TW201502041A - Pill picking apparatus - Google Patents

Abstract

A pill picking apparatus includes a pill picking arm and driven mechanism. The driven mechanism includes a base and a rotating portion. The base defines a guiding slot. The rotating portion is received in the base and slidably engaged in the guiding slot. The rotating portion is movable along a direction parallel to a Z axis in the guiding slot to push the pill picking arm into a medicine box, and rotatable around a rotating axis parallel to the Z axis to rotate the pill picking arm. The medicine box is rotatable along the pill picking arm.

Description

Drug taking device

The present invention relates to an article access device, and more particularly to a drug take-up device.

Conventional automatic drug take-up machines generally use a straw or a robotic arm to move in the vertical direction to suck or grab the pills stored in the medicine box, and then move the pills to the medicine outlet for release. However, in actual use, the method of directly sucking or grasping by a straw or a robot arm is less accurate, especially when only a small number of pills remain in the kit, the pills are dispersed at the bottom of the kit, if the bottom of the kit is not matched It is difficult for a straw or robotic arm to pick up or grab a dispersed pill. In addition, the robotic arm taking process is complicated and time consuming, and the efficiency is low.

In view of the above, it is necessary to provide a medicine taking device, which can complete the medicine taking process more flexibly and quickly.

A medicine taking device includes a medicine taking arm, the medicine taking device further comprising a driving mechanism, the driving mechanism includes a base and a rotating portion, the base is provided with a guiding groove, and the rotating portion is installed at the On the pedestal, and slidingly stuck in the guiding groove; the rotating portion can move in the guiding groove in a direction parallel to the Z axis, so as to push the medicine taking arm into a medicine box, and The movement can be rotated about a rotation axis parallel to the Z axis to drive the medicine taking arm to rotate, and the medicine box is rotated by the rotation of the medicine taking arm.

Compared with the prior art, in the above medicine taking device, the medicine taking arm is driven by the driving mechanism, moves in a direction parallel to the Z axis, and is rotatable around the Z axis, thereby rotating the medicine It is convenient to take the medicine from the box.

100‧‧‧Pillbox

110‧‧‧Storage warehouse

120‧‧‧ Take the medicine warehouse

121‧‧‧Import

123‧‧‧ stop surface

125‧‧‧ card slot

1251‧‧‧ Guide slot

200‧‧‧ take the medicine arm

210‧‧‧ Body Department

211‧‧‧Snap block

213‧‧‧clamp

215‧‧‧Interface

220‧‧‧Pharmaceutical Department

221‧‧‧ take the mouth

300‧‧‧ drive mechanism

310‧‧‧Base

311‧‧‧ Housing Department

3111‧‧‧First side wall

3113‧‧‧ second side wall

315‧‧ ‧ guide slot

3151‧‧‧Part 1

3153‧‧‧Part II

317‧‧‧moving trough

313‧‧‧ Guide

3131‧‧ ‧ chute

3133‧‧‧ Groove

3110‧‧‧ Entrance

320‧‧‧Rotating Department

321‧‧‧ Sockets

3211‧‧‧stop ring

323‧‧‧Rotating arm

3231‧‧ ‧ gap

3233‧‧‧Cargukong

325‧‧‧Slipper

330‧‧‧ drive frame

331‧‧‧ drive frame body

3311‧‧‧ bottom

3313‧‧‧ side panel

3314‧‧‧Sliding column

333‧‧‧ Sockets

335‧‧‧ pivotal department

3351‧‧‧ pivot shaft

337‧‧‧ hook

340‧‧‧actuation

341‧‧‧Rotating arm

3411‧‧‧Operation Department

3413‧‧‧Rotating column

343‧‧‧ Connecting rod

3431‧‧‧Connecting Department

3433‧‧‧Connected feet

3434‧‧‧Connecting holes

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is an exploded perspective view of a preferred embodiment of the drug take-up device of the present invention.

Figure 2 is another perspective view of Figure 1.

Figure 3 is a perspective view of the base of Figure 1.

Figure 4 is an assembled, isometric view of Figure 1.

Figure 5 is a front elevational view of Figure 4 with the slider portion in a first position.

Figure 6 is another front view of Figure 4 with the slider portion in a second position.

Figure 7 is a front elevational view of Figure 4 with the slider portion in a third position.

Figure 8 is another front view of Figure 4 with the slider portion in a fourth position.

