CN222222625U - Grabbing device for grabbing medicament bottles - Google Patents

Abstract

The utility model discloses a grabbing device for grabbing a medicament bottle, which comprises a shell, an air bag pipeline and an air bag pipeline, wherein a bottle accommodating cavity is arranged at the bottom of the shell, the bottle accommodating cavity allows a medicament bottle to be partially placed in the bottle accommodating cavity, the air bag is arranged on the inner wall of the bottle accommodating cavity, the air bag pipeline is arranged in the shell and communicated with the air bag and is used for inflating or exhausting the air bag, and the medicament bottle placed in the bottle accommodating cavity can be clamped after the air bag is inflated and expanded. The gripping device can be matched with a corresponding motion mechanism to perform actions of gripping the medicament bottle, transferring the medicament bottle and putting down the medicament bottle, and the medicament bottle is gripped by adopting an air bag gripping mode, so that the gripping device has certain flexibility after gripping, and when the air bag grips the medicament bottle and puts the medicament bottle into a corresponding station, if slight deviation exists, the medicament bottle can deflect to a certain extent based on the flexible characteristic of the air bag gripping, so that the medicament bottle can be smoothly clamped into the corresponding station.

Description

Grabbing device for grabbing medicament bottles

Technical Field

The utility model relates to the technical field of automatic dispensing of traditional Chinese medicine particles, in particular to a grabbing device for grabbing a medicine bottle.

Background

The automatic traditional Chinese medicine granule dispensing equipment can replace manual preparation of traditional Chinese medicines, but still needs to rely on manual operation in the process of taking and placing medicine bottles, for example, when dispensing traditional Chinese medicines, a worker is required to take the medicine bottles off a medicine cabinet, then step to the vicinity of the dispensing equipment, weigh the medicine bottles and place the medicine bottles at a dispensing station of the dispensing equipment, then the dispensing equipment automatically completes dispensing, packaging and other actions, and after the dispensing, the worker also needs to take the medicine bottles off the dispensing station, step to the medicine cabinet and place the medicine bottles back to the original storage positions. The medicine cabinet has a structure see Chinese patent with publication number CN109567429A, a layout mode of the medicine cabinet is a planar array layout, and the dispensing equipment can see Chinese patent with publication number CN 117302608A.

It can be seen that, in the above process, the operations of dispensing, packaging, etc. are automatically completed, but the process of taking and placing the medicine bottles is not automated, and still needs to be completed manually.

In this regard, the applicant has recognized that it is necessary to increase the degree of automation of the overall operation process, so that the process of taking and placing the medicament bottles can be automated, thereby further saving labor and improving work efficiency. The applicant has thus devised a dispensing system that enables full-flow automation.

Disclosure of utility model

In the full-process automated dispensing system designed by the applicant, the dispensing system comprises a medicine cabinet and dispensing equipment, the medicine cabinet is enclosed, the dispensing equipment is arranged in the enclosed medicine cabinet, and the dispensing equipment is provided with a dispensing station and a weighing station. When the traditional Chinese medicine granule is dispensed, the medicine bottles at the designated positions in the medicine cabinet are required to be taken down and then placed on a dispensing station of dispensing equipment, the action of dispensing and discharging is executed, the medicine bottles are required to be placed back into the medicine cabinet after dispensing, and during the process, the medicine bottles are required to be placed on a weighing station for weighing if necessary, so that a background system can judge whether the discharging amount is accurate and know the residual medicine in the medicine bottles after discharging. In view of the above, the present utility model provides a gripping device for gripping a medicine bottle, so as to facilitate the action of gripping and putting down the medicine bottle in the above process in cooperation with a corresponding movement mechanism.

The technical scheme adopted by the utility model for solving the technical problems is that a grabbing device for grabbing a medicament bottle is provided, and the grabbing device comprises:

The bottom of the shell is provided with a bottle accommodating cavity which allows the medicament bottle part to be placed in;

The air bag is arranged on the inner wall of the bottle body accommodating cavity;

The air bag pipeline is communicated with the air bag and is used for inflating or exhausting the air bag;

after the air bag is inflated, the medicament bottle placed in the bottle accommodating cavity can be clamped.

