CN119014679A

CN119014679A - Intelligent medicine cabinet, intelligent medicine dispensing system and automatic medicine dispensing method

Info

Publication number: CN119014679A
Application number: CN202411101112.6A
Authority: CN
Inventors: 沈慰杰; 刘寿荣; 庄让笑; 席建军
Original assignee: Hangzhou Xixi Hospital
Current assignee: Hangzhou Xixi Hospital
Priority date: 2024-08-12
Filing date: 2024-08-12
Publication date: 2024-11-26

Abstract

The application discloses an intelligent medicine cabinet, an intelligent medicine dispensing system and an automatic medicine discharging method, wherein the intelligent medicine cabinet comprises a cabinet body, a movable part, a driving mechanism, a medicine taking assembly and a packaging assembly, wherein a medicine storage area and a bracket positioned in the medicine storage area are arranged in the cabinet body; the movable part is arranged on the bracket and used for bearing medicines; the driving mechanism drives the movable part to enable the medicine to be separated from the movable part to the medicine outlet area; the medicine taking assembly comprises a manipulator movably arranged in the cabinet body, and the manipulator can move to a medicine outlet area corresponding to each medicine to receive the medicine; the packaging assembly is used for packaging medicines received by the mechanical arm, so that multiple medicines of a single patient can be discharged at one time, a single medicine spring frame of the traditional medicine cabinet is avoided, manual medicine taking is waited, medicine discharging efficiency is improved, and medicine discharging error rate is reduced.

Description

Intelligent medicine cabinet, intelligent medicine dispensing system and automatic medicine discharging method

Technical Field

The application relates to the technical field of medical equipment, in particular to an intelligent medicine cabinet, an intelligent medicine dispensing system and an automatic medicine discharging method.

Background

The existing medical staff is easy to make mistakes when carrying out static to injection type medicament, and the reasons for mistakes include that after the medicament is taken out, put outside, finally reach the patient and take medicine during this period have a great deal of uncontrollable hidden danger, say: drug loss, missing of correct dosing time, etc. And intelligent medicine cabinet (Automatic dispensing cabinets, ADC) medicine supplementing and medicine returning often involve a plurality of manual links, and medicine adding errors and the like are easy to occur when the medicine looks and sounds like. Some injections are expensive, cause large economic loss after errors, and static dispensing errors are not found, so that serious medical accidents can be generated once the injections are used.

Disclosure of Invention

The application provides an intelligent medicine cabinet, which improves medicine outlet efficiency.

The application provides an intelligent medicine cabinet, which comprises:

A cabinet body, wherein a medicine storage area and a bracket positioned in the medicine storage area are arranged in the cabinet body;

The movable part is arranged on the bracket and is used for bearing medicines;

the driving mechanism drives the movable part to enable the medicine to be separated from the movable part to the medicine outlet area;

The medicine taking assembly comprises a manipulator movably arranged in the cabinet body, and the manipulator can move to a medicine outlet area corresponding to each medicine to receive the medicine;

And the packaging assembly is used for packaging the medicines received by the manipulator.

The following provides several alternatives, but not as additional limitations to the above-described overall scheme, and only further additions or preferences, each of which may be individually combined for the above-described overall scheme, or may be combined among multiple alternatives, without technical or logical contradictions.

Optionally, the intelligent medicine cabinet further comprises interaction equipment for a user to input prescription information and display corresponding information.

Optionally, the intelligent medicine cabinet further comprises a medicine container supply device, the medicine container supply device is used for providing medicine containers, and the manipulator loads the medicine containers to receive medicines.

Optionally, the medicine falls to a medicine outlet area under the action of gravity after being separated from the movable part until entering the medicine container; the manipulator is positioned at a working position when receiving the medicine, and the height of the working position is smaller than 20cm when the medicine falls;

and an avoidance area is correspondingly reserved in the cabinet body aiming at the working position of the manipulator.

Optionally, the prescription information at least comprises all the medications in a preset time period for a single person;

The driving mechanism outputs all the medicines one by one, and all the medicines are filled into the same medicine container.

Optionally, the movable component is a conveyor belt, the downstream of the conveyor belt along the conveying direction is a front edge, the medicine outlet area is located below the front edge of the conveyor belt, the outer surface of the conveyor belt is provided with blocking parts which are arranged at intervals, a containing area for supporting medicines is arranged between two adjacent blocking parts, the medicine outlet area is located below the front edge of the conveyor belt, and medicines located at the front edge fall into the medicine outlet area according to gravity;

Or the bracket comprises a plurality of medicine storage grids, the movable part is a movable plate movably arranged at the bottom of each medicine storage grid, the movable plate is provided with a closed state for closing the bottom of the medicine storage grid and a opened state for opening the bottom of the medicine storage grid, the medicine outlet area is positioned below each medicine storage grid, when the movable plate is in the opened state, the medicine falls into the medicine outlet area according to gravity, and the driving mechanism drives the movable plate to switch from the closed state to the opened state so that the medicine falls into the medicine outlet area according to gravity.

Optionally, the cabinet has a transfer area, and the packaging assembly includes:

The packing platform is positioned in the transfer area;

the printing device is used for printing the prescription information to the packaging film;

And the film pasting device is used for connecting and fixing the packaging film printed with the prescription information on the medicine container.

The application also provides an intelligent dispensing system, which comprises:

a terminal generates prescription information;

The intelligent medicine cabinet is used for receiving the prescription information, outputting and packaging corresponding medicines;

And the server is in communication connection with the terminal and the intelligent medicine cabinet and is used for checking the prescription and allocating medicines.

Optionally, the movable part is the conveyer belt, the conveyer belt is along the leading edge for the low reaches of conveying direction, go out the medicine district and be located the leading edge below of conveyer belt, the surface of conveyer belt has the barrier portion of interval arrangement, is the holding district that is used for bearing medicine between two adjacent barrier portions, the leading edge below of conveyer belt is out the medicine district, and the medicine that is located the leading edge falls to out the medicine district according to gravity.

Optionally, the blocking part and the conveyor belt are in an integral structure and are formed by local bulges of the conveyor belt on the outer surface;

Or the blocking part is detachably connected with the outer surface of the conveyor belt, and the outer surface of the conveyor belt is provided with an adapting structure connected with the blocking part.

Optionally, the conveyor belt is multiple, and disposes actuating mechanism independently each other, the conveyer belt cover is located between driving roll and the driven voller, actuating mechanism with the driving roll transmission is connected.

Optionally, the conveyor belts are arranged in the height direction, the conveyor belts in the same group are parallel to each other, and adjacent conveyor belts in the same group synchronously move to convey the same medicine, or adjacent conveyor belts in the same group independently move to convey different medicines.

Optionally, a partition board detachably connected to the bracket is arranged between two adjacent conveyor belts in the same group, and the top edge of the partition board is higher than the top surface of the conveyor belt.

Optionally, a set of driving mechanism is shared between the same group of conveyor belts, the conveyor belts are sleeved between the driving roller and the driven roller, and the conveyor belts comprise an upper travel section and a lower return section according to the conveying direction;

the driving mechanism includes:

A transverse shaft motor as a power source;

the transverse shaft is in linkage with the transverse shaft motor and penetrates through between the travel-out section and the return-back section of each conveyor belt in the same group;

the first linkage assembly is arranged for each conveyor belt and comprises an air cylinder and a linkage piece driven by the air cylinder and capable of connecting the transverse shaft with a corresponding driving roller in a transmission mode.

Optionally, a vertical spindle is installed in the cabinet body, a second linkage assembly is slidably matched on the vertical spindle, and the transverse shaft motor is arranged on the second linkage assembly;

the second linkage assembly is provided with an initial position and a plurality of working positions, the transverse shaft motor is combined with the corresponding transverse shaft for transmission in each working position, and the transmission is released from all the transverse shafts in the initial position.

Optionally, the vertical spindle and the second linkage assembly adopt a screw-nut pair for transmission, the screw-nut pair comprises a screw and a nut seat which are matched with each other, the vertical spindle is used as a screw, one end of the vertical spindle is provided with a screw motor, and the second linkage assembly is mounted on the nut seat;

the second linkage assembly includes:

the transverse shaft motor is provided with a motor shaft;

the first linkage sleeve is fixed on the motor shaft, and the inner wall of the first linkage sleeve is provided with first inner teeth;

one end of each transverse shaft is fixed with a second linkage sleeve, the inner wall of the second linkage sleeve is provided with second internal teeth, the second linkage sleeve is internally provided with a meshing gear in a sliding manner along the axial direction, and the meshing gear can keep or release the linkage of the first linkage sleeve and the second linkage sleeve.