Referring to FIG. 1 and FIG. 2, in an embodiment of the present invention, a drug taking device for extending into a medicine box 100 for taking medicine includes a medicine taking arm 200 and a driving mechanism 300. The medicine box 100 is used for storing medicines. The medicines referred to in the present invention are specifically referred to as solid medicines, the medicine taking arms 200 are used for taking medicines from the medicine box 100, and the driving mechanism 300 is used to drive the medicines. The arm 200 moves and rotates.

The kit 100 includes a storage bin 110 and a take-up bin 120. The storage compartment 110 defines an opening, and the storage compartment 110 communicates with the medicine taking compartment 120 through the opening.

The take-up bin 120 is substantially hollow cylindrical. One end of the take-up bin 120 is provided with an introduction port 121, and the other end of the take-up bin 120 is a stop surface 123. The hopper 120 is provided with two card slots 125 at the introduction port 121. The card slot 125 is provided with a guiding slot 1251 having a width larger than the card slot 125 at the introduction port 121.

The medicine taking arm 200 includes a body portion 210 and a collecting portion 220. The collecting portion 220 is recessed in the middle of the body portion 210 to form a collecting space. The body portion 210 has a cylindrical profile that cooperates with the dispensing bin 120. A medicine taking nozzle 221 is attached to the middle of the medicine collecting portion 220, and the medicine taking nozzle 221 can be connected to a vacuum motor by a gas pipe. The body portion 210 is rotatable about a rotation axis passing through the axis of the cylinder. One end of the main body portion 210 is provided with two latching blocks 211 corresponding to the two latching slots 125, and two latching posts 213 are protruded from the two latching blocks 211, and the other end surface thereof forms an abutting surface 215. In the embodiment, the two snap blocks 211 and the two posts 213 are respectively symmetric with respect to the rotation axis.

The driving mechanism 300 includes a base 310, a rotating portion 320, a driving frame 330 and an actuating member 340. Referring to FIG. 3 together, the base 310 includes an elongated receiving portion 311 and two guide frames 313 disposed on the receiving portion 311. The receiving portion 311 is substantially hollow and semi-cylindrical, and is provided at one end thereof with an inlet and outlet 3110 for the medicine removing arm 200 to enter and exit. The receiving portion 311 has a central axis overlapping the Z axis, and includes a first sidewall 3111 and a second sidewall 3113 opposite to the first sidewall 3111. The receiving portion 311 defines a guiding slot 315 and a sliding slot 317 corresponding to the rotating portion 320 . The guiding groove 315 includes a first portion 3151 and a second portion 3153 communicating with the first portion 3151. The first portion 3151 and the second portion 3153 are on a spiral that rotates around the Z axis, and are respectively located on the first sidewall 3111 and the second sidewall 3113. The first portion 3151 has a first projection distance on the Z axis, and the second portion 3153 has a second projection distance on the Z axis. The sliding groove 317 extends from the first portion 3151 in a direction parallel to the Z axis. In this embodiment, the first projection distance is equivalent to the second projection distance, and is substantially equal to one-half of the length of the card slot 125, and the length of the sliding slot 317 is greater than the first projection distance plus The second projection distance.

The two guide frames 313 are respectively disposed on the first side wall 3111 and the second side wall 3113, and respectively define an elongated slot 3131. The two chutes 3131 are disposed in parallel and extend in a direction parallel to the Z axis. The two guide frames 313 are respectively provided with a groove 3133 communicating with the sliding groove 3131 for the driving frame 330 to slide into the sliding groove 3131 via the groove 3133.

The rotating portion 320 includes a plug portion 321 and two opposite rotating arms 323. The two rotating arms 323 are disposed at one end of the insertion portion 321 , and the other end portion of the insertion portion 321 is provided with an annular stop ring 3211 . There is a gap 3231 between the two rotating arms 323 for inserting the take-up arm 200 therein. The ends of the two rotating arms 323 respectively define a fastening hole 3233 corresponding to the medicine taking arm 200. A sliding portion 325 that cooperates with the guiding groove 315 is also protruded from the outer side of one of the rotating arms 323. The insertion portion 321 has a hollow cylindrical shape and can be sleeved on the driving frame 330. In this embodiment, the two rotating arms 323 and the plug portion 321 have a symmetrical central axis.

