CN208199732U - A kind of multi-robot dispensing device - Google Patents
A kind of multi-robot dispensing device Download PDFInfo
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- CN208199732U CN208199732U CN201820642690.4U CN201820642690U CN208199732U CN 208199732 U CN208199732 U CN 208199732U CN 201820642690 U CN201820642690 U CN 201820642690U CN 208199732 U CN208199732 U CN 208199732U
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- dispensing
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- 239000003814 drug Substances 0.000 claims abstract description 372
- 229940079593 drug Drugs 0.000 claims abstract description 211
- 230000000903 blocking effect Effects 0.000 claims description 61
- 230000001360 synchronised effect Effects 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000007599 discharging Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
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Abstract
The utility model relates to a kind of multi-robot dispensing devices, belong to pharmacy automatic medicament discharging equipment technical field.Technical solution is: including the identical multiple units of structure, each unit includes the manipulator mechanism (2) and dispensing mechanism (3) of drug storage mechanism (1), drug of taking from drug storage mechanism (1), and the linear motor track (212) of multiple parallel arrangements in the moving assembly (21) of manipulator mechanism (2) is located between drug storage mechanism (1) and dispensing mechanism (3).The beneficial effects of the utility model are: drug storage mechanism (1) can satisfy the placement of various drug, manipulator mechanism (2) keeps the scheduling for taking medicine and dispensing more versatile and flexible, medicine speed is taken to obtain biggish promotion.Meanwhile gear section (231) in turn ensures and takes medicine accurately and quickly.Drug is checked again for before dispensing, if drug is wrong, equipment makes corresponding prompt and movement, it is therefore prevented that the generation of secondary mistake.
Description
Technical field
The utility model relates to a kind of multi-robot dispensing devices, belong to pharmacy automatic medicament discharging equipment technical field.
Background technique
Currently, the pharmacy of various big hospital, convenience-for-people pharmacy and relevant healthcare institution compare prescription list take medicine when, generally according to
The mode of " manually taking medicine " is handled, i.e., pharmacist or relevant staff find one by one according to the drug enumerated in prescription list,
It takes again.For relevant healthcare institution, daily drug variety to be processed is various, quantity is larger, therefore, so that work
It is very big to make the daily labor intensity of personnel, at the same time, working efficiency is also very low.When take medicine staff to work compared with
Unavoidable to generate the case where taking wrong drug after long-time, if such case is not found and handled in time, possibility will
Cause the consequence that can not be retrieved.
For current Partial Medical Institutions using automation equipment assist dispensing, with reduce staff working strength and
Working efficiency is improved, dispensing error rate is reduced.These automation equipments are divided into two kinds: active drug and passive drug.Actively go out
Medicine successively takes to drug using manipulator, but most of active drug equipment take medicine speed lower, can not
Parallel completion dispensing, and medicine is taken easily to occur the case where drug is fallen in the process；Passive drug is made using skewed slot and gravity
Drug is fallen in transmission device.Although its structure is simple for passive drug, drug may produce during falling
Raw damage.For control aspect, the skewed slot (i.e. each drug) of each powder charge needs a control device to control drug
Landing so that it is complex to seem in terms of line layout, and required number of sensors is more.
Utility model content
The utility model aim is to provide a kind of multi-robot dispensing device, takes that medicine is accurate, speed is fast, and can be simultaneously
Dispensing is completed, solves the problems, such as background technique.
The technical solution of the utility model is:
A kind of multi-robot dispensing device, include the identical multiple units of structure, each unit include drug storage mechanism, from
It takes in drug storage mechanism the manipulator mechanism and dispensing mechanism of drug；
The drug storage mechanism includes to put medicine bracket, put medicine baffle and backboard, puts medicine bracket equipped with multiple parallel arrangements
Put medicine baffle and with put the vertically arranged backboard of medicine baffle；
The manipulator mechanism includes moving assembly, drug blocking component and medicine-taking component, and the moving assembly includes multiple flat
The linear motor track of row arrangement and the mounting rack being located on linear motor track；The drug blocking component includes to be located on mounting rack
Drug blocking motor, the drug blocking synchronous belt and drug blocking synchronous belt two sides that are connect with drug blocking motor driven drug blocking baffle；It is described to take medicine
Component include be located at the chain between two drug blocking baffles, connect with chain drive take it is spaced apart on medicine motor and chain
Multiple gear sections；
The dispensing mechanism includes medicine outlet, the barcode scanning element on medicine outlet and connects medicine frame；
The linear motor track of multiple parallel arrangements in the moving assembly of the manipulator mechanism be located at drug storage mechanism and
Between dispensing mechanism.
