CN219296571U - Medicine taking device - Google Patents

Abstract

The utility model provides medicine taking equipment, which comprises a clamping jaw device, a clamping jaw moving device and a medicine box device; the medicine box device is used for storing medicine bottles and comprises a pushing assembly; the clamping jaw moving device is used for driving the clamping jaw device to move so as to enable the clamping jaw device to move to a medicine taking position of the medicine box device; the clamping jaw device is used for clamping the medicine bottles in the medicine box device and is matched with the pushing component to guide the medicine bottles when the medicine bottles are clamped. The medicine taking equipment drives the clamping jaw device to clamp based on the moving device, and the pushing component and the clamping jaw device are matched to guide the medicine bottle, so that the clamped medicine bottle can be ensured to be stable in state (namely, the inclined medicine bottle can be guided even if the inclined medicine bottle is clamped), and the consistency of the clamping state is ensured, thereby being beneficial to the normal operation of subsequent procedures; and a plurality of arm clamps jointly clamp and have improved clamping stability, avoid appearing when two arm clamps centre gripping to press from both sides broken medicine bottle in order to improve clamping stability and improve the clamp force.

Description

Medicine taking device

Technical Field

The utility model relates to the field of automatic medicine dispensing, in particular to medicine taking equipment.

Background

Currently, with the development of society, the application of automatic dispensing is becoming more and more widespread. The medicine taking and dispensing processes are finished by means of mechanical equipment, so that labor cost is reduced, possibility of human misoperation is reduced, and potential danger to medical staff in the medicine dispensing process is reduced.

The medicine is taken as an essential step in the process of dispensing the infusion medicine. At present, most of the mechanical clamping jaws are used for grabbing medicine bottles (such as ampoule bottles and penicillin bottles), for example, the utility model patent with the patent number of CN209793761U discloses a turnover clamping device of a mechanical arm, which adopts the clamping jaws to clamp medicine bottles, when the medicine bottles are inclined during clamping, the clamped medicine bottles are inclined, so that when the medicine bottles are conveyed to the next process, the follow-up processing equipment cannot be accurately positioned with the medicine bottles (such as when medicine bottles are placed or medicines in the medicine bottles are extracted) due to the inclination of the medicine bottles, the normal operation of the follow-up process is affected, in addition, the clamping jaws can shake the medicine bottles in the transportation process of clamping the medicine bottles, and if the clamping force is increased, the medicine bottles are clamped and crushed, if stable conveying is ensured, the medicine bottle state is kept. The above problems are to be solved.

Disclosure of Invention

In order to solve the problems in the background art, the utility model provides a medicine taking device, which comprises a clamping jaw device, a clamping jaw moving device and a medicine box device; the medicine box device is used for storing medicine bottles and comprises a pushing assembly; the clamping jaw moving device is used for driving the clamping jaw device to move so that the clamping jaw device moves to a medicine taking position of the medicine box device; the clamping jaw device is used for clamping the medicine bottles in the medicine box device and is matched with the pushing component to guide the medicine bottles when the medicine bottles are clamped.

In the medicine taking device, the clamping jaw device clamps and withdraws from the side face of the medicine bottle, and when the clamping jaw device clamps the medicine bottle, the medicine bottle is positioned in the clamping jaw device, and at the moment, the pushing component pushes the medicine bottle until the medicine bottle abuts against the clamping jaw device.

In the drug delivery device of the present utility model, the jaw means comprises a first jaw arm, a second jaw arm, a third jaw arm and a drive assembly; the first clamping arm and the second clamping arm are oppositely arranged at intervals; the third clamping arm is arranged between the first clamping arm and the second clamping arm; the driving assembly is used for driving the first clamping arm, the second clamping arm and the third clamping arm to move, and jointly guide and clamp the medicine bottle.

In the medicine taking device, when the medicine bottle is clamped, the pushing component pushes the medicine bottle against the third clamping arm so as to clamp and guide the medicine bottle, and the medicine bottle is clamped and guided again by moving the first clamping arm, the second clamping arm and the third clamping arm.

In the medicine taking device, the opposite surfaces of the first clamping arm and the second clamping arm are inclined surfaces so as to form a necking structure between the ends of the first clamping arm and the second clamping arm.

In the medicine taking device of the present utility model, a face of the third clip arm facing the medicine bottle has a receiving recess.