The driving frame 330 includes a driving frame body 331, a set of connecting portions 333 and a pivoting portion 335. The drive frame body 331 includes a bottom portion 3311 and two side plates 3313 on opposite sides of the bottom portion 3311. The bottom portion 3311 has a semi-cylindrical contour and is matched with the receiving portion 311. The socket portion 333 is disposed at one end of the bottom portion 3311 and has the same shape as the insertion portion 321 . A hook 337 is respectively disposed on opposite sides of the sleeve portion 333. The pivoting portion 335 is located in the middle of the bottom portion 3311 and is located between the two side plates 3313. A pivot shaft 3351 that cooperates with the actuating member 340 is disposed at an end of the pivoting portion 335. A pair of sliding posts 3314 are respectively disposed on the two side plates 3313. Each pair of spools 3314 are respectively located on the upper edges of the two side plates 3313 and are slidably captured in each of the sliding slots 3131. In an embodiment, the drive frame 330 has a central axis.

The actuating member 340 includes a rotating arm 341 and a connecting rod 343. One end of the rotating arm 341 is provided with an operating portion 3411, and the other end is provided with a rotating column 3413. In one embodiment, the actuating portion 3411 has a cylindrical shape, and the rotating arm 341 has a T-shaped cross section. The connecting rod 343 includes a connecting portion 3431 and two pairs of engaging legs 3433 disposed at opposite ends of the connecting portion 3431. The two pairs of engaging legs 3433 extend in parallel from the connecting portion 3431, and an engaging hole 3434 is defined in the end of each connecting leg 3433.

Referring to FIG. 4 , when assembled, the rotating arm 341 is engaged with the one of the connecting rods 343 by the rotating column 3413 , and the rotating arm 341 is rotatably connected with the connecting rod 343 . The other pair of engaging holes 3434 of the connecting rod 343 receive the pivoting shaft 3351 of the driving frame 330, and the actuating member 340 is thus rotationally fixed to the driving frame 330.

Each pair of sliding posts 3314 of the driving frame 330 are placed in the recess 3133 of the base 310, and the driving frame 330 is pushed in a direction opposite to the Z axis, so that each pair of sliding columns 3314 is slid into the corresponding sliding slot 3131. The driving frame body 331 is slidably received in the receiving portion 311, and the outer surface of the bottom portion 3311 is in contact with the inner surface of the receiving portion 311.

The rotating portion 320 is placed in the accommodating portion 311, and the sliding portion 325 is inserted into the guiding groove 315, and the insertion portion 321 of the rotating portion 320 is sleeved on the sleeve of the driving frame 330. On the portion 333, the two hooks 337 are oppositely clamped to the stop ring 3211 for preventing the plug portion 321 from being disengaged from the drive frame 330.

The ejector arm 200 is placed in the accommodating portion 311, and the two rotating arms 323 are pulled, and the ejector arm 200 is inserted into the rotating portion 320 near one end of the two posts 213. In the gap 3231, until the two posts 213 are respectively aligned with the locking holes 3233 of the two rotating arms 323, the two rotating arms 323 are released, so that the two posts 213 are respectively engaged with the two rotating arms 323. In the fastening hole 3233, the take-up arm 200 is thereby locked with the rotating portion 320.

Referring to FIG. 5, the kit 100 is mounted on one side of the base 310 and located at the inlet and outlet 3110. At this time, the central axis of the driving frame 330 and the rotating shaft of the rotating portion 320 The rotation axis of the medicine taking arm 200 and the central axis of the medicine taking compartment 120 overlap with the Z axis. The slider portion 325 is located in the sliding groove 317.

Referring to FIG. 6 , in use, the actuating portion 3411 is driven to rotate the rotating arm 341 in a first direction to push the connecting rod 343, and the connecting rod 343 pushes the driving frame 330 along the The sliding frame 325 of the rotating portion 320 slides in the sliding groove 317, and the rotating portion 320 slides the moving arm 200 to move. The introduction port 121 partially extends into the take-up bin 120 until the slider portion 325 is located at a second position of the starting point of the guide groove 315, and the two snap blocks 211 of the take-up arm 200 respectively It is located in the guiding groove 1251 of the medicine taking compartment 120.

Referring to FIG. 7, the rotating arm 341 is further rotated to rotate the rotating portion 320 in the positive direction of the Z-axis in the first portion 3151, and rotates uniformly around the Z-axis. The rotating portion 320 drives the rotating portion 320. The medicine taking arm 200 continues to extend into the medicine taking compartment 120, and drives the medicine box 100 to rotate together until the storage compartment 110 of the medicine box 100 is rotated to 90 degrees with respect to the Y axis, at this time, the sliding The position of the buckle portion 325 is parallel to the Y-axis, and the slider portion 325 has a third position with a minimum value on the Y-axis.