Preferably, a first sensor is provided on top of the vial receiving cavity for detecting whether the medicament vial is in place in the vial receiving cavity.

Preferably, a second sensor is provided on a side of the bottom of the bottle body accommodating chamber to detect whether the medicine bottle is completely separated from the bottle body accommodating chamber when the medicine bottle is released.

Preferably, a third sensor is arranged in the center of the top of the bottle body accommodating cavity, and the third sensor is used for reading an RFID tag arranged on the medicine bottle so as to judge whether the grasped medicine bottle is a preset medicine bottle or not.

Preferably, a fourth sensor is provided on the outside of the bottle body accommodating chamber for detecting whether the target position has a medicine bottle.

Preferably, the number of the air bags is multiple, and the air bags are distributed around the inner wall of the bottle accommodating cavity.

Preferably, the number of the air bags is eight, the eight air bags are circumferentially distributed in four areas of the inner wall of the bottle body accommodating cavity in a group mode, and the two air bags in each area are distributed in an up-and-down arrangement mode.

Preferably, the air bag pipeline is relatively fixed with the shell, the air bag pipeline comprises a main pipeline and a plurality of branch pipelines, one end of the main pipeline is used for being connected with the air pump, the other end of the main pipeline is connected with each branch pipeline, and each branch pipeline is connected with each air bag.

Preferably, a plurality of guiding limiting plates are arranged in the bottle accommodating cavity, and the guiding limiting plates are distributed around the inner wall of the bottle accommodating cavity and used for guiding the medicament bottle, so that the medicament bottle can be placed in the bottle accommodating cavity along the central axis of the bottle accommodating cavity.

Preferably, the number of the guide limiting plates is four, and the four guide limiting plates are uniformly distributed at four positions of the inner wall of the bottle accommodating cavity.

The utility model has the beneficial effects that:

the gripping device disclosed by the utility model can be matched with a corresponding movement mechanism to execute actions of gripping the medicament bottle, transferring the medicament bottle and putting down the medicament bottle, and has certain flexibility after gripping due to the adoption of an air bag gripping mode, when the air bag grips the medicament bottle and puts the medicament bottle into a corresponding station, if slight deviation exists, the medicament bottle can deflect to a certain extent based on the flexible characteristic of the air bag gripping, so that the medicament bottle can be smoothly clamped into the corresponding station.

Drawings

Fig. 1 is a schematic structural view of a gripping device according to embodiment 1 of the present utility model;

FIG. 2 is a view of the internal structure of the grasping device of FIG. 1, taken in section;

FIG. 3 is an illustration of the gripping device of FIG. 1 in use;

Fig. 4 is a schematic structural view of a gripping device according to embodiment 2 of the present utility model;

FIG. 5 is a view of the internal structure of the grasping device of FIG. 4 in section;

FIG. 6 is a schematic illustration of the fourth sensor detecting whether a vial is present at the target location when the gripping device of FIG. 4 is ready to grip a vial;

FIG. 7 is an illustration of the gripping device of FIG. 4 in use;

Fig. 8 is a schematic view of the gripping device of fig. 7 with the rotary mechanism attached thereto separated from each other.

Detailed Description

The present utility model will be described in further detail with reference to specific examples, but embodiments of the present utility model are not limited thereto.

In a full-flow automated dispensing system designed by the applicant, the dispensing system comprises a drug cabinet and dispensing equipment. Wherein, the medicine cabinet is enclosed, comprises a plurality of sub-cabinets a, and each sub-cabinet a encloses dispensing equipment therein, and the structure of sub-cabinet a is see fig. 7. The dispensing device comprises a dispensing panel d1, referring to fig. 3 and 7, a plurality of dispensing stations d2 and a plurality of weighing stations d3 are arranged on the dispensing panel d1, the dispensing stations d2 are uniformly distributed along an annular path, and the weighing stations d3 are uniformly distributed on the inner sides of the dispensing stations d2 in an annular shape.