Optionally, one end of the transverse shaft is sleeved with an annular magnetic member fixedly installed relative to the bracket, and the meshing gear is driven by the annular magnetic member and has:

A coupling position simultaneously engaged with the internal teeth of the first and second interlocking sleeves;

and the release position is separated from the first linkage sleeve.

Optionally, the medicine taking assembly includes:

The first guide rails extend along the length direction of the cabinet body and are arranged in the cabinet body, and the first guide rails are two and are respectively arranged at two sides of the height direction of the cabinet body;

The second guide rail extends along the height direction of the cabinet body, and two ends of the second guide rail are slidably arranged on the two first guide rails;

and the manipulator is slidably arranged on the second guide rail.

Optionally, a transfer area is arranged between the bracket and one side of the thickness direction of the cabinet body, and the first guide rail and the second guide rail are positioned in the transfer area.

Optionally, the intelligent medicine cabinet includes the medicine container that is used for accepting the medicine, the manipulator includes:

the movable seat is connected with the second guide rail in a sliding manner;

A holding portion for holding the medicine container;

the telescopic component is connected between the movable seat and the clamping part, the telescopic component stretches to drive the medicine container to be located in the medicine outlet area, and the telescopic component shortens to drive the medicine container to the transferring area.

Optionally, the bracket includes a plurality of medicine storage grids, the movable part is a movable plate movably installed at the bottom of each medicine storage grid, the movable plate has a closed state for closing the bottom of the medicine storage grid to support the medicine, and an open state for opening the bottom of the medicine storage grid, the medicine outlet area is positioned below each medicine storage grid, and when the movable plate is in the open state, the medicine falls down to the medicine outlet area according to gravity;

the driving mechanism drives the movable plate to switch from a closed state to an open state, so that the medicine falls down to the medicine outlet area according to gravity;

the intelligent medicine cabinet further comprises a retainer, wherein the retainer is used for keeping the movable plate in a closed state.

Optionally, the medicine storage grid matrix is distributed, and the bracket comprises:

Rectangular frame and baffle, the baffle includes first baffle and the second baffle that alternate vertically and horizontally, first baffle with the second baffle encloses into the medicine storage check.

Optionally, the movable plate is hinged to the medicine storage grid through a pivot, or is in sliding fit with the medicine storage grid.

Optionally, the holding member is an elastic member that acts on the movable plate to switch from the open state to the closed state.

Optionally, the movable plate is hinged to the medicine storage grid through a pivot, and the elastic piece is a torsion spring arranged between the medicine storage grid and the movable plate.

Optionally, the actuating mechanism includes the driving piece of activity setting in the cabinet body, the driving piece can remove to the play medicine district that each medicine corresponds and have:

a first position acting on the movable plate to switch the movable plate from a closed state to an open state;

And the second position is separated from the movable plate, and allows the movable plate to be reset to a closed state.

Optionally, the movable plate is hinged to the medicine storage grid through a pivot, one side of the pivot is a supporting part for supporting the medicine, the other side of the pivot is an acting part, and the driving part acts on the acting part when in the first position.

Optionally, the intelligent medicine cabinet includes the subassembly of getting it filled, the subassembly of getting it filled is including the activity setting in the internal manipulator of cabinet, the manipulator can remove to the play medicine district that each medicine corresponds in order to accept the medicine, the driving piece set up in the manipulator.

Optionally, the driving mechanism includes:

the first magnetic attraction piece is arranged on the movable plate;

the second magnetic attraction piece is arranged on the bracket and provided with a repulsive state for generating repulsive force to the first magnetic attraction piece so that the movable plate is switched to an open state and a free state for allowing the movable plate to be reset to a closed state.

Optionally, the movable plate is hinged to the medicine storage grid through a pivot, the retaining member is a torsion spring arranged between the medicine storage grid and the movable plate, and the torsion spring is used for driving the movable plate to reset to a closed state when the second magnetic attraction member is in a free state.

Optionally, the medicine taking assembly includes:

the third guide rails extend along the thickness direction of the cabinet body and are arranged in the cabinet body, and the number of the third guide rails is two and are respectively arranged at two sides of the height direction of the cabinet body;

The fourth guide rail extends along the height direction of the cabinet body, and two ends of the fourth guide rail are slidably arranged on the two third guide rails;

A fifth guide rail extending in the length direction and having one end slidably mounted to the fourth guide rail;

and the manipulator is slidably arranged on the fifth guide rail.

the movable seat is connected with the second guide rail in a sliding manner;

And the clamping part is used for clamping the medicine container.

Optionally, the medicine storage grid includes the multilayer, and the medicine storage grid matrix distribution of same layer is arranged along the direction of height interval between each layer, when accepting the medicine, the fifth guide rail with the manipulator is in between the adjacent two-layer.

Optionally, the packaging assembly includes a packaging area located at or connected with the transfer area, and the manipulator transfers the medicine containers to the packaging area for packaging.

Optionally, the drug container has an open top;

the packaging assembly comprises a platform which is positioned in the packaging area and used for placing the medicine container, and a film pasting device for pasting the packaging film on the opening.

Optionally, the packaging assembly further comprises a printing device for printing prescription information onto the packaging film.

Optionally, the intelligent medicine cabinet includes a medicine container supply device, the medicine container supply device includes:

the first conveying piece is connected with the inside and the outside of the cabinet body and is used for conveying the packaged medicine containers out of the cabinet body;

the second conveying piece is connected with the inside and the outside of the cabinet body and is used for conveying the empty medicine containers into the cabinet body, and the manipulator clamps the empty medicine containers from the second conveying piece.

Optionally, the intelligent medicine cabinet includes an automatic medicine container supply device including a delivery assembly for empty medicine containers, the delivery assembly being engaged with the second transfer member.

The application also provides an automatic medicine discharging method, which comprises the following steps:

acquiring prescription information, wherein the prescription information comprises one or more medicines;

For each medicine, driving the movable part at the position of the medicine to move so as to implement medicine discharge, and enabling the manipulator to move to the corresponding medicine discharge area to receive the medicine until all expected acquired medicines in the prescription information are acquired;

packaging all the medicines acquired currently and adding annotation information.

Optionally, before the movement of the manipulator, the method further comprises:

Determining the spatial position of each medicine according to the medicine related in the prescription information;

and planning a path according to the space position, and then moving the manipulator according to the planned path.

The intelligent medicine cabinet can realize one-time medicine discharge of multiple medicines of a single patient, avoid single medicine spring frames of the existing medicine cabinet, wait for manual medicine taking, improve medicine efficiency and reduce medicine error rate.

Drawings

FIG. 1 is a structural view of an intelligent medicine cabinet according to an embodiment of the present application;

FIG. 2 is a schematic view of a conveyor belt of one group in an intelligent medicine cabinet according to an embodiment of the present application;

FIG. 3 is an enlarged view of portion A of FIG. 2;

FIG. 4 is an enlarged view of the portion A of FIG. 2 with two baffles removed and with three conveyors in common;

FIG. 5 is a schematic view of a conveyor belt of an intelligent medicine cabinet according to an embodiment of the present application;

FIG. 6 is an enlarged view of portion B of FIG. 5;

FIG. 7 is a schematic view showing a detachable connection of a conveyor belt and a blocking portion in an intelligent medicine cabinet according to an embodiment of the present application;

FIG. 8 is an exploded view of the barrier and conveyor belt of FIG. 7;

FIG. 9 is an exploded view of FIG. 8 at another view angle;

FIG. 10 is a top view of a drive mechanism according to a second embodiment of the present application;

FIG. 11 is a side view of FIG. 10;

fig. 12 is a structural view of a driving mechanism of a third embodiment of the present application;

FIG. 13 is an enlarged view of portion C of FIG. 12 (the meshing gears in the disengaged position);

FIG. 14 is an enlarged view of portion C of FIG. 12 (the meshing gears in the engaged position);

FIG. 15 is a front view of a smart drug cabinet according to an embodiment of the application;

FIG. 16 is a diagram of the structure of a manipulator in an intelligent medicine cabinet according to an embodiment of the present application;

FIG. 17 is a structural view of a smart drug cabinet according to another embodiment of the present application;

FIG. 18 is a structural view of the bracket of the intelligent medicine cabinet of FIG. 17 in a top view;

FIG. 19 is a diagram showing the structure of a medicine storage compartment in the intelligent medicine cabinet according to an embodiment of the present application;

FIG. 20 is a diagram showing the structure of a medicine storage compartment in the intelligent medicine cabinet according to another embodiment of the present application;

fig. 21 is a structural view showing each movable plate of the bracket in an opened state according to an embodiment of the present application;

FIG. 22 is a view of the side cabinet of FIG. 17 with the side cabinet removed;

FIG. 23 is a structural view of a smart drug cabinet according to another embodiment of the present application;

FIG. 24 is a flow chart of the dosing of the present application;

Fig. 25 is a flow chart of the present application.