In the medicine taking device, the accommodating concave part is a through groove with a triangular section, and when the medicine bottle is clamped, the groove walls at two sides are contacted with the wall of the medicine bottle.

In the medicine taking device, the driving assembly comprises a first driving piece, a first transmission assembly, a second driving piece and a mounting seat; the first driving piece, the first transmission assembly and the second driving piece are respectively arranged on the mounting seat; the first driving piece drives the third clamping arm to move through the first transmission component; the second driving piece is used for driving the first clamping arm and the second clamping arm to be close to or far away from each other.

In the medicine taking device, the first transmission component comprises a gear, a rack and a guide rod; the gear is arranged at the driving end of the first driving piece; the rack is meshed with the gear for transmission; the guide rod is parallel to the rack and is connected to the mounting seat in a sliding manner, and the sliding direction is along the extending direction of the guide rod; the guide rod and/or the rack drives the third clamping arm to move in a telescopic mode.

In the medicine taking device of the present utility model, the medicine cartridge device further includes a medicine cartridge; the medicine box is provided with a storage groove; the storage tank is used for storing the medicine bottles; one end of the storage tank is communicated with the side surface of the medicine box to form a discharge hole; the pushing component is used for pushing the medicine bottle along the extending direction of the storage groove.

In the medicine taking device, the top of the medicine bottle is exposed out of the storage groove; the clamping jaw device clamps the exposed part of the medicine bottle.

In the medicine taking device of the present utility model, the jaw means is moved toward the medicine bottle from a position directly opposite to the discharge port side of the storage tank.

In the medicine taking device, the medicine box device further comprises a material blocking component; the stopper assembly is mounted to the cartridge and is movable between a blocking position blocking the vial and a evading position evading the vial.

In the medicine taking device, the pushing component and the blocking component are positioned on two opposite sides of the medicine bottle.

In the medication intake device of the present utility model, the stopper assembly is moved by the jaw arrangement to switch positions between the blocking position and the avoiding position.

In the medicine taking device, the end part of the clamping jaw device is formed into a tapered tip structure, and when the clamping jaw device moves, the side wall of the tip of the clamping jaw device abuts against the material blocking assembly.

In the medicine taking device, when the first clamping arm and the second clamping arm in the clamping jaw device are close to each other to clamp the medicine bottle, the blocking component moves to a blocking position to limit the medicine bottle adjacent to the medicine bottle from moving out.

In the medicine taking device, the clamping jaw device moves to the material taking position, and the material blocking assembly moves to the avoiding position.

In the medicine taking device, the material blocking component comprises a blocking piece, a rotating shaft, a reset spring and a first guide piece; the blocking piece is rotatably installed in an installation groove formed in the side wall of the storage groove through the rotating shaft, and is reset to the blocking position at the avoiding position through the reset spring; the medicine box is provided with a second guide groove; the first guide piece is arranged on the blocking piece, and the end part of the first guide piece is exposed out of the medicine box through the second guide groove; the jaw device moves to drive the first guide member to move so that the blocking member moves.

In the medicine taking device, the blocking piece is of a fan-shaped plate structure, the cambered surface faces the medicine bottle, and the blocking piece rotates around an included angle as an axis.

In the medicine taking device of the utility model, the second guide groove is an arc groove, and the blocking piece is limited to move between the blocking position and the avoiding position.

In the medicine taking device, the pushing component comprises a pushing piece and an elastic telescopic piece; the pushing piece is slidably arranged in the storage tank; one end of the elastic telescopic piece is fixedly connected to the discharge port side of the storage tank, and the other end of the elastic telescopic piece is connected to the pushing piece.

In the medicine taking device of the present utility model, the elastic expansion member includes a coil spring; the coil spring is arranged on the pushing piece, and the end part of the coil spring is fixedly connected to the discharge port side of the storage tank.

In the medicine taking device, the elastic telescopic piece further comprises a guide wheel; the guide wheel is rotatably arranged on the pushing piece, and the pull rope is fixedly connected to the discharge port side of the storage tank after being changed by the guide wheel.

In the medicine taking device, the pushing component further comprises a drag hook; the draw hook is rotatably arranged on the pushing piece, and can be hooked on the medicine box to fix the position of the pushing piece.

In the medicine taking device, the medicine box is provided with a hooking groove.

In the medicine taking device, the draw hook is arranged at the tail part of the pushing piece, the hooking part is positioned at the outer side of the tail part of the pushing piece, and the draw hook is tightly connected with the medicine box through the first elastic piece.