When the traditional Chinese medicine particles are dispensed, the medicine bottles p at the designated positions in the medicine cabinet are required to be taken down and then placed on a dispensing station d2 of a dispensing panel d1, the action of dispensing and discharging is executed, the medicine bottles p are required to be placed back into the medicine cabinet after dispensing, and during the process, the medicine bottles p are optionally placed on a weighing station d3 and weighed, so that a background system can judge whether the discharging amount is accurate and know the residual medicine amount in the medicine bottles after discharging.

In this regard, the applicant devised a vial handling robot f and a vial transfer device e.

The medicine bottle taking and placing manipulator f is used for taking down the medicine bottles p at the appointed position in the medicine cabinet, then placing the medicine bottles p on the dispensing station d2 or the weighing station d3 of the dispensing panel d1, and placing the medicine bottles p on the dispensing station d2 or the weighing station d3 back to the original position in the medicine cabinet after dispensing.

Wherein, the medicament bottle transferring device e is used for transferring medicament bottles p between the dispensing station d2 and the weighing station d 3.

The above-described medicine bottle picking and placing manipulator f and medicine bottle transferring device e involve the actions of picking up and placing down the medicine bottle p. Therefore, the applicant has specially designed a gripping device for gripping a medicine bottle, so as to be applied to the above-mentioned medicine bottle picking and placing manipulator f or medicine bottle transferring device e, and to cooperate with a corresponding movement mechanism to realize the above-mentioned actions of gripping and placing the medicine bottle p.

The above-mentioned grabbing device for grabbing a medicament bottle has a specific structure as described in the following examples.

Example 1:

With respect to the above-described medicine bottle transferring device e, the present embodiment provides a gripping device g for gripping medicine bottles, which is suitable for use in the medicine bottle transferring device e, and has the following specific structure.

Referring to fig. 1 and 2, a gripping device g for gripping a medicine bottle of the present embodiment includes a housing g1, a balloon g2, and a balloon line g3.

The bottom of the housing g1 is provided with a bottle accommodating chamber g11, and the bottle accommodating chamber g11 allows the bottle bottom of the medicine bottle p to be placed therein.

The air bag g2 is arranged on the inner wall of the bottle body accommodating cavity g 11.

The air bag pipeline g3 is arranged in the shell g1, and the air bag pipeline g3 is communicated with the air bag g2 and is used for inflating or deflating the air bag g 2.

Wherein, after the air bag g2 is inflated, the bottle bottom of the medicine bottle p placed in the bottle body accommodating cavity g11 can be clamped.

In some embodiments, the number of the air bags g2 is plural, and the air bags g2 are distributed around the inner wall of the bottle accommodating cavity g 11. More specifically, referring to fig. 1, the number of the air bags g2 is eight, and the eight air bags g2 are circumferentially distributed in four areas of the inner wall of the bottle accommodating cavity g11 in a group by group manner, wherein the two air bags g2 in each area are distributed in a vertically arranged manner.

Further, the air bag pipeline g3 includes a main pipeline (not shown) and a plurality of branch pipelines (not shown), one end of the main pipeline can be connected with the air pump through a hose, the other end of the main pipeline is connected with each branch pipeline, and each branch pipeline is connected with each air bag g 2. The air bag pipeline g3 may be a pipeline integrally formed with the housing g1, may be an independent pipeline independently inserted into the housing g1, or may be a combination of the two.

