronous belt slipway mechanism, and the first linear displacement mechanism (44), the second linear displacement mechanism, the third linear displacement mechanism (53) and the fourth linear displacement mechanism (71) are all single-axis linear guide synchronous belt slipway mechanisms.
8. An unattended pharmacy according to claim 7, wherein the vending machine (1) comprises a vending machine housing (10), a controller, a medication operation screen (11), a card reader (12), a printer (13) and a keyboard input device (14); the medicine vending machine comprises a medicine vending machine shell (10), a medicine taking port (100) and a medicine taking bin gate (15) are arranged on the medicine taking port (100), and the medicine taking bin gate (15) is movably connected to the medicine taking port; the medicine selling machine shell (10) is arranged at one end of the outer side of the medicine storage bin shell (20), and the controller, the medicine taking operation screen (11), the card reader (12), the printer (13) and the keyboard input device (14) are all arranged on the medicine selling machine shell (10);
The medicine taking operation screen (11) the card reader (12) the printer (13) the keyboard input device (14) XY biax motion (30) the conveyer (41) the second manipulator (45) visual identification system (46) place platform rotary mechanism the heat preservation cabin body (23) medicine replenishment operation screen (51) first linear displacement mechanism (44) second linear displacement mechanism third linear displacement mechanism (53) fourth linear displacement mechanism (71) all with the controller electricity is connected.
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| CN202011204212.3A CN112193702B (en) | 2020-11-02 | 2020-11-02 | Unmanned on duty sells medicine drugstore |
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| CN114283526A (en) * | 2021-01-15 | 2022-04-05 | 青岛海特生物医疗有限公司 | Vaccination control method |
| CN113788258B (en) * | 2021-09-16 | 2023-06-27 | 苏州朗康医疗机器人有限公司 | Medicine taking mechanism for intravenous medicine brewing |
| CN116788747B (en) * | 2023-08-28 | 2023-10-20 | 苏州英特吉医疗设备有限公司 | Full-automatic dispensing system and working method |
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