CN114506607A - Method for grabbing different types of medicines in medicine dispensing machine, medicine dispensing machine and storage medium - Google Patents
Method for grabbing different types of medicines in medicine dispensing machine, medicine dispensing machine and storage medium Download PDFInfo
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- CN114506607A CN114506607A CN202210189598.8A CN202210189598A CN114506607A CN 114506607 A CN114506607 A CN 114506607A CN 202210189598 A CN202210189598 A CN 202210189598A CN 114506607 A CN114506607 A CN 114506607A
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- mechanical arm
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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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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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
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
- Medical Treatment And Welfare Office Work (AREA)
Abstract
The invention discloses a method for grabbing different types of medicines in a medicine dispenser, the medicine dispenser and a storage medium, wherein the method comprises the following steps: the prescription scanning unit scans and acquires patient prescription information; the host of the dispensing machine analyzes the information of the prescription order and judges the type of the first medicine on the prescription order; driving the mechanical arm to move to a jig placing position and automatically connecting a medicine grabbing jig corresponding to the type of the medicine; the mechanical arm connected with the medicine grabbing jig grabs corresponding medicines and then sends the medicines to the medicine outlet part; the host machine of the dispensing machine judges the type of the next medicine, if the type of the next medicine is the same as that of the previous medicine, the medicine grabbing jig connected with the mechanical arm keeps unchanged and grabs the corresponding medicine to the medicine discharging part; if the type of the medicine is different from that of the previous medicine, the mechanical arm automatically changes the corresponding medicine gripping jig, and grips the corresponding medicine to the medicine discharging part after the medicine gripping jig is changed; and repeating the steps until all the medicines in the prescription list are taken out. The medicine dispensing machine enables the medicine dispensing machine to automatically switch to fetch different types of medicines.
Description
Technical Field
The invention relates to the technical field of intelligent medicine dispensers, in particular to a method for grabbing different types of medicines in a medicine dispenser, the medicine dispenser and a storage medium.
Background
In the existing dispensing equipment of an intelligent pharmacy, such as dispensing machines, because the dispensing technology is limited, only one type of medicine can be grasped, such as only an injection (e.g., an ampoule) medicine can be grasped or only a box-packed medicine can be grasped, so that each dispensing machine can only store one type of medicine, if two types of medicines need to be grasped, two dispensing machines need to be configured to store the injection medicine and the box-packed medicine respectively, and thus, the waste of resources is caused.
Therefore, the prior art has yet to be improved.
Disclosure of Invention
In view of the above disadvantages of the prior art, the present invention provides a method for grasping different types of medicines in a medicine dispenser, and a storage medium, and aims to enable the medicine dispenser to automatically switch to grasp different types of medicines.
In order to realize the purpose, the invention adopts the following technical scheme:
the medicine dispensing machine comprises a cabinet body, a medicine rack and a host machine which are arranged in the cabinet body, and a prescription scanning unit which is arranged on the cabinet body and is electrically connected with the host machine, wherein the cabinet body is also provided with a medicine outlet part;
the dispensing machine further comprises a manipulator which is arranged in the cabinet body and electrically connected with the host, the manipulator comprises a movable mechanical arm and a plurality of dispensing jigs which are separately arranged from the mechanical arm, the dispensing jigs comprise a clamping hand for grabbing injection medicines and a sucker for grabbing box-packed medicines, and the mechanical arm is in switchable connection with the clamping hand or the sucker;
the grabbing method comprises the following steps:
s10, the prescription scanning unit scans and obtains the information of the patient prescription;
s20, the host computer of the dispensing machine analyzes the information of the prescription order and judges the type of the first medicine on the prescription order;
s30, driving the mechanical arm to move to a jig placing position according to the type of the medicine and automatically connecting a medicine grasping jig corresponding to the type of the medicine;
s40, the mechanical arm connected with the medicine gripping jig moves, grips corresponding medicines and then sends the medicines to the medicine discharging part;
s50, judging the type of the next medicine by the host of the dispensing machine, if the type of the next medicine is the same as that of the previous medicine, keeping the medicine gripping jig connected with the mechanical arm unchanged and gripping the corresponding medicine to the medicine discharging part;
if the type of the medicine is different from that of the previous medicine, the mechanical arm moves to the position where the jig is placed to automatically replace the corresponding medicine gripping jig, and after replacement, the corresponding medicine is gripped to the medicine discharging part;
s60, repeating step S50 until all the medicines in the prescription are taken out.