Therefore, when the bottle body accommodating cavity g11 is sleeved on the periphery of the bottle bottom of the medicine bottle p, the eight air bags g2 are inflated simultaneously, and the bottle bottom of the medicine bottle p can be clamped by the eight air bags g2 from four directions. The eight air bags g2 clamp the medicine bottles p from four directions at the same time, so that the outer wall of the medicine bottles p can be ensured to be stressed uniformly, and the situation that the medicine bottles p are pushed by the air bags to deviate from the original positions is avoided. Meanwhile, as the air bag g2 is adopted to clamp, the air bag g2 has certain flexibility after clamping, when the air bag g2 clamps the medicine bottle p and puts the medicine bottle p into the dispensing station d2 or the weighing station d3, if a slight deviation exists, the medicine bottle p can deflect to a certain extent based on the flexible characteristic clamped by the air bag g2, so that the medicine bottle p can be smoothly clamped into the dispensing station d2 or the weighing station d3, namely, the outer wall of the bottle cap p2 of the medicine bottle p is provided with two groups of driving lugs p22 (see fig. 3), the dispensing station d2 or the weighing station d3 is provided with a positioning groove d322 (see fig. 3) matched with the driving lugs p22, and under normal conditions, the driving lugs p22 are aligned with the positioning groove d322 in the process of putting the medicine bottle p into the dispensing station d2 or the weighing station d3, but if the driving lugs p22 are not completely aligned with the positioning groove d322, the deviation is slightly within a permissible range, and the bottle p can be slightly twisted relative to the air bag g2, and then the medicine bottle p can be smoothly clamped into the positioning groove d322, so that the medicine bottle p can be smoothly aligned with the dispensing station d2 or the weighing station d3.

To facilitate detection of the position status of the medicament bottle p, in some embodiments, referring to fig. 1, a first sensor g4 is provided at the top of the bottle receiving cavity g11, and a second sensor g5 is provided at the side of the bottom. The first sensor g4 is used for detecting whether the medicine bottle p is put into the bottle accommodating cavity g11 or not when the medicine bottle p is grasped. The second sensor g5 is used to detect whether the medicine bottle p is completely separated from the bottle body accommodating chamber g11 when the medicine bottle p is released.

Preferably, the first sensor g4 adopts a reflective photoelectric sensor, and can detect the distance between the bottom of the medicine bottle p and the top surface of the bottle accommodating cavity g11 when the medicine bottle p is grabbed, so as to further judge whether the position of the medicine bottle p in the bottle accommodating cavity g11 is in place.

Preferably, the second sensor g5 is a correlation type infrared sensor, and is composed of a transmitting end and a receiving end, and the transmitting end and the receiving end are respectively arranged at the left side and the right side of the bottom of the bottle body accommodating cavity g11. When the receiving end receives the infrared rays emitted by the emitting end during the release of the medicine bottle p, the medicine bottle p is completely separated from the bottle body accommodating cavity g11.

Of course, the first and second sensors g4, g5 are not limited to the use of the above-described types of sensors, and in some other embodiments, the first and second sensors g4, g5 may also use other types of sensors, as well as suitable.

In some embodiments, referring to fig. 2, a third sensor g6 is further disposed in the center of the top of the bottle body accommodating cavity g11, where the third sensor g6 is configured to read an RFID tag disposed at the bottom of the bottle body of the medicine bottle p, where the RFID tag is written with name information of the medicine stored in the medicine bottle p, and the third sensor g6 can determine whether the medicine bottle p grabbed by the grabbing device g is correct by reading the RFID tag, so as to avoid grabbing errors.

In some embodiments, the bottle accommodating cavity g11 is provided with a plurality of guiding limiting plates g13, and the guiding limiting plates g13 are distributed around the inner wall of the bottle accommodating cavity g11, so as to guide the medicine bottle p, so that the medicine bottle p can be clamped into the bottle accommodating cavity g11 along the central axis of the bottle accommodating cavity g11, and the preset position is avoided from being deviated when clamped.