The angle between backboard and horizontal plane in the drug storage mechanism is 75-90 °.
The medicine baffle of putting of multiple parallel arrangements in the drug storage mechanism is located on the crossbeam of about two parallel arrangements, institute
State the T-slot that crossbeam is equipped with puts medicine baffle and match.
Mounting rack in the moving assembly of the manipulator mechanism is equipped with the directive wheel matched with linear motor track
And scroll wheel.
The top of chain in the medicine-taking component of the manipulator mechanism is equipped with sliding medicine plate.
Spaced apart multiple gear sections are to match with Medicine box on chain in the medicine-taking component of the manipulator mechanism
Pusher dog.
Mounting rack in the moving assembly of the manipulator mechanism is equipped with drug position detecting element.
Utility model works process:
1. medicine-feeding: according to the classification of drug, the Medicine box of same drug being placed in drug storage mechanism two and adjacent puts medicine
Putting on medicine bracket between baffle, and lean against Medicine box on backboard；
2. taking medicine:
A. the position where the Medicine box that confirmation needs to take in drug storage mechanism；
B. the Mobile mounting rack on linear motor track is directed at drug blocking component and medicine-taking component on mounting rack and needs to take
Medicine box where put medicine bracket in drug storage mechanism；
C. start drug blocking motor and take medicine motor, drug blocking motor drives the gear of drug blocking synchronous belt adjustment drug blocking synchronous belt two sides
The distance between medicine baffle, while the Medicine box put on medicine bracket being pulled out using the gear section on chain and falls on drug blocking synchronous belt two sides
Drug blocking baffle between cunning medicine plate on；
D. by chain movement, the Medicine box in sliding medicine plate is sent at the medicine outlet into dispensing mechanism；
3. dispensing: Medicine box being dropped by the medicine outlet in dispensing mechanism and is connect in medicine frame, is i.e. completion dispensing.
When taking medicine, drug blocking motor drives the distance between the drug blocking baffle of drug blocking synchronous belt adjustment drug blocking synchronous belt two sides,
So that the distance between drug blocking baffle of drug blocking synchronous belt two sides is greater than the outer dimension of taken Medicine box, prevents Medicine box from falling；
Medicine motor is taken to drive chain) move the gear section being located at below sliding medicine plate with chain, after gear section is contacted with Medicine box, gear
Section, which pulls out Medicine box, to be fallen in sliding medicine plate, and is located between two neighboring gear section, if desired continues to take a box medicine in the position,
It contacts next gear section with the Medicine box, and Medicine box is pulled out by the gear section and is fallen in sliding medicine plate, and so on.
When dispensing, when Medicine box reach dispensing mechanism in medicine outlet after, judge got drug whether with respective orders
In drug it is consistent, if inconsistent, make corresponding alarm, and medicine frame will be connect and be marked.
The beneficial effects of the utility model are: drug storage mechanism can satisfy the placement of various drug, adjustment replacement dressing position
When it is easy to operate.The manipulator mechanism of every unit can carry out that medicine and dispensing is taken to operate into other units, make to take medicine and dispensing
Scheduling it is more versatile and flexible, take medicine speed to obtain biggish promotion.Medicine-taking component benefit in each manipulator mechanism
It carries out taking medicine with the gear section on chain, keeps the control for taking medicine simpler, meanwhile, gear section, which in turn ensures, takes the accurate and fast of medicine
Speed.During taking medicine, the achievable a certain number of drugs of manipulator mechanism are temporarily stored, so that taking medicine more convenient, it is not necessary to
It often takes a box medicine that must send out, repeats and take, therefore, so that medicine speed is taken to obtain larger promotion.During taking medicine, gear
Medicine baffle is changed according to different drug outer dimensions, and drug whole process is without the danger slid out.Before dispensing again to drug
It checks, if drug is wrong, equipment makes corresponding prompt and movement, it is therefore prevented that the generation of secondary mistake.