In a second aspect, the invention provides a medicine dispensing machine, which comprises a cabinet body, a medicine rack and a host arranged in the cabinet body, and a prescription scanning unit arranged on the cabinet body and electrically connected with the host, wherein the cabinet body is also provided with a medicine outlet part;
the medicine taking device comprises a cabinet body, a main machine and a plurality of medicine taking jigs, and is characterized by further comprising a mechanical arm arranged in the cabinet body and electrically connected with the main machine, wherein the mechanical arm comprises a movable mechanical arm and a plurality of medicine taking jigs separately arranged from the mechanical arm, the medicine taking jigs comprise clamping hands for taking injection medicines and sucking discs for taking box-packed medicines, and the mechanical arm is connected with the clamping hands or the sucking discs in a switchable manner;
the host comprises a memory, a processor and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the aforementioned method when executing the computer program.
In a third aspect, the present invention proposes a computer-readable storage medium, in which a computer program is stored, which when executed implements the aforementioned method.
It is understood that within the scope of the present invention, the above-mentioned technical features of the present invention and those specifically described below (in the embodiments) can be combined with each other to constitute a new or preferred technical solution, to be limited to space, and not to be described in any more detail herein.
According to the method for grabbing different types of medicines in the medicine dispensing machine, the mechanical arm capable of automatically replacing the medicine grabbing jig is arranged in the medicine dispensing machine, after a host of the medicine dispensing machine analyzes a prescription and judges the type of the medicines in the prescription, the mechanical arm of the mechanical arm is driven to automatically connect or replace a clamping hand corresponding to the injection medicines or a suction disc corresponding to the box-packed medicines, and then the mechanical arm finishes grabbing of the corresponding medicines, so that the function of automatically switching and grabbing the injection medicines and the box-packed medicines on the same medicine dispensing machine is realized, different medicine dispensing machines do not need to be configured independently for each different type of medicines, and resources are saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic view of the structure of the dispensing machine of the present invention;
FIG. 2 is a schematic view of a scenario in which a mechanical arm of a dispensing machine of the present invention is connected to different dispensing jigs;
fig. 3 is a flow chart of an automatic grabbing method of different types of medicines in the medicine dispensing machine according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the medicine dispensing machine 100 according to the present invention is capable of automatically switching to fetch different types of medicines, and the medicine dispensing machine 100 includes a cabinet 1, a medicine rack 2 and a host 3 disposed in the cabinet 1, a prescription scanning unit 4 disposed on the cabinet 1 and electrically connected to the host 3, and a medicine dispensing unit 5 disposed on the cabinet 1.
The medicine rack 2 is used for placing different types of medicines, and the different types of medicines comprise injection medicines 200, such as liquid or powder injection medicines like ampules, penicillin bottles and the like. The boxed medicine 300 is medicine with an external packing box, such as tablets, capsules and the like. It will be appreciated that other types of medication, such as bags, may also be included. The prescription scanning unit 4 is used for scanning a prescription order of a patient to obtain medicine information on the prescription order, and the host 3 is used for analyzing and processing data and controlling each circuit unit on the dispensing machine 100.
The dispensing machine 100 of the embodiment of the present invention further includes a manipulator 6 disposed in the cabinet 1 and electrically connected to the host 3, the manipulator 6 includes a movable mechanical arm 61 and a plurality of medicine grasping jigs 62 disposed separately from the mechanical arm 61, and a special jig placement position for placing the medicine grasping jigs 62 is disposed in the cabinet 1 of the embodiment of the present invention. The plurality of medicine gripping jigs 62 comprise a clamping hand 621 used for gripping injection medicines and a sucking disc 622 used for gripping boxed medicines, and the mechanical arm 61 is connected with the clamping hand 621 or the sucking disc 622 in a switching mode.