Specifically, referring to fig. 1, four guiding limiting plates g13 are arranged in a bottle accommodating cavity g11, and the four guiding limiting plates g13 are distributed at four positions of front, back, left and right of the inner wall of the bottle accommodating cavity g 11. The bottom of the guiding limiting plate g13 is provided with an inclined plane, the arrangement of the inclined plane can allow the medicine bottles p to be grabbed to have certain deviation, and meanwhile, the inclined plane is beneficial to smoothly clamping the medicine bottles p into the area limited by the four guiding limiting plates g 13. And, when the gasbag g2 is not inflated (i.e. when the gasbag g2 is in a contracted state), the protruding height of the guiding limiting plate g13 is larger than the protruding height of the gasbag g2 (i.e. the guiding limiting plate g13 is closer to the central axis of the bottle accommodating cavity g11 than the contracted gasbag g 2), thereby ensuring that the medicine bottle p is not contacted with the uninflated gasbag g2 in the process of being clamped into the bottle accommodating cavity g11, preventing the gasbag g2 from being stuck to the outer wall of the medicine bottle p and affecting the smooth clamping of the medicine bottle p.

When the medicine bottle transfer device is used, the grabbing device g of the embodiment is assembled with a corresponding movement mechanism, so that the medicine bottle transfer device e designed by the applicant can be formed.

Specifically, referring to fig. 3, after assembly, the medicine bottle transferring device e includes a first rotating mechanism e1, a first synchronous belt module e2, a rack-and-pinion mechanism e3, and a gripping device g provided in this embodiment.

The first rotation mechanism e1 is arranged in the center of a dispensing panel d1 in dispensing equipment designed by the applicant and is used for controlling the first synchronous belt module e2, the gear rack mechanism e3 and the grabbing device g to do rotation motion around an axis z, wherein the axis z is the central line of the whole dispensing equipment and extends vertically.

The first synchronous belt module e2 is arranged at the top of the first slewing mechanism e1 and is used for controlling the gear rack mechanism e3 and the grabbing device g to do horizontal reciprocating movement perpendicular to the axis z above the dispensing panel d 1.

The gear rack mechanism e3 is mounted on the first synchronous belt module e2 and is used for controlling the grabbing device g to vertically reciprocate above the dispensing panel d1 and parallel to the axis z.

The gripping device g of the present embodiment grips the vial p by inflating the balloon g 2.

The medicine bottle transferring device e is used for transferring medicine bottles p between a dispensing station d2 and a weighing station d3 of the dispensing panel d1, and referring to fig. 3, the specific working procedure is approximately as follows:

Firstly, a first rotary mechanism e1 of a medicine bottle transferring device e works to drive a grabbing device g to rotate to a position which is in the same radial direction with a medicine bottle p to be grabbed;

Then, the first synchronous belt module e2 works to drive the grabbing device g to radially move to the position right above the medicine bottle p to be grabbed;

Then, the rack-and-pinion mechanism e3 works forward to drive the grabbing device g to move downwards and enable the bottle body accommodating cavity g11 to be sleeved at the bottle bottom of the medicament bottle p;

Then, all the air bags g2 of the grabbing device g are inflated, and the bottoms of the medicament bottles p are clamped from four directions after the air bags g2 are inflated;

Then, the gear rack mechanism e3 works reversely to drive the grabbed medicine bottle p to move upwards;

Then, the first synchronous belt module e2 works to drive the grabbed medicine bottles p to radially move to a position with the same radius as the corresponding station (the dispensing station d2 or the weighing station d 3);

Then, the first rotary mechanism e1 works to drive the grabbed medicine bottles p to rotate to the position right above the corresponding stations;

Then, the gear rack mechanism e3 works positively to drive the grabbed medicine bottles p to move downwards and clamp into the corresponding stations;

Finally, the air bag of the grabbing device g is pumped, grabbing of the medicine bottle p is released, and then the gear rack mechanism e3 works reversely to drive the grabbing device g to move upwards to leave the medicine bottle p.

Example 2:

For the above-mentioned medicine bottle picking and placing manipulator f, this embodiment provides a grabbing device g for grabbing medicine bottles that is suitable for being used in this medicine bottle picking and placing manipulator f.