In the medicine taking device, the clamping jaw moving device drives the clamping jaw device to clamp the medicine bottle from one side of the medicine bottle.

In the medicine taking device, the clamping jaw moving device comprises an X-axis moving device, a Y-axis moving device and a Z-axis moving device; the Z-axis moving device is arranged at the moving end of the Y-axis moving device; the moving end of the Z-axis moving device is connected with the X-axis moving device; and the moving end of the X-axis moving device is connected with the clamping jaw device.

The beneficial effects of the utility model are as follows: the medicine taking equipment drives the clamping jaw device to clamp based on the moving device, and the pushing component and the clamping jaw device are matched to guide the medicine bottle, so that the clamped medicine bottle can be ensured to be stable in state (namely, the inclined medicine bottle can be guided even if the inclined medicine bottle is clamped), and the consistency of the clamping state is ensured, thereby being beneficial to the normal operation of subsequent procedures; and a plurality of arm clamps jointly clamp and have improved clamping stability, avoid appearing when two arm clamps centre gripping to press from both sides broken medicine bottle in order to improve clamping stability and improve the clamp force.

Drawings

FIG. 1 is a schematic view of the structure of the drug delivery device of the present utility model;

FIG. 2 is one of the schematic structural views of the jaw arrangement of the medication intake device of the present utility model;

FIG. 3 is a second schematic structural view (showing the internal structure) of the jaw apparatus of the medication intake device of the present utility model;

FIG. 4 is a third schematic view of the jaw assembly of the drug delivery device of the present utility model (showing the bottom structure of FIG. 2);

FIG. 5 is a schematic view of a jaw assembly of the medication intake device of the present utility model;

FIG. 6 is a schematic view of the structure of a cartridge assembly of the drug delivery device of the present utility model;

FIG. 7 is a partial schematic view of the cartridge assembly of the drug delivery device of the present utility model with the drug vial A mounted thereto;

fig. 8 is a partial schematic view of the gripper device of the medicine taking apparatus of the present utility model gripping a medicine bottle a;

FIG. 9 is a schematic view of the structure of a stopper assembly of the medication intake device of the present utility model;

FIG. 10 is one of the schematic structural views of the pushing assembly of the drug delivery device of the present utility model;

FIG. 11 is a second schematic view of the pushing assembly of the drug delivery device of the present utility model; (internal structure is shown);

fig. 12 is a schematic view of the structure of the jaw apparatus of the medication intake device of the present utility model when mounted on the jaw moving means.

Legend: 1. a jaw arrangement; 11. a first clamp arm; 12. a second clamp arm; 13. a third clamp arm; 131. a receiving recess; 14. a drive assembly; 141. a first driving member; 142. a first transmission assembly; 1421. a gear; 1422. a rack; 1423. a guide rod; 143. a second driving member; 144. a mounting base; 15. a necking structure; 2. a jaw moving device; an x-axis movement device; y-axis movement means; a z-axis movement device; 3. a cartridge device; 31. a pushing assembly; 311. a pushing piece; 312. an elastic expansion piece; 3121. a coil spring; 3123. a guide wheel; 313. a drag hook; 314. a first elastic member; 32. a cartridge; 321. a storage tank; 3211. a mounting groove; 322. a second guide groove; 323. a hooking groove; 33. a material blocking component; 331. a blocking member; 332. a rotating shaft; 333. a return spring; 334. a first guide.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

A medication intake device according to the present utility model will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1, a medicine taking device comprises a clamping jaw device 1, a clamping jaw moving device 2 and a medicine box device 3; the medicine box device 3 is used for storing medicine bottles A, and the medicine box device 3 comprises a pushing component 31; the clamping jaw moving device 2 is used for driving the clamping jaw device 1 to move so as to enable the clamping jaw device 1 to move to a medicine taking position (such as a position in the clamping jaw device with a opened medicine bottle A position) of the medicine box device 3; the jaw device 1 is used for gripping a medicine bottle A in the medicine box device 3 and is matched with the pushing assembly 31 to guide the medicine bottle A when the medicine bottle A is gripped.

Specifically, the gripper moving device 2 drives the gripper device 1 to grip and withdraw from the side surface of the medicine bottle a, and when the gripper device 1 grips the medicine bottle a (the gripper opens), the medicine bottle a is located in the gripper device 1, and at this time, the pushing component 31 pushes the medicine bottle a until the medicine bottle a abuts against the gripper device 1. The pushing assembly 31 may alternatively be an electric push or a pneumatic push or other means capable of pushing the vial a.