Preferably, as shown in fig. 2, the jig placing position in the cabinet 1 according to the embodiment of the present invention is a clamping groove 11 disposed in the cabinet 1, and the clamping groove 11 respectively clamps and fixes the clamping handle 621 and the suction cup 622.
The mechanical arm 6 of the embodiment of the invention is divided into two parts, one part is a movable mechanical arm 61, the other part is a different type of medicine gripping jig 62 which is arranged separately from the mechanical arm 61, when medicine gripping is needed, the mechanical arm 61 is jointed with the medicine gripping jig 62 of the corresponding type together to complete medicine gripping, when medicine gripping is not needed, the mechanical arm 61 is separated from the medicine gripping jig 62, and the medicine gripping jig 62 is placed at a jig placing position, namely on the clamping groove 11 of the embodiment.
As shown in fig. 2, the medicine taking jig 62 according to the embodiment of the present invention includes at least one gripper 621 and at least one suction cup 622. When the type of the medicine to be currently grabbed is the injection medicine 200, the mechanical arm 61 is connected and engaged with the gripper 621, and the manipulator 6 after engagement completes grabbing of the injection medicine 200, as shown in the left side of fig. 2; when the type of medicine to be previously gripped is the medicine 300 of the cassette type, the robot arm 61 is connected and engaged with the suction cup 622, and the robot arm 6 after engagement completes gripping of the medicine 300 of the cassette type, as shown in the right side of fig. 2.
In the middle of the medicine taking, the robot arm 61 may switch the connection with the gripper 621 or the suction cup 622 according to the type of medicine to be taken.
After the mechanical arm 61 is connected to the gripper 621 or the suction cup 622, the mechanical structure is connected to the mechanical arm, and the circuit or the air path is connected to the mechanical arm to complete the subsequent clamping and suction operations.
As shown in fig. 3, the method for grabbing different types of medicines in the dispensing machine specifically comprises the following steps:
s10, the prescription scanning unit scans and acquires the information of the patient prescription.
The prescription scanning unit 4 may acquire information of the prescription of the patient by image scanning, two-dimensional code scanning, bar code scanning, or the like. The patient order information includes information such as patient name, age, disease name, drug type, and drug quantity. The prescription scanning unit 4 acquires prescription information and transmits the information to the host computer 3 of the medicine dispensing machine 100.
And S20, the host of the dispensing machine analyzes the information of the prescription order and judges the type of the first medicine on the prescription order.
After the host 3 of the dispensing machine 100 receives the prescription information sent by the prescription scanning unit 4, it starts to parse the prescription to obtain various information on the prescription, such as patient information and drug information. The drug information includes drug name, type and quantity. After the medicine information is acquired, the type of the first medicine is judged so that the mechanical arm 61 of the subsequent mechanical arm 6 can select the corresponding medicine grabbing jig 62, and if the type of the first medicine is an injection medicine 200, the host 3 controls the mechanical arm 61 to select and connect the clamping hand 621; if the first medicine type is the boxed medicine 300, the host computer 3 will control the mechanical arm 61 to selectively connect the suction cup 622.
And S30, driving the mechanical arm to move to a jig placing position according to the type of the medicine and automatically connecting a medicine grabbing jig corresponding to the type of the medicine.
After the host 3 judges the type of the first medicine, a corresponding medicine gripping jig 62 selection instruction is sent to the mechanical arm 61, the mechanical arm 61 starts to move after receiving the instruction, and starts to select and connect the corresponding medicine gripping jig 62 after moving to the jig placing position 8 in the rack 1, if the type of the first medicine is an injection medicine 200, the mechanical arm 61 selects and connects with the clamping hand 621; if the first drug type is a cassette type drug 300, the robotic arm 61 will select to engage in connection with the suction cup 622. In the embodiment of the present invention, the connection between the robot arm 61 and the gripper 621 or the suction cup 622 is automatically completed without manual operation. For example, the mechanical arm 61 and the medicine gripping jig 62 are automatically clamped, plugged or magnetically attracted.