Referring to fig. 4 and 5, the gripping device g of the present embodiment is substantially identical in component parts to the gripping device g of embodiment 1, that is, includes a housing g1, an air bag g2, and an air bag line g3, the bottom of the housing g1 is provided with a bottle accommodating cavity g11, the bottle accommodating cavity g11 allows the bottle bottom of the medicine bottle p to be placed therein, the air bag g2 is disposed on the inner wall of the bottle accommodating cavity g11, the air bag line g3 is disposed in the housing g1, the air bag line g3 communicates with the air bag g2 for inflating or deflating the air bag g2, and the bottle bottom of the medicine bottle p placed in the bottle accommodating cavity g11 can be clamped after the air bag g2 is inflated.

Meanwhile, in this embodiment, the number and arrangement of the air bags g2 are the same as those in embodiment 1, and the arrangement of the air bag lines g3 is also the same as those in embodiment 1.

In this embodiment, the first sensor g4, the second sensor g5, and the third sensor g6 are also provided, and the positions and functions of the three sensors are also the same as those in embodiment 1.

In this embodiment, the guide limit plates g13 are also provided, and the number and arrangement of the guide limit plates g13 are also the same as those in embodiment 1.

This example differs from example 1 mainly in the following two points:

(1) In this embodiment, the upper portion of the housing g1 is a flat cylindrical structure, referring to fig. 8, a base plate g8 may be mounted on the outer wall of the flat cylindrical structure, and then the base plate g8 is connected to the rotating mechanism f4, so that the rotating mechanism f4 may be used to drive the gripping device g to perform a rotational motion;

(2) Preferably, referring to fig. 6, the fourth sensor g7 adopts a laser ranging sensor, before gripping the medicine bottle p, the fourth sensor g7 detects whether the medicine bottle p exists at the target position to be gripped by laser, if no medicine bottle p is detected, the gripping device g can be moved to the next position to continuously detect whether the medicine bottle p exists at the next target position, if the medicine bottle p exists, the gripping device g can be started to grip the medicine bottle p, and in the same way, the laser ranging sensor can also detect whether the medicine bottle p is occupied by other medicine bottles at the inserted position, and if abnormality is detected, the operator can process the medicine bottle by a software interface.

Of course, the fourth sensor g7 is not limited to the use of the above-described type of sensor, and in some other embodiments, other types of sensors may be used as well, as applicable.

When the gripper g is used, the gripper g and the corresponding movement mechanism are assembled to form the medicament bottle picking and placing manipulator f designed by the applicant.

Specifically, referring to fig. 7, after assembling, the medicine bottle picking and placing manipulator f includes a second rotation mechanism f1, a screw rod module f2, a second synchronous belt module f3, a rotation mechanism f4, and a gripping device g provided in this embodiment.

The second rotation mechanism f1 is arranged in the center of a dispensing panel d1 in dispensing equipment designed by the applicant, and the second rotation mechanism f1 is used for controlling the screw rod module f2, the second synchronous belt module f3, the rotation mechanism f4 and the grabbing device g to do rotation motion around an axis z, wherein the axis z is the central line of the whole dispensing equipment and extends vertically.

The screw rod module f2 is installed at the top of the second rotation mechanism f1, and the screw rod module f2 is used for controlling the second synchronous belt module f3, the rotation mechanism f4 and the grabbing device g to do vertical reciprocating movement parallel to the axis z.

The second synchronous belt module f3 is installed on the screw rod module f2, and the second synchronous belt module f3 is used for controlling the rotating mechanism f4 and the grabbing device g to do horizontal reciprocating movement perpendicular to the axis z.

The rotating mechanism f4 is mounted on the second synchronous belt module f3, referring to fig. 8, the rotating mechanism f4 includes a second rotary table f41 and an eighth motor f42, the second rotary table f41 is fixed with a moving block in the second synchronous belt module f3, the gripping device g of the embodiment is mounted on a rotating portion of the second rotary table f41 through the base plate g8, and the eighth motor f42 is fixed at the bottom of the second rotary table f41 and is used for driving the rotating portion of the second rotary table f41 to perform rotary motion.