Detailed description of the invention
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is the utility model cellular construction schematic diagram；
Fig. 3 is the drug storage mechanism partial schematic diagram of the utility model；
Fig. 4 is the manipulator mechanism schematic diagram one of the utility model；
Fig. 5 is the manipulator mechanism schematic diagram two of the utility model；
In figure: 1, drug storage mechanism, 2, manipulator mechanism, 3, dispensing mechanism, 4, baffle, 11, put medicine baffle, 12, crossbeam,
13, backboard, 14 put medicine bracket；21, moving assembly, 22, drug blocking component, 23, medicine-taking component, 31, barcode scanning element, 32, connect medicine frame,
41, unit mounting rack, 42, Medicine box, 211, guide rail beam, 212, linear motor track, 213, linear motor rotor, 214, installation
Frame, 215, directive wheel, 216, scroll wheel, 221, drug blocking baffle, 222, sliding medicine plate, 223, drug blocking synchronous belt, 224, drug blocking motor,
231, gear section, 232, chain, 233, sprocket wheel, 234, take medicine synchronous belt, 235, take medicine motor, 236, position detecting element.
Specific embodiment
Below in conjunction with attached drawing, by example, the utility model is described in further detail.
Referring to attached drawing 1-5, a kind of multi-robot dispensing device includes the identical multiple units of structure, and each unit wraps
Mechanism containing drug storage 1, the manipulator mechanism 2 for drug of taking from drug storage mechanism 1 and dispensing mechanism 3；
The drug storage mechanism 1 includes to put medicine bracket 14, put medicine baffle 11 and backboard 13, puts medicine bracket 14 and is equipped with multiple put down
Row arrangement put medicine baffle 11 and with put the vertically arranged backboard 13 of medicine baffle 11；
The manipulator mechanism 2 includes moving assembly 21, drug blocking component 22 and medicine-taking component 23, and the moving assembly 21 wraps
Linear motor track 212 containing multiple parallel arrangements and the mounting rack 214 being located on linear motor track 212；The drug blocking group
Part 22 includes the drug blocking motor 224 being located on mounting rack 214, the drug blocking synchronous belt 223 being drivingly connected with drug blocking motor 224 and gear
The drug blocking baffle 221 of 223 two sides of medicine synchronous belt；The medicine-taking component 23 includes the chain being located between two drug blocking baffles 221
232, what is be drivingly connected with chain 232 takes spaced apart multiple gear sections 231 on medicine motor 235 and chain 232；
The dispensing mechanism 3 includes medicine outlet, the barcode scanning element 31 on medicine outlet and connects medicine frame 32；
The linear motor track 212 of multiple parallel arrangements in the moving assembly 21 of the manipulator mechanism 2 is located at drug storage
Between mechanism 1 and dispensing mechanism 3.
Backboard 13 in the drug storage mechanism 1 and the angle put between medicine bracket 14 are 5-20 °.
The crossbeam 12 of multiple parallel arrangements in the drug storage mechanism 1 put medicine baffle 11 and be located at about two parallel arrangements
On, the crossbeam 12 is equipped with and the T-slot putting medicine baffle 11 and match.
Mounting rack 214 in the moving assembly 21 of the manipulator mechanism 2 is equipped with to be matched with linear motor track 212
Directive wheel 215 and scroll wheel 216.
The top of chain 232 in the medicine-taking component 23 of the manipulator mechanism 2 is equipped with sliding medicine plate 222.
Spaced apart multiple gears section 231 is and drug on chain 232 in the medicine-taking component 23 of the manipulator mechanism 2
The pusher dog that box matches.
Mounting rack 214 in the moving assembly 21 of the manipulator mechanism 2 is equipped with gear section position detecting element 236.
Utility model works process:
1. medicine-feeding: according to the classification of drug, the Medicine box of same drug being placed in drug storage mechanism 1 two and adjacent puts medicine
Putting on medicine bracket 14 between baffle 11, and lean against Medicine box on backboard 13；
2. taking medicine:
A. the position of drug storage mechanism 1 where the Medicine box that confirmation needs to take；
B. the Mobile mounting rack 214 on linear motor track 212 makes the drug blocking component 22 on mounting rack 214 and takes medicine group
Medicine bracket 14 is put in drug storage mechanism 1 where the alignment of part 23 needs the Medicine box taken；
C. start drug blocking motor 224 and take medicine motor 235, it is same that drug blocking motor 224 drives drug blocking synchronous belt 223 to adjust drug blocking
The distance between the drug blocking baffle 221 of 223 two sides of band is walked, while will be put on medicine bracket 14 using the gear section 231 on chain 232
Medicine box pulls out in the cunning medicine plate 222 between the drug blocking baffle 221 for falling on 223 two sides of drug blocking synchronous belt；
D. it is moved by chain 232, the Medicine box in sliding medicine plate 222 is sent at the medicine outlet into dispensing mechanism 3；
E. in above-mentioned motion process, the distance that gear section 231 is moved is determined using position detecting element 236.
