US 10,889,008 B1
Automated dispensing machine adopting local coverage type sucker array and control method thereof
Yongduan Song, Chongqing (CN); Zhixi Shen, Chongqing (CN); Xiaohu Pan, Chongqing (CN); Li Chen, Chongqing (CN); Xiao Chen, Chongqing (CN); and Zhilin Wang, Chongqing (CN)
Assigned to Chongqing University, Chongqing (CN)
Filed by Chongqing University, Chongqing (CN)
Filed on Apr. 1, 2020, as Appl. No. 16/837,855.
Claims priority of application No. 2019 1 0615510 (CN), filed on Jul. 9, 2019.
Int. Cl. G07F 17/00 (2006.01); B25J 15/06 (2006.01); B25J 5/02 (2006.01); B25J 13/08 (2006.01); B25J 9/16 (2006.01)
CPC B25J 15/0658 (2013.01) [B25J 5/02 (2013.01); B25J 9/1612 (2013.01); B25J 13/088 (2013.01); B25J 15/0625 (2013.01); G07F 17/0092 (2013.01)] 11 Claims
OG exemplary drawing
 
1. An automated dispensing machine adopting local coverage type sucker array, comprising a rack, wherein a medicine obtaining device and a medicine weighing and discharging device are arranged on the rack;
wherein the medicine obtaining device comprises a guide rail horizontally arranged on the rack, a slide arranged on the guide rail, a first linear driver arranged on the rack to drive the slide to move along the guide rail, a vacuum medicine sucking mechanical arm located below the slide and a second linear driver arranged on the slide to drive the vacuum medicine sucking mechanical arm to move up and down; the vacuum medicine sucking mechanical arm comprises a local coverage type base plate connected with the second linear driver and vacuum suckers arranged on the local coverage type base plate in form of an array; each vacuum sucker is provided with an air pipe independently connected with an air source, and the air pipe connected with each vacuum sucker is provided with a vacuum generator and a first electromagnetic valve;
wherein the medicine obtaining device is provided with a medicine placing station and at least two medicine obtaining stations along the guide rail; the medicine obtaining device further comprises a position sensor for detecting a route of the first linear driver to each medicine obtaining station; at each medicine obtaining station, the vacuum medicine sucking mechanical arm locally covers an opening surface of a medicine storage box in a direction of the guide rail and fully covers the opening surface of the medicine storage box in a direction vertical to the guide rail; and
wherein the medicine weighing and discharging device comprises a weighing sensor arranged on the rack and a medicine receiving groove arranged on the weighing sensor; the medicine receiving groove is located below the medicine placing station on the guide rail; the medicine receiving groove is longitudinally parallel with the guide rail; two longitudinal ends of the medicine receiving groove are respectively provided with a front medicine discharging opening and a back medicine discharging opening; the front medicine discharging opening is used for discharging a medicine to the medicine storage box; the back medicine discharging opening is used for discharging the medicine out of a cabinet; and the medicine weighing and discharging device further comprises a medicine discharging mechanism arranged on the rack and used for discharging the medicine in the medicine receiving groove from the front medicine discharging opening and the back medicine discharging opening.