The medicine taking equipment drives the clamping jaw device to clamp based on the moving device, and the pushing component and the clamping jaw device are matched to guide the medicine bottle, so that the clamped medicine bottle can be ensured to be stable in state (namely, the inclined medicine bottle can be guided even if the inclined medicine bottle is clamped), and the consistency of the clamping state is ensured, thereby being beneficial to the normal operation of subsequent procedures; and a plurality of arm clamps jointly clamp and have improved clamping stability, avoid appearing when two arm clamps centre gripping to press from both sides broken medicine bottle in order to improve clamping stability and improve the clamp force.

In some embodiments, as shown in fig. 2, the jaw apparatus 1 includes a first jaw arm 11, a second jaw arm 12, a third jaw arm 13, and a drive assembly 14; the first clamping arm 11 and the second clamping arm 12 are arranged at opposite intervals; the third clamp arm 13 is disposed between the first clamp arm 11 and the second clamp arm 12, preferably the first clamp arm 11 and the second clamp arm 12 are symmetrical with respect to the third clamp arm 13, and at the same time, approach or separate from the third clamp arm 13 at the same speed; the ends of the first clamping arm 11, the second clamping arm 12 and the third clamping arm 13 protrude from the driving assembly 14, and are driven to move by the driving assembly 14 to jointly guide and clamp the medicine bottle A. At this time, when gripping the medicine bottle a, the first gripper arm 11 and the second gripper arm 12 are opened, the pushing unit 31 presses the medicine bottle a against the third gripper arm 13 to clamp and guide the medicine bottle a (guide the inclined state in the pushing direction of the pushing unit 31), and the medicine bottle a is clamped and guided again by the movement of the first gripper arm 11, the second gripper arm 12 and the third gripper arm 13 (guide the inclined state in the direction of the first gripper arm 11 or the second gripper arm 12).

Preferably, as shown in fig. 2-5, the face of the third clip arm 13 facing the vial a has a receiving recess 131 (the first clip arm 11 and the second clip arm 12 are symmetrical about the receiving recess). The accommodating recess 131 is a through groove with a triangular cross section, and when the medicine bottle a is clamped, the groove walls on both sides are in contact with the wall of the medicine bottle a. Based on the accommodating concave part 131, the contact surface between the third clamping arm 13 and the medicine bottle A is increased, so that the medicine bottle A is guided by being matched with the pushing component 31, and the medicine bottle A is propped against the accommodating concave part 131 through the pushing component 31, for example, the accommodating concave part 131 is arranged along the vertical direction, and the medicine bottle A propped against the accommodating concave part 131 is also in the vertical state; and when the medicine bottle a is held by the pushing assembly 31 and the third clamp arm 13, not accommodated in the accommodating recess 131 (if the medicine bottle a is inclined toward the first clamp arm 11 or the second clamp arm), the medicine bottle a is guided based on the first clamp arm 11 and the second clamp arm 12 approaching each other, and at this time, based on the accommodating recess being positioned right in between the first clamp arm 11 and the second clamp arm 12, the guided medicine bottle a is pushed by the first clamp arm 11 and the second clamp arm 12 to the front of the accommodating recess 131 and then pushed into the accommodating recess 131 by the pushing assembly 31; preferably, the triangular vertex angle of the cross section of the accommodating recess 131 is 140 ° -160 °, in which range the vial a is more easily guided and held more stably.

In some embodiments, as shown in fig. 2-5, the opposing faces of the first and second clamp arms 11, 12 are beveled to form a necked-down configuration 15 between the ends of the first and second clamp arms 11, 12; based on the necking structure 15, in the first aspect, the third clamping arm 13 is prevented from pushing out the medicine bottle A so as to be separated from the control of the first clamping arm 11 and the second clamping arm 12; in the second aspect, the inclined surface of the necking structure 15 is matched with the third clamping arm 13 to position and clamp the medicine bottle A, and the medicine bottle A can be guided again; in the third aspect, the stability of clamping is improved based on the fact that more surfaces are contacted with the medicine bottle A, preferably, the inclined surface has an inclined angle of C, and the inclined angle of C is 144-164 degrees, so that the medicine bottle A is more easily guided in the range and is more stable in clamping; the large or small angle is not beneficial to the clamping arm to push the medicine bottle A to move so as to guide the medicine bottle.