And S40, the mechanical arm connected with the medicine gripping jig moves, grips the corresponding medicine and then sends the medicine to the medicine discharging part.
The mechanical arm 61 is connected and engaged with the corresponding medicine gripping jig 62 to form a complete mechanical arm 6, and the mechanical arm 6 moves in the cabinet 1 to complete the gripping of the first medicine and is sent to the medicine discharging portion 5.
Further, as shown in fig. 1, a medicine taking mechanism 7 electrically connected with the host 3 and movable in the cabinet 1 is further disposed in the cabinet 1 according to an embodiment of the present invention, a medicine taking position 8 is further disposed outside the medicine rack 2 in the cabinet 1, and the manipulator 6 takes medicines after the medicines on the medicine rack 2 are taken to the medicine taking position 8 by the medicine taking mechanism 7.
According to the embodiment of the invention, the medicine taking and the medicine taking are separated, so that the difficulty in medicine taking is reduced conveniently, and medicines are generally placed on the medicine rack 2 in multiple layers, so that if the medicine is taken on the medicine rack 2 directly by the manipulator 6, the manipulator 6 is limited and shielded due to the structure of the medicine rack 2. This embodiment will get it filled and fill prescription separately to set up special fill prescription position 8 in the cabinet body 1, get the medicine mechanism 7 and take out and remove spacious noiseless fill prescription position 8 back on with medicine frame 2, again by the manipulator 6 fill prescription operation, guaranteed the stability of filling prescription. In the embodiment of the hair-dressing machine, the medicine taking mechanism 7 can be a linear displacement module which moves back and forth, left and right and up and down, so that the medicine taking mechanism can move to each layer of the medicine rack 2 to take medicine conveniently.
Preferably, the mechanical arm 61 of the embodiment of the present invention is further provided with an identification checking module 611 for identifying and checking whether the medicine is taken correctly. The identification checking module 611 can be used for shooting a picture of the medicine grabbed by the medicine grabbing jig 62, identifying the name, type and specification of the medicine, comparing the name, type and specification of the medicine with the medicine currently processed by the host 3, preventing the medicine from being grabbed by mistake and playing a role of safety insurance.
S50, judging the type of the next medicine by the host of the dispensing machine, if the type of the next medicine is the same as that of the previous medicine, keeping the medicine gripping jig connected with the mechanical arm unchanged and gripping the corresponding medicine to the medicine discharging part; if different with preceding medicine type, then the arm moves to the tool and places the position and change the corresponding tool of grabbing medicine automatically, snatchs corresponding medicine to the portion of going out of medicine after the change.
After the first medicine is grabbed, the host 3 of the dispensing machine 100 starts to judge the type of the next medicine, and if the type of the next medicine is the same as that of the previous medicine, if the previous medicine is an injection medicine 200, the current medicine is also an injection medicine 200, or if the current medicine is a box-packed medicine 300, and the current medicine is also a box-packed medicine 300, the medicine grabbing jig 62 connected with the current mechanical arm 61 does not need to be replaced, remains unchanged, and can grab the medicine to the medicine discharging part 5 directly.
If the medicine type is different from the previous medicine type, the medicine gripping jig 62 connected to the mechanical arm 61 at present must be replaced, otherwise, the medicine gripping of the current time cannot be completed. At this time, the mechanical arm 61 moves to the jig placing position 8 to automatically replace the corresponding medicine gripping jig; if the previous gripper 621 is used for medicine gripping, the robot arm 61 needs to move to the jig placing position 8, automatically disengage the gripper 621 first, and then automatically connect the suction cup 622, and if the previous gripper 622 is used for medicine gripping, the robot arm 61 needs to move to the jig placing position 8, automatically disengage the suction cup 622 first, and then automatically connect the gripper 621.