3. dispensing: Medicine box being dropped by the medicine outlet in dispensing mechanism 3 and is connect in medicine frame 32, is i.e. completion dispensing.
In the present embodiment, referring to attached drawing 1, a kind of multi-robot medicine outlet device is taken side by side by three units and is put together
It constitutes, is from left to right followed successively by unit a, unit b and unit c, each unit includes drug storage mechanism 1,2 and of manipulator mechanism
Dispensing mechanism 3.The achievable medicine device in drug storage mechanism 1 of each unit is taken.Particularly, the manipulator of some unit
Mechanism 2 can carry out that medicine is taken to operate into the drug storage mechanism 1 of other units.
Referring to attached drawing 2, drug is placed on medicine bracket 14 in drug storage mechanism 1, two neighboring to put between medicine baffle 11.Back
Plate 13 be arranged certain tilt angle, be close to the outer packing of drug to backboard 13, thus drug will not because vibration or
Other reasons are fallen, and to provide a reference position when drug putting.It puts medicine bracket 14 and is placed on every two and put medicine baffle 11
Immediately below bottom.
Referring to attached drawing 2,3, has in each unit and multiple put medicine baffle 11 and put medicine bracket 14, the cross in three units
Beam 12 is the entirety for having long T-slot, and three of the shared parallel arrangement of crossbeam 12, medicine baffle is put for installing in top two
11, medicine bracket 14 is put for installing in lower section one.
It referring to attached drawing 3, puts medicine baffle 11 and is mounted in the T-slot of crossbeam 12, installation site is according to different Medicine boxs 42
Outer dimension and determine, making Medicine box 42 that can be put into two and putting between medicine baffle 11, which can carry out phase on crossbeam 12
The adjustment answered, until being adjusted to desired position.
Referring to attached drawing 2, manipulator mechanism includes: moving assembly 21, drug blocking component 22 and medicine-taking component 23.Moving assembly 21
It is mobile that low friction can be carried out by mounting rack 214, save energy consumption.Drug blocking component 23 ensure that medicine-taking component 22 is taking medicine process
Middle drug will not skid off.Medicine-taking component 22 completes the work that drug is taken and sent out from drug storage mechanism 1.
Referring to attached drawing 4,5, the used driving method of moving assembly 21 is linear motor driving, described below middle by straight-line electric
Machine track 212 and linear motor rotor 213 are referred to as linear motor.Linear motor is that the movement of manipulator mechanism 2 provides power.
Entire manipulator mechanism 2 is installed on mounting rack 214, to reduce the resistance of entire mechanism during the motion, therefore is used and is rolled
The mode of friction, scroll wheel 216 is rolled in the upper surface of guide rail beam 211 in the process of running.Directive wheel 215 is for guaranteeing machinery
The traffic direction of hand unit 2, it is contacted with the side of guide rail beam 211.Directive wheel 215 and scroll wheel 216 are mounted on installation
On frame 214, to lift entire manipulator mechanism 2.
Linear motor track 212 is also mounted at the center of guide rail beam 211 simultaneously, and linear motor rotor 213 is mounted on installation
On frame 214, so that entire manipulator mechanism 2 is axially moved with linear motor rotor 213 along guide rail beam 211.
Referring to attached drawing 1, using linear motor driving method, so that the linear motor track 212 in three units is combined into one
The case where unified track of item, manipulator mechanism 2 of the manipulator mechanism 2 in no other units in some unit stops
Under be moveable in other units.
When taking medicine to a variety of drugs, three units can carry out taking medicine parallel in certain degree, make to take medicine speed
Biggish promotion is obtained.
It include one group of synchronous belt drive mechanism in drug blocking medicine component 22, for driving drug blocking baffle referring to attached drawing 4,5
221, two drug blocking baffles 221 are connected to the two sides of drug blocking synchronous belt 223, so that two drug blocking baffles 221 are being moved through
In journey with respect to and it is synchronous.
During taking medicine, when a certain drug will be taken by learning, drug blocking motor 224 can be controlled at this time and drives drug blocking
Synchronous belt 223, the distance between two drug blocking baffles 221 of adjustment are slightly larger than the outer dimension of taken Medicine box, prevent drug from taking
It is fallen during medicine.