Referring to FIG. 8 , the rotating portion 320 continues to slide along the Z-axis in the second portion 3153 and rotates around the Z-axis until the abutting surface 215 of the taking arm 200 abuts. The stop surface 123, the storage compartment 110 is rotated to 180 degrees with respect to the Y axis, the slider portion 325 abuts against the end of the guide groove 315, and has a maximum value on the Z axis. A fourth position having a minimum value on the X-axis is described, and at this time, the opening is aligned with the take-up nozzle 221.

After the medicine taking nozzle 221 sucks a medicine, the driving portion 3411 is driven to rotate the rotating arm 341 in a second direction opposite to the first direction to pull the connecting rod 343, the connecting rod 343, the driving frame 330 is slid in the opposite direction of the Z axis, and the driving frame 330 slides and pulls the rotating portion 320 to move in the opposite direction of the Z axis in the guiding groove 315, and is wound around The Z-axis rotates at a constant speed until the cartridge 100 is rotated from 180 degrees back to the 0-degree position with respect to the Y-axis, and the slider portion 325 is slid to the second position. The driving frame 330 is continued to be pulled until the slider portion 325 slides to the first position, and the medicine taking arm 200 is disengaged from the medicine taking compartment 120, thereby completing the medicine taking.

The rotating arm 341 is rotated in the first direction by the above-mentioned medicine taking device, and the driving frame 330 is pushed to drive the sliding portion 325 to slide in the sliding groove 317, thereby pushing the medicine taking arm 200. The portion of the X-axis and the plane of the Y-axis is perpendicular to the Z-axis, and The Z axis has an intersection point, and the plane passes through the starting point, the X axis is on the line connecting the intersection point and the starting point, and the direction of the X axis is pointed by the intersection point to the starting point. The Y axis is perpendicular to the X axis and the Z axis. The intersection point is the coordinate origin of the X, Y, and Z axes of the Cartesian coordinate system. The trajectory of the slider portion 325 along the guide groove 315 at the Cartesian coordinate system satisfies the following equation:

x=r*cos(t*360);

y=r*sin(t*360);

z=h*t;

Where t is a time variable and is in units of the time required for the rotating portion 320 to rotate 360 degrees around the Z axis, r is the radius of rotation of the rotating portion, and h is the rotating portion 320 in the Z axis per unit time The distance traveled in the direction. In the embodiment, the rotating portion 320 is rotated by a half turn, and the value of t is: 0 < t ≦ 0.5, and has a minimum value on the Y axis between 0 < t ≦ 0.5. The rotating portion 320 can drive the medicine removing arm 200 to move, and rotate the medicine taking arm 200 and the medicine box 100 until the opening of the storage chamber 110 is inverted, so that the storage chamber 110 is in the The medicine is dropped onto the take-up nozzle 221 on the take-up arm 200 and sucked by the take-up nozzle 221. Rotating the rotating arm 341 in the second direction to pull the driving frame 330 to move the sliding portion 325 in the guiding slot 315 until the medicine removing arm is separated from the medicine taking compartment 120. And the storage bin 110 returns to the original position, and the drug taking device is completed, the structure is simple, and the drug taking efficiency is high.

In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above description is only a preferred embodiment of the present invention, and the claim of the present invention cannot be limited thereby. Equivalent modifications or variations made by persons skilled in the art in light of the spirit of the invention are intended to be included in the following claims.

no

100‧‧‧Pillbox

200‧‧‧ take the medicine arm

310‧‧‧Base

320‧‧‧Rotating Department

325‧‧‧Slipper

330‧‧‧ drive frame

341‧‧‧Rotating arm

343‧‧‧ Connecting rod

Claims (19)