The manipulator 6 after replacing the medicine grasping jig 62 grasps the medicine corresponding to this time to the medicine outlet part 5, and then the medicine grasping of this time is completed.
S60, repeating step S50 until all the medicines in the prescription are taken out.
Preferably, after all the medicines on the prescription list are completely grabbed, the medicine grabbing jig 62 is separated from the mechanical arm 61 and is placed at the jig placing position 8 in the cabinet 1. Therefore, when the next prescription or the next patient takes medicine, the mechanical arm 61 does not need to replace the medicine gripping jig 62 firstly but directly connects the corresponding medicine gripping jig 62 so as to improve the medicine gripping speed.
According to the method for grabbing different types of medicines in the dispensing machine 100, the mechanical arm 6 capable of automatically replacing the medicine grabbing jig 62 is arranged in the dispensing machine 100, when the host 3 of the dispensing machine 100 analyzes the prescription and judges the type of the medicines at the prescription, the mechanical arm 61 of the mechanical arm 6 is driven to automatically connect or replace the clamping hand 621 corresponding to the injection medicines or the suction cup 622 corresponding to the box-packed medicines, and then the mechanical arm 6 finishes grabbing of the corresponding medicines. The method of the embodiment of the invention realizes the function of automatically switching and grabbing the injection medicine 200 and the box-packed medicine 300 on the same medicine dispensing machine 100, improves the efficiency and saves the resources.
The invention further provides a medicine dispensing machine 100, as shown in fig. 1, comprising a cabinet 1, a medicine rack 2 and a host 3 arranged in the cabinet 1, a prescription scanning unit 4 arranged on the cabinet 1 and electrically connected with the host 3, and a medicine dispensing part 5 arranged on the cabinet 1. The medicine outlet portion 5 is used for the patient to take the medicine.
Preferably, the medicine discharging part 5 of the cabinet 1 is a medicine frame which can be drawn out or pushed in relative to the cabinet 1. I.e. corresponding to a drawer embedded in the cabinet 1, the medicine box is preferably automatically ejected out of the cabinet 1 to facilitate the patient to take the medicine.
The dispensing machine 100 of the embodiment of the present invention further includes a manipulator 6 disposed in the cabinet 1 and electrically connected to the host 3, the manipulator 6 includes a movable mechanical arm 61 and a plurality of medicine grasping jigs 62 disposed separately from the mechanical arm 61, the plurality of medicine grasping jigs 62 include a gripper 621 for grasping the injection medicine 200 and a suction cup 622 for grasping the box-packed medicine 300, and the mechanical arm 61 is switchably connected to the gripper 621 or the suction cup 622. Because the dispensing machine 100 of the embodiment of the invention is provided with the plurality of medicine grasping jigs 62 for grasping different types of medicines respectively, and the mechanical arm 61 can automatically switch and connect the medicine grasping jigs 62 corresponding to each medicine type, compared with the prior art, the dispensing machine 100 of the embodiment of the invention can store different types of medicines and can realize the switching and grasping of different types of medicines.
Preferably, an injection tray 21 and a box-packed medicine box 22 are separately arranged on the medicine rack 2 of the cabinet 1, the injection tray 21 is used for placing injection medicines, and the box-packed medicine box 22 is used for placing box-packed medicines. The injection tray 21 and the boxed medicine boxes 22 are specially arranged to facilitate the placement and the taking out of the corresponding types of medicines, and for example, when the injection medicines 200 are grabbed, the whole injection tray 21 can be taken out of the medicine rack 2 and then grabbed.
Further, a clamping groove 11 is arranged in the cabinet body 1 and used for placing the medicine grasping jig 62. The clamping groove 11 is simple in structure and convenient for taking and placing the medicine grabbing jig 62.