The gripping device g of the present embodiment grips the vial p by inflating the balloon g 2.

The medicine bottle taking and placing manipulator f is used for taking down the medicine bottles p at the appointed position in the medicine cabinet, then placing the medicine bottles p on the dispensing station d2 or the weighing station d3 of the dispensing panel d1, and placing the medicine bottles p on the dispensing station d2 or the weighing station d3 back to the original position in the medicine cabinet after dispensing. Wherein, the medicine cabinet encloses the periphery of closing at dispensing panel d1, and the medicine cabinet comprises a plurality of sub-cabinets a, see fig. 7, all has arranged a plurality of medicine storage check on each sub-cabinet a, all can place a medicine bottle p in every medicine storage check, is provided with a plurality of dispensing stations d2 and a plurality of weighing station d3 on dispensing panel d1, and a plurality of dispensing stations d2 encircle axis z is annular evenly distributed, a plurality of weighing station d3 also encircle axis z is annular evenly distributed, and weighing station d3 distributes in dispensing station d 2's inboard.

Referring to fig. 7, the workflow of the medicine bottle handling robot f is approximately as follows:

firstly, a second rotary mechanism f1 of a medicine bottle taking and placing manipulator f works to drive a grabbing device g to rotate to a position on the same vertical plane as a medicine bottle p to be grabbed;

Then, the screw rod module f2 works to drive the grabbing device g to move upwards or downwards to a position opposite to the medicine bottle p to be grabbed;

Subsequently, the rotating mechanism f4 works positively to drive the grabbing device g to rotate from a position parallel to the axis z to a position perpendicular to the axis z, namely, the grabbing device g is rotated from a vertical state to a horizontal state;

Then, the second synchronous belt module f3 works forward to drive the grabbing device g to move forward horizontally, when the grabbing device g moves to the position where the medicine bottles p are to be grabbed, the fourth sensor g7 detects whether the medicine bottles p exist at the target position where the medicine bottles p are to be grabbed, if the medicine bottles p exist, the follow-up actions are continuously executed, if the medicine bottles p do not exist, the second rotating mechanism f1 and the screw rod module f2 work cooperatively, the grabbing device g moves to the position opposite to the next medicine storage grid, whether the medicine bottles p exist in the medicine storage grid is continuously detected, and if the medicine bottles p exist in the medicine storage grid at the target position, the medicine storage grid continues to move to the position opposite to the next medicine storage grid until the medicine bottles p exist in the medicine storage grid at the target position are detected;

When the medicine bottle p at the target position is detected, the second synchronous belt module f3 continues to work forward, and drives the grabbing device g to move forward horizontally until the bottle bottom of the medicine bottle p is clamped into the bottle body accommodating cavity g 11;

then, all the air bags g2 of the grabbing device g are inflated, and the bottom of the medicine bottle p is clamped from four directions after each air bag g2 is inflated;

Then, the second synchronous belt module f3 works reversely to drive the grabbed medicine bottles p to move horizontally backwards and move to the zero position of the second synchronous belt module f 3;

Then, the rotating mechanism f4 works reversely to drive the grabbed medicine bottle p to rotate from a horizontal state to a vertical state;

then, the second synchronous belt module f3 works forward again to drive the grabbed medicine bottles p to move and the station (the dispensing station d2 or the weighing station d 3) to be placed at the same radius;

Then, the second rotating mechanism f1 works to drive the grabbed medicine bottles p to rotate to the position right above the station to be placed (the dispensing station d2 or the weighing station d 3);

then, the screw rod module f2 works to drive the grabbed medicine bottles p to move downwards until the bottle caps p2 of the medicine bottles p are clamped into the regulating station d2 or the weighing station d 3;

Finally, the air bag g2 of the grabbing device g is pumped, grabbing of the medicine bottle p is released, then the screw rod module f2 works reversely, and the grabbing device g is driven to move upwards to leave the medicine bottle p.