The surfaces of the first, second and third arms 11, 12, 13 that preferably contact the vial a are coated with a non-stick coating, such as a teflon coating.

When clamping, based on the pushing component 31, the medicine bottle A is propped against the third clamping arm 13, so that the position of the medicine bottle A is stabilized, the positions of the medicine bottle A relative to the first clamping arm 11, the second clamping arm 12 and the third clamping arm 13 are determined, and after the medicine bottle A is clamped by the first clamping arm 11, the second clamping arm 12 and the third clamping arm 13 together, the positions of the medicine bottle A relative to the first clamping arm 11, the second clamping arm 12 and the third clamping arm 13 are consistent, and the guiding and clamping effects of the first clamping arm 11, the second clamping arm 12 and the third clamping arm 13 are guaranteed.

In some embodiments, as shown in fig. 3 and 5, the drive assembly 14 includes a first drive member 141, a first transmission assembly 142, a second drive member 143, and a mount 144; the first driving piece 141, the first transmission component 142 and the second driving piece 143 are respectively arranged on the mounting seat 144, and the first driving piece 141 drives the third clamping arm 13 to move through the first transmission component 142; the second driving piece 143 is used for driving the first clamping arm 11 and the second clamping arm 12 to approach or separate from each other. The second driving member 143 is an electric cylinder (e.g., a smc two-jaw electric cylinder or an IAI electric cylinder)

RCP6-GRT 7A-WA-28P-1-30-P5-R05-CJRB); the first driving member 141 is a servo motor; based on the third arm lock 13 can independently remove, then when the medicine bottle presss from both sides and gets, the convenience is adjusted medicine bottle position, after first arm lock 11 and second arm lock 12 clamp the medicine bottle, promote the medicine bottle and make it can move the position relative first arm lock 11 and second arm lock 12 based on the removal of third arm lock 13 to, based on the inclined plane department of third arm lock 13 promotion medicine bottle removal to first arm lock 11 and second arm lock 12 tip, then lead the medicine bottle based on the effect of first arm lock 11, second arm lock 12 and third arm lock 13, and the centre gripping is inseparable.

In some embodiments, as shown in fig. 4, the first drive assembly 142 includes a gear 1421, a rack 1422, and a guide 1423; the gear 1421 is mounted on the driving end of the first driving member 141; the rack 1422 is meshed with the gear 1421 for transmission; the guide rod 1423 is disposed parallel to the rack 1422, and is slidably connected to the mounting base 144 (for example, a sliding sleeve is disposed on the mounting base, and the guide rod is slidably connected to the sliding sleeve), where the sliding direction is along the extending direction of the guide rod 1423; the guide bar 1423 and/or the rack 1422 may move the third clamping arm 13 in a telescopic manner.

In some embodiments, as shown in fig. 6, the cartridge device 3 further comprises a cartridge 32; the medicine box 32 is provided with a plurality of storage tanks 321, and one or more storage tanks 321 are selected, for example, the storage tanks 321 are arranged in parallel when the number of the storage tanks is selected; the storage tank 321 is used for storing medicine bottles a (one or more medicine bottles a may be stored, and when a plurality of medicine bottles a are stored, the medicine bottles a are arranged in a row); one end of the storage tank 321 is communicated with the side surface of the medicine box 32 to form a discharge hole; the pushing component 31 is used for pushing the medicine bottle a along the extending direction of the storage tank 321 so that the medicine bottle a is output from the discharge port, at this time, the clamping jaw device 1 clamps the medicine bottle a at the side of the discharge port, and the clamping jaw device 1 moves towards the medicine bottle a from the position directly opposite to the side of the discharge port of the storage tank 321.

Specifically, the top of the medicine bottle a is exposed to the storage tank 321; the jaw device 1 grips the exposed portion of the vial a.

In some embodiments, as shown in fig. 6-8, the magazine apparatus 3 further includes a stop assembly 33; the stopper assembly 33 is attached to the medicine box 32 and is movable between a blocking position for blocking the medicine bottle a and a avoiding position for avoiding the medicine bottle a. Based on the setting of keeping off material subassembly 33, push subassembly 31 and keep off material subassembly 33 and be located medicine bottle A relative both sides, push subassembly 31 supports medicine bottle A on keeping off material subassembly 33, when handling a plurality of medicine bottles A, through keeping off material subassembly 33 and being in blocking the position and avoiding the position and remove, realize medicine bottle A and carry one by one. The material blocking component 33 can be an electric or pneumatic telescopic structure or other structures capable of realizing position switching.