Preferably, the mechanical arm 61 is connected to the medicine gripping jig 62 in a snap-fit manner, a plug-in manner or a magnetic attraction manner. The clamping connection or the plug connection or the magnetic attraction connection can realize the quick connection and the disassembly of the mechanical arm 61 and the medicine gripping jig 62, so that the medicine gripping jig 62 can be replaced conveniently. It will be appreciated that other detachable connections may be used.
The host 3 of the dispensing machine 100 according to the embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the method is implemented.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program in the asynchronous message processing terminal device.
The master control module may include, but is not limited to, a processor, a memory. It will be understood by those skilled in the art that the above components are merely system-based examples, and do not constitute a limitation on the master control module, and may include more or less components than those described above, or some components in combination, or different components, for example, the master control module may further include input and output devices, network access devices, buses, and the like.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center for the device, with various interfaces and lines connecting the various parts of the overall master control module.
The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the apparatus by running or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data created according to usage (such as audio data, a phonebook, etc.), and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The invention also proposes a computer-readable storage medium, in which a computer program is stored which, when executed, implements the method described above.
The modules/units integrated by the different types of medicine grabbing methods in the dispensing machine of the present invention can be stored in a computer readable storage medium if they are implemented in the form of software functional units and sold or used as independent products. The specific implementation manner of the computer-readable storage medium of the present invention is substantially the same as that of the above embodiments of the automatic capturing method for different types of drugs of the dispensing machine, and will not be described herein again.
It should be noted that the above-described embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only for clearly illustrating the invention and is not therefore to be considered as limiting the scope of the invention, and all embodiments are not intended to be exhaustive, and all equivalent structural changes made by using the technical solutions of the present invention or other related technical fields directly/indirectly applied under the concept of the present invention are included in the scope of the present invention.
Claims (10)
1. A medicine dispensing machine comprises a cabinet body, a medicine rack and a host machine which are arranged in the cabinet body, and a prescription scanning unit which is arranged on the cabinet body and is electrically connected with the host machine, wherein the cabinet body is also provided with a medicine outlet part;
the dispensing machine is characterized by further comprising a manipulator arranged in the cabinet body and electrically connected with the host, wherein the manipulator comprises a movable mechanical arm and a plurality of dispensing jigs separately arranged from the mechanical arm, the dispensing jigs comprise a gripper used for gripping injection medicines and a sucker used for gripping box-packed medicines, and the mechanical arm is in switchable connection with the gripper or the sucker;
the grabbing method comprises the following steps:
s10, the prescription scanning unit scans and obtains the information of the patient prescription;
s20, the host computer of the dispensing machine analyzes the information of the prescription order and judges the type of the first medicine on the prescription order;
s30, driving the mechanical arm to move to a jig placing position according to the type of the medicine and automatically connecting a medicine grasping jig corresponding to the type of the medicine;
s40, the mechanical arm connected with the medicine gripping jig moves, grips corresponding medicines and then sends the medicines to the medicine discharging part;
s50, judging the type of the next medicine by the host of the dispensing machine, if the type of the next medicine is the same as that of the previous medicine, keeping the medicine gripping jig connected with the mechanical arm unchanged and gripping the corresponding medicine to the medicine discharging part;
if the type of the medicine is different from that of the previous medicine, the mechanical arm moves to the position where the jig is placed to automatically replace the corresponding medicine gripping jig, and after replacement, the corresponding medicine is gripped to the medicine discharging part;
s60, repeating step S50 until all the medicines in the prescription are taken out.
2. The method according to claim 1, wherein a medicine taking mechanism which is electrically connected with the main machine and is movable in the cabinet body is further arranged in the cabinet body, a medicine taking position is further arranged outside the medicine rack in the cabinet body, and the manipulator takes medicines after medicines on the medicine rack are taken to the medicine taking position by the medicine taking mechanism.
3. The method of claim 1, wherein the robotic arm is further provided with an identification and verification module for identifying and verifying whether the grasped drug is correct.