It include taking medicine motor 235, synchronous belt drive mechanism and chain-drive mechanism in medicine-taking component 23 referring to attached drawing 4,5.It takes
Medicine motor 235 is transferred power on chain-drive mechanism by synchronous belt drive mechanism, and multiple gears have been evenly arranged on chain 232
Section 231, is taking medicine process, saves 231 pairs of drugs by the gear and takes, and it is sent out from manipulator mechanism 2.
Referring to attached drawing 3, gear section 231 in the process of running can be with the drug contact that is taken, and therefore, gear section 231 is beyond putting medicine
The height of bracket 14, less than the height for putting the minimum medicine box of height in the equipment.Particularly, when taking medicine, the every movement of chain 232
When the distance between two gear sections 231, taking for a box drug can be completed.Because of the distance that control chain 232 is run every time
It is consistent, thus can realize simple, reliable quick drug.
Referring to attached drawing 4,5, sliding medicine plate 222 is located at 232 top of chain, ensure that Medicine box will not be contacted with chain 232.It is sliding
Medicine plate 222 cooperates the gear section 231 installed on chain 232, so that can take medicine several times during taking medicine each time, and will be taken more
To drug be temporarily stored in 222 top of sliding medicine plate, their position is distinguished with gear section 231 between every two boxes drug.
Because the gear section 231 is less than the height for putting the minimum medicine box of height in the equipment beyond the height for putting medicine bracket 14
The drug of the position bottom is pulled out and is dropped out, and fallen after chain 232 moves the distance between primary two gears section 231 by degree
Onto medicine slide plate 222, medicine is if desired taken to the drug at this moment again, then only needs to make to take medicine motor 235 to drive chain 232 again
Mobile corresponding distance, i.e., complete taking for a box drug again.
Referring to attached drawing 1,2, after moving assembly 21 drives manipulator mechanism 2 to be moved to corresponding medicine outlet position, motor is again
Secondary drive chain 232 moves, to successively sending the drug being located in sliding medicine plate 222 to the medicine outlet of medicament discharge mechanism 3.
After drug reaches medicine outlet, barcode scanning element 31 can be scanned the bar code on medicine box, judge that got drug is
It is no consistent with drugs in respective orders, if inconsistent, corresponding alarm is made, and lower section is connect into medicine frame 32 labeled as different
Normal state.
Now in conjunction with all Detailed description of the invention operating processes:
According to the classifying drugs of required placement, different units is selected；
Before medicine-feeding, it should first adjust putting in each unit and medicine baffle 11 and put the position of medicine bracket 14, put each
Medicine bracket 14 is located at the two neighboring centre for putting medicine baffle 11, while every two is put the distance between medicine baffle 11 and should be met
Then the medicine box outer dimension for the drug placed puts Medicine box on medicine bracket 14 in each put；
After the equipment receives an order message, host computer is after each unit distributes the medicine respectively to be taken, it is assumed that c
Unit has the medicine of b unit to be arrived, the manipulator when the manipulator mechanism 2 in c unit needs to take medicine in b unit, in b unit
Mechanism moves downward, and reserves the space that the manipulator mechanism 2 in c unit takes medicine, and then the manipulator mechanism 2 in c unit is opened
Beginning takes medicine.
Referring to attached drawing 3,4,5: when taking medicine, manipulator mechanism 2 move to taken drug underface (taken drug two sides
Put the middle position of medicine baffle 11), drug blocking motor 224 drive drug blocking synchronous belt 223, adjust two drug blocking baffles 221 between away from
From the outer box size for being slightly larger than taken drug, prevent drug from falling during taking medicine；It takes medicine motor 235 to drive chain 232, makes
Gear section 231 positioned at sliding 222 lower section of medicine plate is moved with chain 232, after gear section 231 is contacted with Medicine box 42, gear section 231
Medicine box 42 is pulled out and is fallen in sliding medicine plate 222, and is located between above-mentioned gear section 231 and its previous gear section 231, due to there is gear
The protection of medicine baffle 222 guarantees that Medicine box 42 will not skid off.If desired continue to take a box medicine in the position, chain 232 reruns
The distance between two neighboring gear section 231, i.e., complete again taking for a drug.
Two box drugs are cached on manipulator mechanism 2 at this time, if also needing to take medicine, can continue to take, cache the number of drug
The half of amount up to 231 quantity of gear section.
After completing the taking of Medicine box, linear motor drives manipulator mechanism 2 to move to medicine outlet position, takes medicine motor
235 drive chain 232 to rotate the distance that adjacent two gear of the Quantity of drugs on Current mechanical mobile phone structure 2 saves 231, then by manipulator
Drug in mechanism 2 is all sent out.