In some embodiments, the stop assembly 33 is moved by the jaw apparatus 1 to switch positions between the blocking and avoiding positions.

Alternatively, as shown in fig. 8, the end of the jaw device 1 is formed into a tapered tip structure (the outer side wall surface of the end of the jaw device 1 is an inclined surface), and when the jaw device 1 moves, the side wall of the tip of the jaw device 1 abuts against the material blocking component 33;

in another implementation, the arms of the jaw apparatus 1 are opened to move the stop assembly 33 to the off position.

In some embodiments, as shown in fig. 7-9, the dam assembly 33 includes a dam 331, a spindle 332, a return spring 333, and a first guide 334 (e.g., a guide wheel or bar); the blocking piece 331 is rotatably installed in an installation groove 3211 formed in the side wall of the Chu Liaocao 321 through a rotating shaft 332, and the blocking piece 331 is reset to a blocking position at a avoiding position through a reset spring 333, specifically, the blocking piece 331 is of a sector plate structure, the cambered surface faces the medicine bottle A, and the included angle is taken as an axis to rotate. The medicine box 32 is provided with a second guide groove 322; the first guide 334 is mounted on the blocking member 331, and the end portion of the first guide 334 is exposed out of the medicine cartridge 32 through the second guide groove 322; the jaw apparatus 1 moves to move the first guide 334 to move the blocking member 331. The second guide groove 322 is an arc-shaped groove, and restricts the movement of the blocking member 331 between the blocking position and the avoiding position. Preferably, the second guide grooves 322 are arranged in pairs and are respectively arranged on the top and bottom surfaces of the mounting groove 3211, the first guide piece 334 is optionally a guide rod, one end of the first guide piece extends into the second guide groove 322 at the bottom of the mounting groove 3211, the other end of the first guide piece extends out of the second guide groove 322 at the top of the mounting groove 3211, the part, located in the second guide groove 322, of the first guide piece 334 is sleeved with a guide wheel, the extending end part of the first guide piece is also sleeved with a guide wheel, and the corresponding mounting groove 3211 is provided with a guide groove for accommodating the guide wheel.

While the clamping jaw device 1 comprises the first clamping arm 11, the second clamping arm 12 and the third clamping arm 13, the blocking piece 331 is located at the blocking position when clamping, the clamping jaw device 1 moves towards the medicine bottle A, the third clamping arm 13 moves to be in contact with the medicine bottle A when the side wall of the first clamping arm 11 or the second clamping arm 12 contacts the first guide piece 334, the clamping jaw device 1 further moves to drive the first guide piece 334 to move so as to enable the blocking piece 331 to move to the avoiding position (the taking position), and the third clamping arm 13 keeps in contact with the medicine bottle A during the process, preferably the third clamping arm 13 contacts with the medicine bottle A but does not push the medicine bottle A to move, so that the medicine bottle A is prevented from being extruded and broken due to the fact that the third clamping arm 13 pushes the medicine bottle A when full in the medicine box device 3; the pushing component 31 pushes the medicine bottle A against the third clamping arm 13, the clamping jaw device 1 moves reversely, the pushing component 31 continues to push the medicine bottle A to move, when the blocking piece 331 moves to the blocking position, the medicine bottle adjacent to the medicine bottle A is propped against the blocking piece 331 to limit the medicine bottle adjacent to the medicine bottle A to move out, then the first clamping arm 11 and the second clamping arm 12 are close to each other to clamp the medicine bottle A, and the clamping jaw device 1 drives the medicine bottle A to return. When the ends of the first clamping arm 11 and the second clamping arm 12 are set to be inclined planes, the third clamping arm 13 pushes the medicine bottle A until the medicine bottle A is in inclined plane contact with the ends of the first clamping arm 11 and the second clamping arm 12, so that the medicine bottle A is guided and clamped and positioned; preferably, when the first clamping arm 11 and the second clamping arm 12 are close to each other, the inclined surfaces at the ends of the first clamping arm 11 and the second clamping arm clamp the medicine bottle A, so that the clamping is quicker and more stable.