Reference numerals illustrate:

1000. An intelligent medicine cabinet; 100. a cabinet body; 110. a medicine storage area; 111. a normal temperature region; 112. a cooling zone; 120. a main cabinet body; 121. an avoidance groove; 130. a side cabinet body; 131. an installation space; 140. a refrigerated cabinet; 150. a cabinet door;

200. A bracket; 201. a rectangular frame; 202. a first separator; 203. a second separator; 210. a clamping groove; 220. a first rotating shaft; 221. a drive roll; 230. a second rotating shaft; 231. driven roller; 240. a medicine storage grid; 250. a movable plate; 251. a pivot; 252. a support part; 253. an action part;

300. a conveyor belt; 301. upstream; 302. downstream; 303. a medicine outlet area; 304. positioning the bulge; 305. a trip section; 306. a backhaul section; 310. a blocking portion; 311. a positioning groove; 312. a base; 313. a partition portion; 320. a receiving area; 330. a partition plate;

400. a driving mechanism; 411. a transverse axis motor; 412. a horizontal axis; 413. a motor shaft; 414. a first linkage sleeve; 4141. a first internal tooth; 415. a second linkage sleeve; 4151. a second internal tooth; 416. a meshing gear; 420. a first linkage assembly; 421. a cylinder; 422. a linkage member; 431. a vertical spindle; 432. a screw motor; 440. a second linkage assembly; 450. an annular magnetic member; 460. a driving member; 471. a first magnetic attraction member; 472. a second magnetic attraction member;

600. a drug delivery assembly; 610. a first guide rail; 620. a second guide rail; 630. a manipulator; 631. a movable seat; 632. a clamping part; 640. a drug container; 651. a third guide rail; 652. a fourth guide rail; 653. a fifth guide rail;

700. A packaging assembly; 710. a packing platform; 800. a medicine container supply device; 810. a first transfer member; 820. a second transfer member; 900. and (3) medicines.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present.

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 herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

In the present disclosure, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or as implicitly indicating the number, order of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

For ease of description and understanding, proximal herein generally refers to the side adjacent the operator (e.g., physician) and distal to the side relatively distant along the interventional path, each component having its own opposite distal and proximal ends, the line between the proximal and distal ends of each component defining an axial direction and, correspondingly, a radial direction perpendicular to the axial direction and a circumferential direction disposed about the axial direction.

Referring to fig. 1 to 6, the present application provides an intelligent medicine cabinet 1000, which includes a cabinet body 100, a movable part, a driving mechanism 400, a medicine taking assembly 600 and a packing assembly 700, wherein a medicine storage area 110 and a bracket 200 positioned in the medicine storage area 110 are provided in the cabinet body 100, and can be divided into a plurality of areas according to the storage requirement of medicines, and different temperatures, humidity and the like are respectively controlled. For example, the room temperature area 111 and the refrigerating area 112 are shown.

The movable member is mounted to the bracket 200 and is used to carry medicine. The driving mechanism 400 drives the movable part to move, so that the medicine is separated from the movable part to the medicine outlet area 303. The medicine taking assembly 600 comprises a manipulator 630 movably arranged in the cabinet body 100, the manipulator 630 can move to a medicine outlet area 303 corresponding to the medicine to receive the medicine, after all the medicine is received, the packaging assembly 700 is used for packaging the medicine received by the manipulator 630, and after packaging is completed, the medicine can be further processed by nurses.

The intelligent medicine cabinet can realize one-time medicine discharge of multiple medicines of a single patient, avoids single medicine spring frames of the existing medicine cabinet to wait for manual medicine taking, improves medicine discharge efficiency, reduces medicine discharge error rate, uniformly packages medicines of the same patient, reduces error rate in subsequent static matching and other operations, and improves safety.

The following description of the various embodiments of the movable element is given in detail:

Embodiment one:

The movable member is a conveyor belt 300, and the conveyor belt 300 has an upstream 301 and a downstream 302 in the conveying direction. The outer surface of the conveyor belt 300 is provided with blocking parts 310 which are arranged at intervals along the conveying direction, a containing area 320 for supporting medicines 900 is arranged between two adjacent blocking parts, and a medicine outlet area 303 is arranged below the front edge of the corresponding conveyor belt. The driving mechanism 400 drives the conveyor belt to move so that the medicines fall to the medicine outlet area 303 by gravity after passing through the front edge, and the medicines falling to the medicine outlet area 303 can be collected by the prior art such as a track or a manipulator.

The intelligent medicine cabinet has small limit on the size, specification and shape of the medicine to be delivered, is smoother to deliver the medicine, and can be stably placed on a conveyor belt for small fragile injections with different shapes, thereby facilitating medicine taking.

Wherein the blocking portion 310 extends perpendicular to the surface of the conveyor belt 300, and may be one of the following with the conveyor belt 300:

a. The blocking part 310 and the conveyor belt 300 are of an integral structure, for example, formed by local protrusions of the conveyor belt on the outer surface, wherein the blocking part 310 is plate-shaped or sheet-shaped, and the bottom of the blocking part 310 and the outer surface of the conveyor belt 300 are in smooth transition;

b. The blocking portion 310 is detachably connected to the outer surface of the conveyor belt 300, for example, the outer surface of the conveyor belt 300 has an adapting structure for connecting the blocking portion 310, and as shown in fig. 7 to 9, the adapting structure includes a positioning protrusion 304 disposed on the outer surface of the conveyor belt 300, and a positioning groove 311 disposed on the blocking portion 310 and engaged with the positioning protrusion 304. Wherein the blocking portion 310 includes a base 312 with a positioning groove 311, and a partition portion 313 on the base 312, the partition portion 313 may be plate-shaped or sheet-shaped.

In one embodiment, the blocking portion 310 is a tapered structure from bottom to top, as shown in fig. 6, and the medicine at the front edge slides down to the medicine outlet area 303 under the guidance of the surface of the tapered structure.

Referring to fig. 1, the cabinet 100 is generally rectangular and has a length X, a thickness Y, and a height Z as shown, and each orientation is based on the cabinet, unless specifically described below. Wherein the carrier 200 comprises a plurality of rectangular frames within which the conveyor belt 300 is mounted. The carriers 200 are plural and spaced apart in the height direction, and each carrier 200 is provided with a set of conveyor belts 300, the same set including a plurality of conveyor belts 300 and being arranged parallel to each other, adjacent conveyor belts 300 in the same set being movable synchronously to convey the same medicine, or the conveyor belts being movable independently of each other to convey different medicines. For example, as shown in fig. 4, the conveyors in the same group have equal widths, and during use, two or more adjacent conveyors can be operated in synchronization to convey a single product due to the change in the size or specification of the product.

In one embodiment, a spacer 330 detachably connected to the carrier 200 is provided between adjacent conveyor belts 300 in the same group, and the top edge of the spacer 330 is higher than the top surface of the conveyor belt 300 to avoid the mutual influence of medicines on the adjacent conveyor belts 300. Wherein, the bracket 200 is provided with a clamping groove 210, the baffle 330 is clamped in the clamping groove 210, and the thickness of the baffle 330 is thinner, thereby reducing the interval between the adjacent conveyor belts 300 and avoiding the medicines from falling from the interval when the adjacent conveyor belts synchronously move to jointly convey the same medicines.