4. The method of claim 1, wherein the prescription order is released from the robotic arm after all the drugs have been picked and placed in a jig placement location within the cabinet.
5. A medicine dispensing machine is characterized by comprising a cabinet body, a medicine rack and a host which are arranged in the cabinet body, and a prescription scanning unit which is arranged on the cabinet body and is electrically connected with the host, wherein the cabinet body is also provided with a medicine outlet part;
the medicine taking device comprises a cabinet body and is characterized by further comprising a mechanical arm arranged in the cabinet body and electrically connected with the host, wherein the mechanical arm comprises a movable mechanical arm and a plurality of medicine taking jigs separately arranged from the mechanical arm, the medicine taking jigs comprise clamping hands for taking injection medicines and sucking discs for taking box-packed medicines, and the mechanical arm is in switchable connection with the clamping hands or the sucking discs;
the host comprises a memory, a processor and a computer program stored in the memory and configured to be executed by the processor, when executing the computer program, implementing the method of any one of claims 1-4.
6. The dispensing machine according to claim 5, wherein an injection tray and a boxed medicine box are separately arranged on the medicine rack of the cabinet body, the injection tray is used for placing injection medicines, and the boxed medicine box is used for placing boxed medicines.
7. The dispensing machine according to claim 5, wherein a slot is provided in the cabinet for placing the dispensing fixture.
8. The dispensing machine according to claim 5, wherein the mechanical arm is connected with the medicine-taking jig in a clamping manner or in a plug-in manner or in a magnetic attraction manner.
9. The dispenser of claim 5, wherein the dispensing portion of the cabinet is a medicine frame that is retractable or insertable relative to the cabinet.
10. A computer-readable storage medium, in which a computer program is stored which, when executed, implements the method of any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210189598.8A CN114506607B (en) | 2022-02-28 | 2022-02-28 | Medicine grabbing method for different types in medicine dispensing machine, medicine dispensing machine and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210189598.8A CN114506607B (en) | 2022-02-28 | 2022-02-28 | Medicine grabbing method for different types in medicine dispensing machine, medicine dispensing machine and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114506607A true CN114506607A (en) | 2022-05-17 |
| CN114506607B CN114506607B (en) | 2023-10-13 |
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| CN202210189598.8A Active CN114506607B (en) | 2022-02-28 | 2022-02-28 | Medicine grabbing method for different types in medicine dispensing machine, medicine dispensing machine and storage medium |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101501693A (en) * | 2005-05-16 | 2009-08-05 | 智能医院体系有限公司 | Automated pharmacy admixture system (apas) |
| JP2017146906A (en) * | 2016-02-19 | 2017-08-24 | 祐次 廣田 | Automated prescription medicine distribution device |
| CN111986384A (en) * | 2020-09-24 | 2020-11-24 | 苏州心药数字智慧医疗科技有限公司 | Intelligent medicine machine and control method thereof |
| CN213616773U (en) * | 2020-10-30 | 2021-07-06 | 星猿哲科技(上海)有限公司 | Quick change system of robot |
| CN113213050A (en) * | 2021-05-10 | 2021-08-06 | 中国人民解放军空军军医大学 | Large-scale intelligent medicine of hospital is distributed management and supervision system |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101501693A (en) * | 2005-05-16 | 2009-08-05 | 智能医院体系有限公司 | Automated pharmacy admixture system (apas) |
| JP2017146906A (en) * | 2016-02-19 | 2017-08-24 | 祐次 廣田 | Automated prescription medicine distribution device |
| CN111986384A (en) * | 2020-09-24 | 2020-11-24 | 苏州心药数字智慧医疗科技有限公司 | Intelligent medicine machine and control method thereof |
| CN213616773U (en) * | 2020-10-30 | 2021-07-06 | 星猿哲科技(上海)有限公司 | Quick change system of robot |
| CN113213050A (en) * | 2021-05-10 | 2021-08-06 | 中国人民解放军空军军医大学 | Large-scale intelligent medicine of hospital is distributed management and supervision system |
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