A medicine taking device includes a medicine taking arm and a driving mechanism, the driving mechanism includes a base and a rotating portion, the base is provided with a guiding groove, the rotating portion is received on the base, and the sliding card is In the guiding groove; the rotating portion is movable in the guiding groove in a direction parallel to the Z axis, so as to push the medicine taking arm into a medicine box, and can move parallel to the same while moving The shaft of the Z-axis rotates to drive the take-up arm to rotate, and the medicine box is rotated by the rotation of the medicine-taking arm. The medicine taking device of claim 1, wherein the guide groove has a starting point, the Z axis overlaps with a rotating shaft of the rotating portion, and a plane of the X axis and the Y axis is perpendicular to the Z axis. And passing through the starting point, the plane has an intersection with the Z axis, the X axis is on a line connecting the intersection point and the starting point, the Y axis and the Z axis The X-axis is perpendicular, the intersection point is the coordinate origin of the X-axis, the Y-axis, and the Z-axis, and the motion trajectory of the rotating portion along the guide groove in the rectangular coordinate system satisfies the following equation:
x=r*cos(t*360);
y=r*sin(t*360);
z=h*t;
Where t is a time variable and is in units of time required for the rotating portion to rotate 360 degrees around the Z axis, r is a radius of rotation of the rotating portion, and h is a rotating portion along the Z axis per unit time The distance traveled in the direction. The medicine taking device according to claim 2, wherein the rotating portion rotates around the Z axis by a half turn, and the value range of t is: 0 < t ≦ 0.5, and the rotating portion is at 0 < t ≦ 0.5 There is a minimum between the Y-axis directions. The drug taking device of claim 3, wherein the guiding groove comprises a first portion and a second portion communicating with the first portion, the first portion having a first projection distance on the Z axis, The second portion has a second projection distance on the Z axis, the first projection distance being equivalent to the second projection distance. The medicine taking device of claim 4, wherein the guide groove further comprises a sliding groove extending from the first portion in the Z-axis direction, and the rotating portion along the sliding groove Slide to the first part. The drug taking device of claim 5, wherein the length of the sliding groove in the Z-axis direction is greater than the first projection distance plus the second projection distance. The medicinal device of claim 5, wherein the base comprises a hollow semi-cylindrical receiving portion, and the first portion and the sliding groove are disposed on the first side wall of the receiving portion. The second portion is disposed on the second sidewall of the receiving portion opposite to the first sidewall. The medicinal device of claim 7, wherein the rotating portion includes a sliding portion and two rotating arms connected to the sliding portion, and the sliding portion is slidably caught in the guiding groove, and The two rotating arms are rotated about the Z axis to rotate the take-up arm. The medicinal device of claim 8, wherein the driving mechanism further comprises a driving frame, the driving frame is slidably mounted on the base, and the rotating portion is rotatably sleeved on the driving frame. The drive frame is slidable along the Z-axis direction to push the rotating portion. The medicinal device of claim 9, wherein the driving frame comprises a driving frame body and a socket portion disposed on the driving frame body, and the rotating portion further comprises a rotating arm In the upper plug portion, the plug portion is rotatably sleeved on the socket portion. The device of claim 10, wherein the drive frame further comprises two hooks disposed on the drive frame body, the plug portion is provided with a stop ring, and the two hooks are provided. Located on opposite sides of the socket and snapped with the stop ring for preventing the plug from being disengaged from the socket. The drug taking device according to claim 10, wherein a central axis of the socket portion overlaps with the Z axis, and a rotation axis of the rotating portion overlaps with the Z axis. The medicinal device of claim 10, wherein the driving frame further comprises a pivoting portion disposed on the driving frame body, the driving mechanism further comprising an actuating member, the actuating member is fixed and fixed And on the pivot joint for driving the drive frame to slide along the Z axis. The drug taking device of claim 13, wherein the actuating member comprises a connecting rod and a rotating arm, the connecting rod is fastened on the pivoting portion at one end, and the other end is sleeved on the rotating arm. The rotating arm is rotatable about a first direction to push the connecting rod, and the driving frame is slidable in the positive direction of the Z axis under the pushing of the connecting rod, and the rotating arm can be wound around Rotating in a second direction opposite the first direction to pull the link to slide the drive frame in the opposite direction of the Z-axis. The drug taking device of claim 10, wherein the driving frame further comprises two pairs of sliding columns disposed on the driving frame body, the base further comprising two sliding rails, the two sliding rails The driving frames are respectively disposed in the receiving portion, and the two pairs of sliding columns are respectively slidably engaged on the two sliding rails. The drug taking device of claim 15, wherein the symmetric center of the two pairs of spools overlaps with the Z axis, and the symmetric centers of the two slide rails overlap with the Z axis. The medicinal device of claim 8, wherein the medicinal arm comprises a body portion and two posts disposed on opposite sides of the body portion, the two posts being respectively engaged with the two rotating arms And rotating with the rotating portion about the axis of the body portion. The drug taking device of claim 17, wherein the medicine taking arm further comprises two snap blocks disposed on opposite sides of the body portion, wherein the two snap blocks are respectively inserted into the medicine box The two card slots, thereby driving the kit to rotate together. The drug take-up device of claim 18, wherein the h value is half of the length of each of the card slots in the direction parallel to the Z-axis.