For the movement of each conveyor belt 300, in one embodiment, a first rotating shaft 220 and a second rotating shaft 230 are disposed in the bracket 200, a driving roller 221 is rotatably sleeved on the first rotating shaft 220, a driven roller 231 is rotatably sleeved on the second rotating shaft 230, and the driving roller 221 and the driven roller 231 are arranged in pairs and correspond to the conveyor belt 300. The conveyor belts 300 are sleeved between the driving roller 221 and the driven roller 231, and driving mechanisms are independently arranged between the driving roller 221 and the driven roller 231, wherein the driving mechanisms are in transmission connection with the driving roller 221, when the adjacent conveyor belts convey different medicines, the respective conveyor belts are independently controlled by the respective driving mechanisms, and when the adjacent conveyor belts convey the same medicine, the driving mechanisms of the conveyor belts need to work synchronously. The control is cooperatively processed by a camera, a sensor or a central processing unit and the like in the cabinet body.

Further, referring to fig. 10 and 11, a set of driving mechanisms is shared between the same conveyor belt 300, and the conveyor belt 300 is sleeved between the driving roller 221 and the driven roller 231, and the sleeved connection mode refers to the first embodiment. The conveyor 300 includes an upper, outbound section 305 where the medicine 900 is placed, and a lower, return section 306, according to the conveying direction. Wherein the driving mechanism comprises:

a transverse axis motor 411 as a power source;

A cross shaft 412, which is linked with the cross shaft motor 411, wherein the cross shaft 412 is arranged between the forward travel section 305 and the return travel section 306 of each conveyor belt 300 in the same group, namely between the first rotating shaft 220 and the second rotating shaft 230;

The first linkage assembly 420 is respectively arranged for each conveyor belt 300, and the first linkage assembly 420 comprises an air cylinder 421 and a linkage piece 422 driven by the air cylinder 421 and capable of connecting the transverse shaft 412 with the corresponding driving roller 221 in a transmission manner. In the illustration, the transverse shaft 412 is parallel to the first shaft 220, and the system receives a signal to drive the corresponding cylinder 421 to move and the corresponding linkage 422 to move until it cooperates with both the transverse shaft 412 and the drive roller 221. Specifically, the linkage 422 is a roller with rough surface, the surface of the transverse shaft 412 is also rough, and the roller can be simultaneously contacted with the surface of the transverse shaft 412 and the edge of the driving roller 221, so as to realize power transmission, or the roller is meshed with the surface of the transverse shaft 412 and the conveyor belt 300 as shown by a solid line in fig. 11, and is driven by the roller to be conveyed by the conveyor belt 300, or is disengaged from the surface of the transverse shaft 412 and the conveyor belt 300 as shown by a broken line in fig. 11, so as to release power transmission.

Further preferably, based on the second embodiment and referring to fig. 12 to 14, the cabinet 100 is provided with a vertical spindle 431, the vertical spindle 431 is slidably matched with a second linkage assembly 440, the transverse shaft motor 411 is disposed on the second linkage assembly 440, the second linkage assembly 440 has an initial position and a plurality of working positions, the transverse shaft motor 411 is combined with the corresponding transverse shaft 412 to drive in each working position, and the transmission is released from all the transverse shafts 412 in the initial position. The cross-axis motor 411 moves to the corresponding floor in the height direction with the second linkage assembly 440 relative to the upright spindle 431, and the cross-axis motor 411 is coupled to and drives rotation of the corresponding cross-axis 412.

Wherein, the vertical spindle 431 and the second linkage assembly 440 adopt a screw-nut pair for transmission, the screw-nut pair comprises a screw and a nut seat which are matched with each other, the vertical spindle 431 is used as a screw, one end of the vertical spindle 431 is provided with a screw motor 432, the second linkage assembly 440 is mounted on the nut seat, and the second linkage assembly 440 comprises:

a transverse axis motor 411 having a motor shaft 413;

a first linkage sleeve 414 fixed to the motor shaft 413 and having first inner teeth 4141 on an inner wall of an end portion of the first linkage sleeve 414;

A second interlocking sleeve 415 is fixed at one end of each transverse shaft 412, second inner teeth 4151 are arranged on the inner wall of the end part of the second interlocking sleeve 415, an engagement gear 416 is arranged inside the second interlocking sleeve 415 in a sliding manner along the axial direction, and the engagement gear 416 can keep or release the interlocking of the first interlocking sleeve 414 and the second interlocking sleeve 415. One end of the transverse shaft 412 is sleeved with an annular magnetic member 450 fixedly installed relative to the bracket 200, the annular magnetic member 450 is disposed on one side of the second linkage sleeve 415 away from the first linkage sleeve 414, and the engagement gear 416 is driven by the annular magnetic member 450 to have:

a coupling position, which is simultaneously engaged with the internal teeth of the first and second interlocking sleeves 414 and 415;

and a release position, disengaged from the first linkage housing 414.

The annular magnetic member 450 may be in the engaged position by applying a repulsive force to the meshing gear 416 in the forward direction or in the disengaged position by applying an attractive force to the meshing gear 416 in the reverse direction. Wherein the engagement gear 416 has a polygonal structure such as a regular hexagon and the corresponding first and second internal teeth 4141 and 4151 have regular hexagonal grooves.

In an embodiment, the medicine taking assembly 600 includes a first guide rail 610 and a second guide rail 620, the first guide rail 610 extends along the length direction of the cabinet body and is disposed in the cabinet body 100, the first guide rail 610 is two and is disposed at two sides of the height direction of the cabinet body, the second guide rail 620 extends along the height direction and two ends of the second guide rail 620 are slidably mounted on the two first guide rails 610, and the manipulator 630 is slidably mounted on the second guide rail 620.

The tray 200 and one side of the cabinet in the thickness direction have a transfer area therebetween, where the first rail 610, the second rail 620, and the robot 630 are located, and the robot 630 moves to the corresponding tray in the transfer area to receive the corresponding medicine 900. Preferably, the manipulator 630 includes a moving seat 631 and a clamping portion 632, the moving seat 631 is slidably connected to the second rail 620, and the clamping portion 632 is movably disposed on the moving seat 631 for clamping the medicine container 640, so that the medicine container 640 can receive more medicines. Preferably, the manipulator 630 includes a telescopic assembly, which is connected between the moving seat 631 and the clamping portion 632, and when receiving the medicine 900, the telescopic assembly stretches to drive the medicine container 640 to be located in the medicine outlet area 303 to receive the medicine 900; when receiving other medicines, the telescopic component shortens and drives the medicine container 640 to be separated from the medicine outlet area 303 (namely away from the bracket 200) to the transferring area, and moves to the other medicine outlet area 303 to receive medicines. Wherein the packaging assembly 700 is located in the transfer area, and after the medicine container 640 completes the medicine receiving task, the packaging assembly 700 is moved to the position where the packaging assembly 700 is located in the transfer area, and the packaging assembly 700 packages the medicine container 640.

In the thickness direction, the bracket 200 is a certain distance away from the cabinet body 100, as a transferring space, the intelligent medicine cabinet 1000 comprises a medicine taking assembly 600, the medicine taking assembly 600 comprises a vertically arranged second guide rail 620 and a first guide rail 610 which is slidably arranged on the second guide rail 620, the second guide rail 620 extends along the length direction, a manipulator 630 is slidably arranged on the first guide rail 610, the manipulator 630 clamps a medicine container 640, after receiving prescription information, the manipulator 630 clamps the medicine container 640 to move to a corresponding medicine outlet area 303, then a driving mechanism works to drive a corresponding conveying belt 300 to convey medicines, and after the medicine container 640 receives the medicines, the conveying belt 300 stops working. And then moving to the next medicine outlet area in the transferring space to carry out medicine carrying, and preparing for packaging after all the medicines are carried out. The manipulator is in a working position when receiving the medicine, the falling height of the medicine is smaller than 20cm due to the height of the working position, so that the injection medicine is particularly prevented from being broken due to the too high falling height, and correspondingly, an avoidance area is correspondingly reserved in the cabinet body 100 for the working position of the manipulator 630, and the transfer space comprises the avoidance area.