In some embodiments, as shown in fig. 10, the pushing assembly 31 includes a pushing member 311 and a resilient telescoping member 312 (e.g., a spring, elastic cord, or other structure); the pushing member 311 is slidably mounted in the storage tank 321 (preferably, the pushing member 311 has a guide groove, and the storage tank 321 has a guide rail to define a pushing direction of the pushing member 311); one end of the elastic expansion piece 312 is fixedly connected to the side of the Chu Liaocao 321 discharge hole, and the other end of the elastic expansion piece is connected to the pushing piece 311; based on the elastic telescopic piece 312, the pushing piece 311 is driven to push the medicine bottle A, the structure is simple, mechanical faults easily caused by taking action equipment are avoided, and the operation is stable.

Specifically, the elastic telescoping member 312 includes a coil spring 3121; the coil spring 3121 is installed on the pushing member 311 and the end is fixedly connected to the discharge port side of Chu Liaocao 321.

In some embodiments, as shown in fig. 11, the resilient telescoping member 312 further includes a guide pulley 3123; the guide wheel 3123 is rotatably installed on the pushing member 311, and the coil spring 3121 is fixedly connected to the side of the discharge port of the Chu Liaocao through the guide wheel 3123.

In some embodiments, as shown in fig. 6, 10 and 11, the push assembly 31 further includes a drag hook 313; the draw hook 313 is rotatably installed on the pushing member 311, and the draw hook 313 can be hooked on the medicine box 32 to fix the position of the pushing member 311, so that the medicine bottle A can be conveniently placed in the storage groove 321. The medicine box 32 is provided with a hooking groove 323; the draw hook 313 is mounted at the tail of the pushing member 311, and the hooking portion is located at the outer side of the tail of the pushing member 311, and the draw hook 313 is tightly connected with the medicine box 32 through a first elastic member 314 (such as a return spring), specifically, the draw hook 313 is abutted to the hooking groove 323 through the first elastic member 314.

In some embodiments, as shown in fig. 12, the jaw moving device 2 includes an X-axis moving device 21, a Y-axis moving device 22, and a Z-axis moving device 23; the X-axis moving device 21 is SMC (electric cylinder LEY RA_100CM_RBCE17); the Y-axis moving device 22 and the Z-axis moving device 23 can both take the form of a motor driving a conveyor belt, and the conveyor belt is used as a driving end, and the present design can be referred to specifically, and details are not described herein. The motor can BE selected to loosen the servo motor MSMF042L1V2+MBDLN25BE; the moving end of the Y-axis moving device 22 is provided with a Z-axis moving device 23; the moving end of the Z-axis moving device 23 is connected with the X-axis moving device 21; the moving end of the X-axis moving device 21 is connected with the clamping jaw device 1; based on the multi-directional movement of the jaw moving device 2, a plurality of medicine box devices 3 (which can be installed on a medicine box tray optionally and can be provided with multiple layers to reduce occupied space) can be correspondingly arranged to clamp different medicine bottles A for dispensing.

The working steps of the automatic material taking device are as follows:

before clamping, a plurality of medicine bottles a are placed in the storage tank 321 and are named as medicine bottle A1 and medicine bottle a2. The pushing assembly 31 pushes the vial A1 against the stop 331 (in the blocking position);

the clamping is started, and according to the medicine taking requirement, a Y-axis moving device 22 and a Z-axis moving device 23 in the clamping jaw moving device 2 drive the clamping jaw device 1 to move to the corresponding medicine box device 3;

the first clamping arm 11 and the second clamping arm 12 are opened, the clamping jaw device 1 moves towards the medicine bottle A under the drive of the X-axis moving device 21, the side wall of the first clamping arm 11 or the second clamping arm 12 contacts with the first guide piece 334, the third clamping arm 13 moves to be in contact with the medicine bottle A, the clamping jaw device 1 further moves to drive the first guide piece 334 to move so as to enable the blocking piece 331 to move to the avoiding position (taking position), and the third clamping arm 13 keeps in contact with the medicine bottle A and does not push the medicine bottle A to move in the process;

the pushing component 31 pushes the medicine bottle A between the first clamping arm 11 and the second clamping arm 12 and abuts against the third clamping arm 13, then the X-axis moving device 21 drives the clamping jaw device 1 to return, the pushing component 31 pushes the medicine bottle A to move, and when the blocking piece 331 is reset to the blocking position, the medicine bottle A moves out of the blocking range of the blocking piece 331 and blocks the medicine bottle A2; the driving component 14 drives the first clamping arm 11, the second clamping arm 12 and the third clamping arm 13 to mutually approach to clamp the medicine bottle A and jointly clamp the medicine bottle A1;

the clamping jaw device 1 drives the medicine bottle A to return, and meanwhile, the pushing component 31 continues to push other medicine bottles A to be abutted against the blocking piece 331, so that the medicine bottle A2 is limited to be moved out.