Referring to attached drawing 2, after drug reaches out drug mouth, barcode scanning element 31 can be scanned the bar code on Medicine box,
Judge whether got drug is consistent with the drug in respective orders, if inconsistent, make corresponding alarm, and by lower section
Medicine frame 32 is connect labeled as abnormality.
So far, manipulator mechanism 2 is taken repeatedly, until taking all drugs needed for the prescription.
Claims (7)
1. a kind of multi-robot dispensing device, it is characterised in that: include the identical multiple units of structure, each unit includes storage
Medicine mechanism (1), the manipulator mechanism (2) for drug of taking from drug storage mechanism (1) and dispensing mechanism (3)；
The drug storage mechanism (1) includes to put medicine bracket (14), put medicine baffle (11) and backboard (13), puts medicine bracket (14) and is equipped with
Multiple parallel arrangements put medicine baffle (11) and with put medicine baffle (11) vertically arranged backboard (13)；
The manipulator mechanism (2) includes moving assembly (21), drug blocking component (22) and medicine-taking component (23), the moving assembly
(21) the linear motor track (212) comprising multiple parallel arrangements and the mounting rack being located on linear motor track (212)
(214)；The drug blocking component (22) includes that the drug blocking motor (224) being located on mounting rack (214) and drug blocking motor (224) are driven
The drug blocking synchronous belt (223) of dynamic connection and the drug blocking baffle (221) of drug blocking synchronous belt (223) two sides；The medicine-taking component (23)
Comprising be located between two drug blocking baffles (221) chain (232), with chain (232) be drivingly connected take medicine motor (235) and
Spaced apart multiple gear sections (231) on chain (232)；
The dispensing mechanism (3) includes medicine outlet, the barcode scanning element (31) on medicine outlet and connects medicine frame (32)；
The linear motor track (212) of multiple parallel arrangements in the moving assembly (21) of the manipulator mechanism (2) is located at storage
Between medicine mechanism (1) and dispensing mechanism (3).
2. a kind of multi-robot dispensing device according to claim 1, it is characterised in that the back in the drug storage mechanism (1)
The angle of plate (13) and horizontal plane is 75-90 °.
3. a kind of multi-robot dispensing device according to claim 2, it is characterised in that more in the drug storage mechanism (1)
A parallel arrangement put medicine baffle (11) be located at about two parallel arrangement crossbeam (12) on, the crossbeam (12) be equipped with
Put the T-slot that medicine baffle (11) matches.
4. a kind of multi-robot dispensing device according to claim 1, it is characterised in that the shifting of the manipulator mechanism (2)
Mounting rack (214) in dynamic component (21) is equipped with the directive wheel (215) and scroll wheel matched with linear motor track (212)
(216).
5. a kind of multi-robot dispensing device according to claim 1 or 4, it is characterised in that the manipulator mechanism (2)
Medicine-taking component (23) in the top of chain (232) be equipped with sliding medicine plate (222).
6. a kind of multi-robot dispensing device according to claim 1 or 4, it is characterised in that the manipulator mechanism (2)
Medicine-taking component (23) in chain (232) on spaced apart multiple gears section (231) be the pusher dog matched with Medicine box.
7. a kind of multi-robot dispensing device according to claim 1, it is characterised in that the shifting of the manipulator mechanism (2)
Mounting rack (214) in dynamic component (21) is equipped with gear section (231) position detecting element (236).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820642690.4U CN208199732U (en) | 2018-05-02 | 2018-05-02 | A kind of multi-robot dispensing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820642690.4U CN208199732U (en) | 2018-05-02 | 2018-05-02 | A kind of multi-robot dispensing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208199732U true CN208199732U (en) | 2018-12-07 |
Family
ID=64521713
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820642690.4U Withdrawn - After Issue CN208199732U (en) | 2018-05-02 | 2018-05-02 | A kind of multi-robot dispensing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208199732U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438886B (en) * | 2018-05-02 | 2024-01-30 | 唐山晟群科技有限公司 | Multi-manipulator medicine dispensing device and method |
-
2018
- 2018-05-02 CN CN201820642690.4U patent/CN208199732U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438886B (en) * | 2018-05-02 | 2024-01-30 | 唐山晟群科技有限公司 | Multi-manipulator medicine dispensing device and method |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20181207 Effective date of abandoning: 20240130 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20181207 Effective date of abandoning: 20240130 |