In one embodiment, the prescription information includes, for a single person, at least all medications included within a predetermined period of time, the drive mechanism 400 outputs the all medications one by one, and the all medications are loaded into the same medicine container.

In an embodiment, the cabinet 100 includes a refrigerated cabinet 140 located in the refrigerating area 112, the refrigerated cabinet 140 is in a rectangular structure and includes a movable back door, when the received prescription information includes medicines located in the refrigerating area 112, the mechanical arm 630 moves to a transferring space where the refrigerating area 112 is located, the back door is opened, the mechanical arm 630 receives corresponding medicines, and after receiving, the back door is closed after the standby mechanical arm 630 returns to the transferring space. Wherein the drive mechanism of each set of conveyor belts 300 within the cooling zone 112 may refer to the previous embodiments.

The concrete structure of the cabinet body is as follows:

The internal space of the whole cabinet body is 2 meters high, the layer height of each layer of bracket 200 is 10cm, and the number of the brackets 200 is 20; the length of the bracket 200 is 1.8m, the width of each conveyor belt 300 is 2cm, one bracket 200 is provided with 75 conveyor belts, and the cabinet bodies with different sizes can be customized according to actual needs, and the sizes of the brackets are correspondingly arranged. The bracket 200 is provided with an electronic tag and an indicator light corresponding to each conveyor belt 300, the electronic tag is used for binding different medicines, maintaining medicine information, locking when a medicine outlet fault occurs, and the indicator light is used for filling prompt guidance when medicine is added.

The medicine condition can be detected by a weight sensor on the conveyor belt 300, or by radio frequency identification such as a photoelectric sensor, etc., so as to transmit a detection signal back to the system, and then the system controls the medicine taking component, the indicator light, etc.

Embodiment two:

Referring to fig. 17-22, the carrier 200 includes a plurality of drug storage compartments 240 for storing drugs 900, where the size of each drug storage compartment 240 is the same or different, specifically according to the general drug arrangement in the department. The movable part is a movable plate 250, the movable plate 250 is rotatably arranged at the bottom of each medicine storage grid, and has a closed state for closing the bottom of each medicine storage grid and supporting medicines, and an open state for opening the bottom of each medicine storage grid, and a medicine outlet area 303 is arranged below each medicine storage grid. The driving mechanism 400 drives the movable plate 250 to switch from the closed state to the open state, so that the medicine 900 falls down to the medicine outlet area 303 by gravity. The retainer is used for keeping the movable plate 250 in a closed state, and preventing the medicine from falling accidentally.

The following is illustrative in connection with existing intelligent control:

When the intelligent medicine cabinet receives the prescription information, the driving mechanism drives the movable plate of the medicine storage grid where the corresponding medicine is located to be switched to an opening state, the medicine falls to the medicine outlet area according to gravity, and then the medicine can be received by the guide rail or the mechanical arm and the like.

In the illustration, the outer outline of the intelligent medicine cabinet 1000 is rectangular, medicine storage grids 240 of each bracket 200 in the interior are distributed in a matrix, the specific bracket 200 comprises a rectangular frame 201 and partition boards, the partition boards comprise a first partition board 202 and a second partition board 203 which are longitudinally and longitudinally inserted, the first partition board 202 and the second partition board 203 enclose the medicine storage grids 240, and the adjacent medicine storage grids 240 share the first partition board 202 or the second partition board 203. Wherein the cabinet body 100 includes a movable cabinet door 150, and the cabinet door 150 can be opened to operate when medicine replenishment or maintenance is required.

In the drawing of this embodiment, the movable plate 250 is hinged to the medicine storage compartment 240 through a pivot 251 or is slidably engaged with the medicine storage compartment 240, and in the drawing of this embodiment, the movable plate 250 is hinged to the rectangular frame 201, and the retaining member is an elastic member acting on the movable plate 250 to switch from the open state to the closed state, and the two ends of the elastic member act on the movable plate 250 and the rectangular frame 201, respectively.

In some embodiments, the movable plate 250 is one piece or two pieces in a split for the same storage compartment 240. For the structure that the movable plate 250 is two blocks which are split, a linkage mechanism is arranged between the two blocks, so that the movable plate can be synchronously opened.

In one embodiment, the driving mechanism 400 includes a driving member movably disposed in the cabinet 100, and the driving member is movable to a medicine outlet area 303 where each medicine is located and has:

a first position, which acts on the movable plate 250 to switch from the closed state to the open state;

And a second position, disengaged from the movable plate 250, allowing the movable plate 250 to be reset to the closed state by the holder.

Specifically, referring to fig. 20, the movable plate 250 is hinged to the medicine storage compartment 240 through a pivot 251, the pivot 251 is disposed near an edge of the medicine storage compartment 240, one side of the pivot 251 is a supporting portion 252 for supporting the medicine, the other side is an acting portion 253, and the driving member 460 acts on the acting portion 253 when in the first position, so that the movable plate 250 rotates around the pivot 251 to an open state. The closed state of the movable plate 250 is horizontal, and the open angle of the opposite open state is 70 to 90 degrees, preferably 90 degrees.

Referring to fig. 21, in another embodiment, the driving mechanism 400 includes a first magnetic attraction member 471 and a second magnetic attraction member 472, the first magnetic attraction member 471 is disposed on the movable plate 250, the second magnetic attraction member 472 is disposed on the bracket 200, and has a repulsive state for generating a repulsive force to the first magnetic attraction member 471 so as to switch the movable plate 250 to the open state, and a free state for allowing the movable plate 250 to be reset to the closed state, wherein the free state may be that the second magnetic attraction member 472 generates no force, or generates an adsorption force. Of course, the retaining member is a torsion spring disposed between the medicine storage compartment 240 and the movable plate 250, and when the first magnetic member 471 does not generate a repulsive force, the torsion spring drives the movable plate 250 to return to the closed state, or the first magnetic member 471 generates an adsorption force to assist the torsion spring to drive the movable plate 250 to return to the closed state.

Wherein, each medicine storage grid 240 is correspondingly provided with at least one first magnetic attraction piece 471, the generation and the change of the force of the first magnetic attraction piece 471 can be electrified, and corresponding electric wires can be embedded in the rectangular frame 201.

Wherein, intelligent medicine cabinet 1000 includes the subassembly 600 of getting it filled, and the subassembly 600 of getting it filled is including the activity setting in the internal manipulator 630 of cabinet, and manipulator 630 can remove to the play medicine district 303 that each medicine corresponds in order to accept the medicine, and drive piece 460 sets up on manipulator 630. Referring to fig. 20, in one embodiment, the driving member 460 includes a plurality of rods that slide and stretch, when the manipulator 630 moves to the medicine outlet area 303, the driving member 460 extends and acts on the movable plate 250 to open, the manipulator 630 takes up medicine in a proper position, and after that, the driving member 460 retracts, and the movable plate 250 returns to the closed state. The robot 630 then moves to take other medications or moves to other areas for packaging, etc. Wherein the movement of the robot 630 may be referred to in the art or to the embodiments described below.

The present embodiment provides a moving mode of the manipulator 630, the cabinet 100 has a length direction X, a thickness direction Y and a height direction Z as shown in the drawing, wherein the cabinet 100 includes a main cabinet 120 and side cabinets 130. The plurality of brackets 200 are arranged in the main cabinet 120 at intervals along the height direction, and a transferring space is reserved between adjacent brackets 200. The side cabinet 130 and the main cabinet 120 have an installation space 131 therebetween, and on one side of the cabinet in the length direction, two third guide rails 651 are disposed in the installation space 131, the third guide rails 651 extend in the thickness direction, a fourth guide rail 652 is slidably mounted between the two third guide rails 651, the fourth guide rail 652 extends in the height direction and can slide along the third guide rail 651, a fifth guide rail 653 is slidably mounted on the fourth guide rail 652, the fifth guide rail 653 extends in the length direction, the manipulator 630 is slidably mounted on the fifth guide rail 653, and the manipulator 630 is movable in three directions of XYZ. The main cabinet 120 is provided with an avoidance groove 121 that avoids the fourth rail 652.