Claims (10)

1. The medicine taking device is characterized by comprising a clamping jaw device (1), a clamping jaw moving device (2) and a medicine box device (3);

the cartridge device (3) is used for storing medicine bottles (A), and the cartridge device (3) comprises a pushing assembly (31);

the clamping jaw moving device (2) is used for driving the clamping jaw device (1) to move so that the clamping jaw device (1) moves to a medicine taking position of the medicine box device (3);

the clamping jaw device (1) is used for clamping the medicine bottle (A) in the medicine box device (3) and is matched with the pushing assembly (31) to guide the medicine bottle (A) when the medicine bottle (A) is clamped.

2. The medication intake device according to claim 1, characterized in that the jaw arrangement (1) comprises a first clamping arm (11), a second clamping arm (12), a third clamping arm (13) and a drive assembly (14);

the first clamping arm (11) and the second clamping arm (12) are oppositely arranged at intervals;

the third clamping arm (13) is arranged between the first clamping arm (11) and the second clamping arm (12);

the driving assembly (14) is used for driving the first clamping arm (11), the second clamping arm (12) and the third clamping arm (13) to move, and the medicine bottle (A) is guided and clamped together.

3. The medication intake device according to claim 2, characterized in that the opposing faces of the first and second clamp arms (11, 12) are bevelled to form a constriction (15) between the ends of the first and second clamp arms (11, 12).

4. The medication intake device according to claim 2, characterized in that the face of the third clamping arm (13) facing the medicine bottle (a) has a receiving recess (131).

5. The medication intake device of claim 2, characterized in that the drive assembly (14) comprises a first drive member (141), a first transmission assembly (142), a second drive member (143), and a mount (144);

the first driving piece (141), the first transmission assembly (142) and the second driving piece (143) are respectively arranged on the mounting seat (144);

the first driving piece (141) drives the third clamping arm (13) to move through the first transmission component (142);

the second driving piece (143) is used for driving the first clamping arm (11) and the second clamping arm (12) to be close to or far away from each other.

6. The medication intake device of claim 5, wherein the first transmission assembly (142) includes a gear (1421), a rack (1422), and a guide bar (1423);

the gear (1421) is arranged at the driving end of the first driving piece (141);

the rack (1422) is meshed with the gear (1421) for transmission;

the guide rod (1423) is arranged parallel to the rack (1422) and is connected to the mounting seat (144) in a sliding manner, and the sliding direction is along the extending direction of the guide rod (1423);

the guide rod (1423) and/or the rack (1422) drive the third clamping arm (13) to move in a telescopic mode.

7. The medication intake device according to claim 1, characterized in that the cartridge arrangement (3) further comprises a cartridge (32);

the medicine box (32) is provided with a storage groove (321); the storage tank (321) is used for storing the medicine bottles (A);

one end of the storage groove (321) is communicated with the side surface of the medicine box (32) to form a discharge hole;

the pushing component (31) is used for pushing the medicine bottle (A) along the extending direction of the storage groove (321).

8. The medication intake device according to claim 7, characterized in that the cartridge means (3) further comprises a stop assembly (33);

the stopper assembly (33) is mounted to the magazine (32) and is movable between a blocking position blocking the medicine bottle (A) and a avoiding position avoiding the medicine bottle (A).

9. The medication intake device of claim 7, characterized in that the pushing assembly (31) comprises a pushing member (311) and an elastic telescopic member (312);

the pushing piece (311) is slidably arranged in the storage groove (321);

one end of the elastic telescopic piece (312) is fixedly connected to the discharge port side of the storage tank (321), and the other end of the elastic telescopic piece is connected to the pushing piece (311).

10. The medication intake device according to claim 1, characterized in that the jaw movement means (2) comprises X-axis movement means (21), Y-axis movement means (22) and Z-axis movement means (23);

the Z-axis moving device (23) is arranged at the moving end of the Y-axis moving device (22);

the moving end of the Z-axis moving device (23) is connected with the X-axis moving device (21);

the moving end of the X-axis moving device (21) is connected with the clamping jaw device (1).

Images