After dispensing, the medicine bottle p needs to be returned to the original position in the medicine cabinet, and the steps are completed under the cooperation of the second rotating mechanism f1, the screw rod module f2, the second synchronous belt module f3 and the rotating mechanism f4, and the specific action steps are approximately opposite to the action steps of taking the medicine bottle p from the medicine cabinet and placing the medicine bottle p on the dispensing station d2 or the weighing station d3, so that detailed description is omitted.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, and various modifications and variations may be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. A gripping device for gripping a vial, comprising:

A housing (g 1), wherein a bottle accommodating cavity (g 11) is arranged at the bottom of the housing (g 1), and the bottle accommodating cavity (g 11) allows the medicament bottle part to be placed therein;

An air bag (g 2), wherein the air bag (g 2) is arranged on the inner wall of the bottle accommodating cavity (g 11);

an air bag pipeline (g 3), wherein the air bag pipeline (g 3) is communicated with the air bag (g 2) and is used for inflating or deflating the air bag (g 2);

wherein, after the air bag (g 2) is inflated, the medicament bottle placed in the bottle body accommodating cavity (g 11) can be clamped.

2. A gripping device for gripping a medicament vial according to claim 1, characterized in that the top of the vial receiving cavity (g 11) is provided with a first sensor (g 4) for detecting if the position of the medicament vial in the vial receiving cavity (g 11) is in place.

3. A gripping device for gripping a medicament bottle according to claim 1, characterized in that the side of the bottom of the bottle receiving cavity (g 11) is provided with a second sensor (g 5) to detect if the medicament bottle is completely detached from the bottle receiving cavity (g 11) when releasing the medicament bottle.

4. A gripping device for gripping a medicament bottle according to claim 1, wherein a third sensor (g 6) is provided at the center of the top of the bottle body accommodating chamber (g 11), and the third sensor (g 6) is used for reading an RFID tag provided on the medicament bottle to determine whether the gripped medicament bottle is a predetermined medicament bottle.

5. A gripping device for gripping a medicament vial according to claim 1, characterized in that the outside of the vial receiving cavity (g 11) is provided with a fourth sensor (g 7) for detecting the presence of a medicament vial at the target location.

6. A gripping device for gripping bottles of pharmaceutical preparations according to claim 1, characterized in that the number of said air-bags (g 2) is plural, a plurality of said air-bags (g 2) being distributed around the inner wall of said bottle-holding cavity (g 11).

7. A gripping device for gripping bottles of pharmaceutical preparations according to claim 6, characterized in that the number of air bags (g 2) is eight, the eight air bags (g 2) being distributed in groups around four areas of the inner wall of the bottle-receiving cavity (g 11), wherein two air bags (g 2) in each area are distributed in an up-and-down arrangement.

8. A gripping device for gripping bottles of pharmaceutical preparations according to claim 6, characterized in that said balloon line (g 3) is fixed with respect to said housing (g 1), said balloon line (g 3) comprising a main line and a plurality of branch lines, one end of said main line being adapted to be connected to an air pump and the other end being connected to each of said branch lines, each of said branch lines being connected to each of said balloons (g 2).

9. The grabbing device for grabbing a medicament bottle according to claim 1, wherein a plurality of guiding limiting plates (g 13) are arranged in the bottle accommodating cavity (g 11), and the guiding limiting plates (g 13) are distributed around the inner wall of the bottle accommodating cavity (g 11) and used for guiding the medicament bottle, so that the medicament bottle can be placed into the bottle accommodating cavity (g 11) along the central axis of the bottle accommodating cavity (g 11).

10. Gripping device for gripping pharmaceutical bottles according to claim 9, characterized in that the number of guiding and limiting plates (g 13) is four, and four guiding and limiting plates (g 13) are uniformly distributed at four positions of the inner wall of the bottle body accommodating cavity (g 11).