Wherein the robot 630 carries a drug container 640, for example, holds the drug container 640. When the medicine falls down by gravity, the medicine container receives the medicine. In one embodiment, a transfer area is provided between the rear of the tray 200 and the rear side of the main cabinet 120, and as the robot 630 moves through the transfer area to the transfer space between the trays of each tier to receive the medicine 900, a portion of the fifth rail 653 and the robot 630 are in the transfer space during this process.

The manipulator 630 includes a moving seat 631 and a clamping portion 632, and the specific structure is not repeated herein with reference to the foregoing embodiments.

In one embodiment, the cabinet 100 includes a refrigerated cabinet 140 located in the cooling zone 112, the refrigerated cabinet 140 having a rectangular configuration and including a movable front door and a movable side door, the front door being disposed adjacent to one side of the transfer zone. When the received prescription information includes the medicine in the refrigerating area 112, after the manipulator 630 moves to the transferring area where the refrigerating area 112 is located, the front door and the side door are opened, the manipulator 630 stretches into and receives the corresponding medicine, after receiving, the manipulator 630 waits for returning to the transferring area, and then the front door and the side door are closed.

In one embodiment, the main cabinet 120 and the refrigerated cabinet 140 are provided with a plurality of sets of rails, each set of rails being arranged in pairs, and one bracket 200 being slidably mounted to one set of rails. Wherein in one embodiment the carriage 200 is driven by a motor to slide relative to the rail. In other embodiments, the bracket 200 is provided with armrests to facilitate manual pushing and pulling.

In an embodiment, the medicine storage compartment 240 is provided with a sensor for monitoring medicines, and an indicator light is correspondingly arranged, for example, a weight sensor is arranged on the movable plate 250, medicines 900 are monitored by the weight sensor, and when medicines 900 are not in the medicine storage compartment 240 in the medicine supplementing operation, the indicator light is turned on to prompt that the medicines need to be supplemented after the weight sensor monitors.

The following describes specific configurations of the package assembly, which is suitable for use in various embodiments.

The packaging assembly 700 includes a packaging region having a transfer region or a packaging region engaged with the transfer region, and a robot 630 transfers the drug containers 640 to the packaging region for packaging in alignment by a packaging device 710. The present embodiment provides one of the packaging methods, in which the opening of the medicine container 640 is provided with a flange, and the packaging apparatus adopts a film sticking device of the prior art, for connecting the packaging film to the flange, and the connection method includes welding or bonding. The packaging assembly 700 further comprises a printing device, the printing device is used for printing prescription information on the surface of the packaging film in a bar code or two-dimensional code mode, the printed packaging film is connected to the medicine container 640 by the film pasting device, and meanwhile important information such as a department, a bed number, a name and a medicine administration time are additionally printed, so that medical staff can visually acquire the important information. The prescription information comprises departments, bed numbers, names, administration time, medicine doctor advice information, indications, contraindications, recommended solvents, adverse reactions and the like.

In the packaging process, the manipulator 630 can release the medicine container 640, and after the medicine container 640 is packaged, the manipulator 630 grabs the packaged medicine container 640 again to transfer the packaged medicine container 640 again; or the medicine container 640 is always grabbed in the packaging process, and the medicine container 640 is immediately transferred after the packaging is completed.

In one embodiment, the intelligent medicine cabinet 1000 further includes a medicine container supply apparatus 800, and the medicine container supply apparatus 800 includes a first conveyor 810, a second conveyor 820, which may be a conveyor belt or the like. The first conveying member 810 is connected with the inside and the outside of the cabinet body 100, and is used for conveying the packaged medicine containers 640 out of the cabinet body 100 for subsequent treatment by medical staff; the second transfer member 820 engages the inside and outside of the cabinet 100 for transferring empty medicine containers 640 into the cabinet 100, and the robot 630 grips the empty medicine containers from the second transfer member 820 for a new medicine receiving task. Wherein the first conveyor 810 is located above the second conveyor 820, or both conveyors are at the same level, facilitating the medical staff to take the packaged drug containers 640.

The empty medicine containers may be manually replenished or, in one embodiment, the intelligent medicine cabinet 1000 includes an automatic supply of medicine containers including a delivery assembly for holding empty medicine containers, the delivery assembly engaged with the second transfer member 820. The conveying component can adopt the prior art, or be a third conveying member, such as a conveying belt, etc., when receiving a new task, the third conveying member works to drive the empty medicine container to move onto the second conveying member 820, and after detecting that the empty medicine container exists on the second conveying member 820, the third conveying member stops working, so that the redundant empty medicine container is prevented from entering the second conveying member, and the detection mode can be provided with the prior art such as an infrared sensor, etc.

The specific structure about the dimensions of the cabinet and the bracket is as follows:

The internal space of the whole cabinet body is 2 meters high, the layer height of each layer of bracket 200 is 10cm, and the number of the brackets 200 is 20; the length of the bracket 200 is 1.8m, each bracket 200 is provided with square medicine storage grids, the side length of each medicine storage grid comprises 2cm, 4cm or 10cm and the like, the height of each medicine storage grid is 4cm, 6cm and 15cm, each medicine storage grid comprises four partition boards forming directions, the thickness of two partition boards in the left-right direction is 0.2cm, the thickness of two partition boards in the front-back direction is 0.5cm, and the top ends of the partition boards in the front-back direction are provided with indicator light strips.

Wherein, the size design of a medicine storage grid for storing small injections: each medicine is provided with 10 x 5 medicine storage grids with the length of 2cm, the width of 2cm and the height of 4cm, the loading capacity is 50, the length=22.2 cm, the width of 13cm and the height of 4cm (including the size of a partition plate), 56 (7*8 medicines are contained in the upper, lower, left and right directions of the bracket 200, 2800 medicine storage grids with the capacity of 2800;

Sizing of a storage compartment for medium-sized injections: the length is 4cm, the width is 4cm, the height is 6cm, each medicine is provided with 10 x 3 medicine storage grids, the loading capacity is 30, the length=42.2 cm, the width is 14cm, the height is 6cm (including the size of a partition plate), 24 (4*6) medicines are contained in the upper, lower, left and right directions of the bracket 200, and the capacity is 720 medicine storage grids;

Size design of a medicine storage grid for storing large-size injection: each medicine is provided with 5*2 medicine storage grids with the length of 10cm, the width of 10cm and the height of 15cm, the loading capacity is 10, the length=51.2 cm, the width of 21.5cm and the height of 15cm (including the size of a partition plate), 8 medicines are contained in the upper, lower, left and right directions of the bracket 200 (2 x 4), and the capacity is 80;

The cabinet bodies with different sizes and the size of the medicine storage grid are customized according to actual needs, and the length, the number of layers and the layer height of the corresponding bracket are increased.

In addition, the size design of the medicine storage grid in the refrigerating area: ① Length=20 cm, width=5 cm, height=4 cm; ② Length=8 cm, width=5 cm, height=4 cm; ③ Length=4 cm, width=5 cm, height=4 cm; each medicine is provided with 1 x 15 medicine storage grids, the loading capacity is 15, and 4 columns, 6 columns and 8 columns are respectively designed side by side.

The movable plate 250 corresponding to each medicine storage grid is provided with a two-dimensional code, a bar code or an electronic tag and the like, and is used for calibrating medicine information placed in the medicine storage grid, the medicine information is correspondingly input into the system, and the system prompts medical staff to supplement medicines at the moment. Preferably, the top of the baffle that the fore-and-aft direction place of every medicine storage check is provided with the pilot lamp, cooperates foretell two-dimensional code, bar code or electronic tags in order to maintain medicine information, locks when meetting out the medicine trouble, and the pilot lamp is used for filling the suggestion when adding the medicine and guides.

The movable plate 250 is provided with a weight sensor to detect the medicine condition, or a photoelectric sensor or other radio frequency identification to detect the medicine condition, so as to transmit a detection signal back to the system, and then the system controls the medicine taking component, the indicator lamp and the like.

In one embodiment, the intelligent medicine cabinet 1000 includes an interactive device for a user (i.e., medical staff) to input prescription information and display corresponding information, and the interactive device can be a display screen with a central processing unit, etc., and interacts with various sensors and cameras in the cabinet.

The application also provides an intelligent dispensing system, which comprises a terminal, the intelligent medicine cabinet 1000 and a server, wherein the terminal generates prescription information, and the terminal can be a computer or mobile equipment of medical staff; the intelligent medicine cabinets are used for receiving the prescription information, outputting and packaging corresponding medicines, and the number of the intelligent medicine cabinets can be multiple; the server is in communication connection with the terminal and the intelligent medicine cabinet and is used for checking prescriptions and allocating medicines. For example, after the medical staff inputs prescription information, the prescription checking includes checking and comparing the quantity, specification and other contents of medicines in the prescription information, comparing whether the intelligent medicine cabinet contains the medicines, and feeding back the information to the terminal, for example, after the corresponding medicines are absent, the terminal readjusts the prescription information, or the medicines in the intelligent medicine cabinet are supplemented, wherein the medicine supplementing operation belongs to one of medicine allocation.

S100, acquiring prescription information, wherein the prescription information comprises one or more medicines;

S200, for each medicine, driving the movable part at the position of the medicine to implement medicine discharge, and enabling the manipulator 630 to move to the corresponding medicine discharge area 303 to receive the medicine until the expected medicine in all prescription information is obtained;

s300, packaging all the medicines acquired currently and adding annotation information.

The cabinet body comprises a central processing unit and a display screen, the display screen is touch-control type, corresponding information can be manually input, and then the central processing unit sends signals to corresponding devices to be executed, wherein the cabinet body further comprises a wireless signal module, and medical staff can remotely control the intelligent medicine cabinet.

The prescription information also comprises departments, bed numbers, names, administration time, medicine order information, indications, contraindications, recommended solvents, adverse reactions and the like. The comment information contains prescription information and is added in the form of a bar code or a two-dimensional code, and the packaging and adding modes of the medicine refer to the foregoing embodiments.

In one embodiment, prior to movement of the robot 630, determining the spatial location of each drug according to the drug involved in the prescription information, planning a path according to the spatial location, and then moving the robot 630 according to the planned path.

The specific one-time medicine outlet flow is as follows:

Upon receiving the input information of medicine delivery, that is, acquiring prescription information, the medicine container supply device 800 sends the empty medicine container into the cabinet 100, the mechanical arm 630 clamps the empty medicine container to the corresponding medicine delivery area, and the driving mechanism 400 drives the movable component to move, so that the medicine 900 falls into the medicine delivery area 303 and into the empty medicine container. After all medicines are received, the mechanical arm 630 clamps the medicine container 640 to a packing area, in the process, the printing device prints prescription information on the packing film, and the packing film is fixedly connected to the medicine container 640 by the film pasting device, namely, the packing is completed. The robot 630 then transfers the packaged drug container 640 to the drug container supply 800, and out of the cabinet 100 via the drug container supply 800 for subsequent processing by the healthcare worker.

The application also provides a medicine adding method, on one hand, the medicine and the base number agreed by the original medicine department and doctors and nurses in various medical areas are referred, and the generated leading list is returned according to the medicine taking record;

On the other hand, the ADC inventory shortage is shunted to a central pharmacy for carrying out supplementary analysis on the ADC drug data sheet, and the type and the base number are adjusted according to the number and the frequency of the drug use;

The medicine is supplemented in a 'zero removal and rounding' mode (for example, 53-60 is needed).

After adjustment, generating ADC filling medicine lists of all disease areas, printing, and generating a two-dimensional code;

As shown in fig. 24, the ward pharmacy picker confirms the number of picks according to the instruction of the handheld tablet PC to reach the position to be picked, and finishes the information graying of one medicine, and the informationized accurate medicine picking.

If the electronic label of each medicine is different from the filling medicine information, for example: drug name, manufacturer, expiration date, etc., and pharmacist can change by holding the tablet computer.

After the medicine taking of all medicines is completed, a new two-dimensional code or RFID electronic tag is generated, and the new two-dimensional code or RFID electronic tag and the medicines are transported to nurses' stations in all disease areas;

the medicine information is read into the ADC by a PDA reader built in each lesion ADC.

According to the arrangement of the information data, the medicine carrying unit layer (namely the bracket 200) is slowly pushed out by the PLC, the indicator lights or the indicator light bands of the corresponding medicine carrying units (namely the medicine storage grids/conveyor belts) are lightened, and medicine branches are put into each medicine carrying block;

after loading, the system generates the dosing amount according to the induction of the bottom baffle plate or the conveyor belt and displays the dosing amount on a screen, and if the dosing amount is matched with the filling medicine information in the two-dimensional code or the RFID electronic tag, the dosing amount is automatically confirmed. If the effective period is different, the ADC screen is jumped out of the reason, and other medicine carrying units are provided for medicine supplementing;

the generated related data is automatically recorded in the ADC, and the mode also supports the setting of a plurality of medicine carrying units according to the medicine dosage, the validity period and the like, so that the medicine supply is ensured, and meanwhile, the problem of good near-validity period medicine first-out is managed.

In addition, the condition of searching the medicine in the ADC is input by scanning codes or manual operation, the filled or returned medicine is compared, the medicine carrying unit layers with consistent information are automatically popped up, the indication lamp of the medicine carrying unit is lightened, and scattered medicines are put into corresponding medicine carrying units;

Checking by a photoelectric sensor or a gravity sensor, and recycling the medicine carrying unit layer to finish medicine adding;

if the number or the validity period is inconsistent, the reminding display checks the medicine, the guiding lamp guides the new medicine unit to be placed, and the medicine unit layer is automatically recovered after manual modification and confirmation, so that medicine adding is completed. Manual searching and manual medicine adding and withdrawing operations are supported.

In addition, the special areas can be divided independently according to different ADC medicine storage properties and management, so that the special areas are used for storing and distributing management of the sesame seed medicines and emergency rescue medicines, and the special areas can be further optimized in the later design opening. And adding the double-user face recognition, fingerprint or job number login requirements into the ADC module, and recovering the empty bottle.

Intelligent drug cabinet ADC and HIS docking mode:

After the doctor opens the medicine, the medicine is checked by the checking system and then is transmitted to the pharmacy for medicine delivery, the operator of the pharmacy confirms the medicine delivery and then transmits the medicine delivery to the ADC server, the ADC server distributes the medicine delivery data transmitted by the pharmacy to the ADC clients of the respective disease areas, and the operation flow avoids that the ADC clients do not receive the medicine delivery data in the transmission process.

The ADC main body mainly comprises an internal PC and a PLC controller. The PC machine is mainly used for realizing the operation of docking with the ADC server, and a visual operation interface is developed based on Microsoft Visual Studio. The PLC controller is used as an executor, and controls the motor through the frequency converter, and is mainly responsible for realizing medicine discharging, medicine supplementing and fault detection of the ADC. The ADC uses the existing butt-joint protocol or develops a new data protocol through a third party interface, calls the HIS system to push relevant data of the ADC server end, displays target information on a display of the built-in PC through data redistribution, and stores the running data in an ADC database.

ADC server side database design:

1. drug delivery table: and the doctor's advice information is used for being stored, and the doctor's advice information is called and acquired from the HIS. The medicine dispensing table mainly comprises: the method comprises the steps of sorting called data according to the table and using the called data as a medicine dispensing catalog of the ADC operation of the intelligent medicine cabinet.

2. A storage table: the storage position of the ADC medicine carrying unit is used for storing medicines. Mainly comprises the following steps: drug coding, storage number, drug name, specification, manufacturer, date of production, expiration date, current number of drugs, etc.

3. Supplement medicine table: the method comprises a supplementary drug table 1 and a supplementary drug table 2, wherein the supplementary drug table 1 generates a supplementary drug information list according to varieties and quantity of ADC drugs in warehouse to meet daily drug delivery, and the supplementary drug table 1 mainly comprises: medicine coding, storage number, medicine name, specification, quantity, manufacturer and validity period. The information of the supplementary medicine table 1 is read or called through the code scanning of a pharmacy in a disease area, after medicine picking is finished, a medicine list is generated, and the ADC finishes filling of the ADC medicine by calling the data list or the code scanning. The tonic table 2 mainly comprises: drug code, storage number, drug name, specification, number, manufacturer, expiration date, time for drug replacement, information on drug replacement personnel, etc., as shown in the following table.

Order and shunt:

After the doctor orders in the HIS and the doctor orders are executed by a nurse, the doctor orders information is checked by a background checking system and a manual, and after the checking is finished, the pharmacist confirms the dispensing. The data after HIS dispensing is transmitted to the ADC server through the interface, the ADC server automatically pushes the data to the ADCs of the respective disease areas according to the dispensing data of the disease areas, and the ADCs automatically execute dispensing according to the dispensing time and the injection time of patients or the nurses manually dispense, and the ADC intelligent cabinet automatically performs inventory reduction after manual dispensing or automatic dispensing.

The charging mode is as follows:

Consistent with the current hospital HIS charging mode. The doctor's advice is sent and returned to confirm and just charge, and as for patient's medicine actual issue and return, then take the ADC ex warehouse before patient's dosing as the standard, that is before ADC does not send medicine, patient's doctor's advice change, send, the charge of returning medicine does not influence.

Counting medicine inventory of a medicine cabinet:

The pharmacy can inquire the inventory data of each medicine in each disease area ADC by means of the HIS system through an interface calling mode, and an inventory early warning function is arranged, so that the pharmacy is reminded of adding medicine inventory through insufficient inventory.

As shown in fig. 25, the ADC database and HIS system flow are combined:

1. Firstly, coding each medicine according to the name, enabling the medicine to correspond to only one ID number, inputting HIS management software of an Android or ios tablet terminal, and establishing a database;

2. a doctor issues orders in a Personal Computer (PC) through an HIS system according to the name and the dosage of the medicine required by a patient;

3. After being executed by nurses, the doctor advice information is transmitted to the HIS ward pharmacy system through a background auditing system and manual auditing;

4. The approved doctor's advice data is converted and pushed to a database of an ADC server through a WIFI module according to ID number, dosage and medicine taking time information of medicines in the doctor's advice of a patient by a network communication protocol and a certain coding format;

5. forming a temporary medicine delivery data table according to the administration time of the patient in the doctor's advice information;

6. when the medicine outlet time or the medicine taking time of the patient B is earlier than that of other patients, the ADC gives priority to automatic medicine outlet to the patient B;

7. the wireless radio frequency network sends information to each ADC medicine carrying unit electronic tag through the coordinator of the ADC gateway node;

8. after the electronic tag receives the information and decodes, the electronic tag compares and converts the information with the drug information represented by the electronic tag, a Programmable Logic Controller (PLC) realizes the address-identifying position control of the drug code value, and corresponding drug storage information is searched;

the PLC drives the mechanical arm and the medicine container carried by the mechanical arm to move to the corresponding medicine outlet area through the medicine taking instruction;

10. the driving mechanism drives the movable part to move so as to drive the medicine to fall into the medicine outlet area;

11. The correct amount of medicine is received by an empty medicine container;

12. Feeding back data information and the execution state of the dispensing task to the upper computer through a TCP/IP communication protocol, and completing automatic dispensing according to the number of dispensing and receiving corresponding medicine boxes;

The number of medicines in the ADC is reduced, the information records are transmitted back to the ADC system and the central pharmacy HIS system, at the moment, the number of medicines in the ADC is smaller than that of medicines entered by patients A and C, and the ADC reminds a disease area pharmacist of timely supplementing medicines according to medicine sending data;

the ADC liquid crystal display displays information such as corresponding patient departments, bed numbers, names of medicines, dosage, medicine taking time and the like;

15. The printing device prints patient information (department, bed number, name, administration time) and two-dimensional codes (medicine doctor's advice information, indication, contraindications, recommended menstruum, adverse reaction) on the packaging film;

16. after all medicines of a patient are received, the film pasting device connects and fixes the packaging film printed with the information on the medicine container;

17. After the steps are finished, the mechanical arm transfers the medicine containers packaged by the packaging film to the medicine container supply device;

18. The mechanical arm releases the medicine container, and the medicine container is sent out of the cabinet body by the medicine container supply device;

19. the mechanical gripper moves towards the inlet of the medicine container to grasp the empty medicine container;

20. and starting the automatic medicine discharging of the next round, namely repeating the steps 1-18.

21. Reminding the nurse palm computer to take medicine according to the medicine taking time;

22. The drug delivery time and the record are transmitted back to the ADC system or the HIS pharmacy system;

The ADC generates a medicine filling table and transmits data to a pharmacy system of a disease area of the HIS system (red, yellow and blue order reminding is set according to the daily, weekly and monthly medication proportion, and the ADC of each disease area is adjusted to fill a medicine list in a zero-removing and rounding mode);

24. the pharmacy in the center of the ward can select medicines through the PC;

25. confirming the picking quantity at the picking position to finish the ash turning of the medicine information; if the electronic label of each medicine is different from the filling medicine information, for example: drug name, manufacturer, expiration date, etc., and the pharmacist changes. After all medicines are taken, a new two-dimensional code or RFID electronic tag is generated, the new two-dimensional code or RFID electronic tag and the medicines are transported to each disease area together, and medicine information is read into the ADC through a built-in PDA reader of the ADC of each disease area;

The ADC decodes the information, and slowly pops up the medicine carrying unit layer according to the arrangement of the information data;

29. The corresponding medicine carrying unit indicator lights are turned on to guide medicine supplementing, and medicine branches are placed in corresponding medicine carrying areas;

30. After loading, the system generates the dosing amount according to a sensor (such as a weight sensor on a conveyor belt or a movable plate) and displays the dosing amount on a screen, and if the dosing amount is matched with the filling medicine information in the two-dimensional code or the RFID electronic tag, the dosing amount is automatically confirmed. If the effective period is different, the ADC screen is jumped out of the reason, and other medicine carrying units are provided for medicine supplementing;

31. The medicine loading unit layer is recycled to finish medicine adding, and generated related data is automatically recorded in the ADC and is simultaneously returned to the HIS system;

32. comparing filled or returned medicines by scanning codes or manually inputting and searching medicines in the ADC, automatically popping up a medicine carrying unit layer with consistent information, lighting an indicator light on a medicine carrying unit (such as a medicine storage grid), and placing scattered medicines into corresponding medicine carrying units; if the number or the validity period is inconsistent, the reminding display checks the medicine, the guiding lamp guides the new medicine unit to be placed, and the medicine carrying unit layer is automatically recovered after manual modification and confirmation, so that medicine adding is completed.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description. When technical features of different embodiments are embodied in the same drawing, the drawing can be regarded as a combination of the embodiments concerned also being disclosed at the same time.

The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application.

Claims

1. Intelligence medicine cabinet, its characterized in that includes:

The movable part is arranged on the bracket and is used for bearing medicines;

2. The intelligent medicine cabinet of claim 1, further comprising an interactive device for a user to input prescription information and display the corresponding information.

3. The intelligent medicine cabinet of claim 2, further comprising a medicine container supply for providing medicine containers, the robot carrying the medicine containers to receive medicine.

4. A smart medicine cabinet according to claim 3, wherein the medicine falls under gravity to a medicine outlet area after exiting the movable member until entering the medicine container; the manipulator is positioned at a working position when receiving the medicine, and the height of the working position is smaller than 20cm when the medicine falls;

5. The intelligent medicine cabinet according to claim 4, wherein the prescription information at least comprises all medicines used in a preset time period for a single medicine user;

6. The intelligent medicine cabinet according to claim 1, wherein the movable part is a conveyor belt, the downstream of the conveyor belt along the conveying direction is a front edge, the medicine outlet area is positioned below the front edge of the conveyor belt, the outer surface of the conveyor belt is provided with blocking parts which are arranged at intervals, a containing area for supporting medicines is arranged between two adjacent blocking parts, the medicine outlet area is positioned below the front edge of the conveyor belt, and medicines positioned at the front edge fall into the medicine outlet area by gravity;

7. The intelligent medicine cabinet of claim 1, wherein the cabinet has a transfer area, and wherein the packaging assembly comprises:

The packing platform is positioned in the transfer area;

8. Intelligence dispensing system, its characterized in that includes:

a terminal generates prescription information;

The intelligent medicine cabinet according to any one of claims 1 to 7, which is used for receiving the prescription information, outputting and packaging corresponding medicines;

9. An automatic medicine discharging method, which is characterized in that based on the intelligent medicine cabinet of any one of claims 1 to 7, the automatic medicine discharging method comprises the following steps:

10. The automated medication delivery method of claim 9, further comprising, prior to the movement of the robotic arm: