CN-121989197-A - Humanoid robot for pharmacy drug delivery and drug delivery method

CN121989197ACN 121989197 ACN121989197 ACN 121989197ACN-121989197-A

Abstract

The application discloses a humanoid robot for pharmacy medicine dispensing and a medicine dispensing method. The humanoid robot comprises a walking base, a trunk part, a humanoid mechanical arm mechanism and a behavior control unit, wherein the trunk part is connected to the top of the walking base, the humanoid mechanical arm mechanisms are respectively connected to two opposite sides of the trunk part, one side, far away from the trunk part, of the humanoid mechanical arm mechanism is connected with the humanoid mechanical arm mechanism for grabbing medicines, the trunk part is provided with a display screen, the behavior control unit is used for controlling the walking base to move to a medicine shelf area, controlling the humanoid mechanical arm mechanism to move to drive the humanoid mechanical arm mechanism to grab target medicines in the medicine shelf area, temporarily storing the target medicines in a storage box, controlling the walking base to move to a medicine dispensing window, controlling the humanoid mechanical arm mechanism to dispense the medicines in the medicine dispensing window, and displaying the medicine information of the target medicines through the display screen.

Inventors

HAN YONG
YAN LIN
LIU YIQING
WU YONGJIAN
ZHANG YU
DUAN YAN

Assignees

华中科技大学同济医学院附属协和医院
武汉库柏特科技股份有限公司
湖北美术学院

Dates

Publication Date: 20260508
Application Date: 20260212

Claims (10)

1. The humanoid robot for pharmacy medicine dispensing is used for being in communication connection with an external medicine dispensing control system and is characterized by comprising a walking base, a trunk part, a humanoid mechanical arm mechanism and a behavior control unit; The trunk part is connected to the top of the walking base, two opposite sides of the trunk part are respectively connected with the humanoid mechanical arm mechanisms, one side, far away from the trunk part, of each humanoid mechanical arm mechanism is connected with the humanoid mechanical arm mechanism for grabbing medicines, and the top of the walking base is provided with a storage box for bearing the medicines; the humanoid mechanical arm mechanism is movable to drive the humanoid mechanical arm mechanism to move; The trunk part is provided with a display screen; The behavior control unit is used for receiving a medicine sending instruction of an external medicine sending control system, controlling the walking base to drive the humanoid robot to move to a medicine goods shelf area, controlling the humanoid mechanical arm mechanism to move, driving the humanoid mechanical arm mechanism to grab a target medicine in the medicine goods shelf area and temporarily store the target medicine in the storage box, controlling the walking base to drive the humanoid robot to move to a medicine sending window, controlling the humanoid mechanical arm mechanism to send the medicine in the medicine sending window, and displaying medicine information of the target medicine through the display screen.
2. The humanoid robot for pharmacy dispensing of claim 1, wherein a connecting rod is arranged between the display screen and the trunk, one end of the connecting rod is fixedly connected with the display screen, and the other end of the connecting rod is hinged with the trunk.
3. The humanoid robot for pharmacy dispensing of claim 1, wherein the humanoid robot arm mechanism includes a first arm portion, a second arm portion, a third arm portion, and a fourth arm portion, one end of the first arm portion is movably connected to the trunk portion, the other end of the first arm portion is rotatably connected to the second arm portion through a first rotation driving mechanism, the second arm portion is rotatably connected to the third arm portion through a second rotation driving mechanism, the third arm portion is rotatably connected to one end of the fourth arm portion through a third rotation driving mechanism, and the other end of the fourth arm portion is rotatably connected to the humanoid robot arm mechanism.
4. A humanoid robot for pharmacy dispensing according to claim 3, wherein the first arm portion and the trunk portion are rotatably connected by a fourth rotation drive mechanism, the rotation axes of the first arm portion and the trunk portion being perpendicular to the rotation axes of the first arm portion and the second arm portion.
5. The humanoid robot for pharmacy dispensing of claim 4 wherein the second arm portion includes a first arm portion and a second arm portion rotatably coupled by a fifth rotational drive mechanism, the first arm portion rotatably coupled to the first arm portion by the first rotational drive mechanism, the second arm portion rotatably coupled to the second arm portion by the first rotational drive mechanism, the first arm portion being perpendicular to the rotational axis of the first arm portion and the rotational axis of the second arm portion.
6. The humanoid robot for pharmacy dispensing of claim 5 wherein the third arm section includes a third arm section and a fourth arm section rotatably connected by a sixth rotational drive mechanism, the third arm section and the second arm section rotatably connected by the second rotational drive mechanism, the fourth arm section and the fourth arm section rotatably connected by the third rotational drive mechanism, the third arm section and the second arm section having a rotational axis perpendicular to the rotational axis of the third arm section and the fourth arm section.
7. The humanoid robot for pharmacy dispensing of claim 6 wherein the fourth arm portion includes a fifth arm segment and a sixth arm segment rotatably connected by a seventh rotational drive mechanism, the fifth arm segment and the fourth arm segment rotatably connected by the third rotational drive mechanism, the sixth arm segment connected to the humanoid robot at an end thereof remote from the fifth arm segment, the fifth arm segment and the fourth arm segment having rotational axes perpendicular to the rotational axes of the fifth arm segment and the sixth arm segment.
8. A dispensing method for a humanoid robot for dispensing a drug from a pharmacy, applied to the humanoid robot for dispensing a drug from a pharmacy according to any one of claims 1 to 7, the dispensing method comprising: Receiving a medicine dispensing instruction of an external medicine dispensing control system, and controlling the walking base to drive the humanoid robot to move to a medicine shelf area; controlling the humanoid mechanical arm mechanism to move, driving the humanoid mechanical arm mechanism to grasp a target medicine in a medicine shelf area, and temporarily storing the target medicine in the storage box; Controlling the walking base to drive the humanoid robot to move to a medicine dispensing window; And controlling the humanoid manipulator mechanism to dispense the medicine in the medicine dispensing window, and displaying the medicine information of the target medicine through the display screen.
9. The method of dispensing a drug of a humanoid robot for dispensing a drug of a pharmacy according to claim 8, wherein the humanoid robot for dispensing a drug of the pharmacy further comprises an image recognition device connected with a behavior control unit, wherein the controlling the humanoid robot mechanism moves to drive the humanoid robot mechanism to grasp a target drug in a drug shelf area, further comprises: acquiring the size, packaging material and position state of a target medicine to be grabbed by using an image recognition device; And sending the size, packaging materials and position state of the target medicine to the behavior control unit, so that the behavior control unit controls the grabbing mode, the strength and the position of the humanoid manipulator mechanism according to a preset rule.
10. The method of dispensing a drug of a humanoid robot for dispensing a drug of a pharmacy according to claim 8, wherein the humanoid robot for dispensing a drug of the pharmacy further comprises an image recognition device connected with a behavior control unit, wherein the controlling the humanoid robot mechanism moves to drive the humanoid robot mechanism to grasp a target drug in a drug shelf area, further comprises: obtaining a medicine bar code through an image recognition device; searching medicine information according to medicine bar codes, wherein the medicine information corresponds to the medicine bar codes one by one and is stored in an external medicine dispensing control system in advance, and the medicine information at least comprises medicine size and packaging materials; obtaining a target medicine position state according to the image recognition device; And sending the size, packaging materials and position state of the target medicine to the behavior control unit, so that the behavior control unit controls the grabbing mode, the strength and the position of the humanoid manipulator mechanism according to a preset rule.

Description

Humanoid robot for pharmacy drug delivery and drug delivery method Technical Field The invention relates to the technical field of robots, in particular to a humanoid robot for pharmacy medicine dispensing and a medicine dispensing method. Background For a long time, the medicine dispensing window of the hospital clinic pharmacy is full of patients, patients need to be arranged into teams, and a pharmacist waits for taking down different kinds of medicines on a medicine shelf to be dispensed to the patients, so that the medicine taking time of the patients is generally longer. At present, some hospitals successively begin to adopt automatic medicine dispensing equipment to dispense medicines in the equipment according to requirements to perform medicine dispensing operation in a medicine dispensing window so as to improve medicine dispensing efficiency. Disclosure of Invention In order to enrich the product types of the humanoid robot and improve the automation degree of pharmacy medicine dispensing, the invention provides the humanoid robot for pharmacy medicine dispensing and a medicine dispensing method. In a first aspect, the invention provides a humanoid robot for pharmacy medicine dispensing, which comprises a walking base, a trunk part, a humanoid mechanical arm mechanism and a behavior control unit, wherein the walking base is provided with a first driving part and a second driving part; The trunk part is connected to the top of the walking base, two opposite sides of the trunk part are respectively connected with the humanoid mechanical arm mechanisms, one side, far away from the trunk part, of each humanoid mechanical arm mechanism is connected with the humanoid mechanical arm mechanism for grabbing medicines, and the top of the walking base is provided with a storage box for bearing the medicines; the humanoid mechanical arm mechanism is movable to drive the humanoid mechanical arm mechanism to move; The trunk part is provided with a display screen; The behavior control unit is used for receiving a medicine sending instruction of an external medicine sending control system, controlling the walking base to drive the humanoid robot to move to a medicine goods shelf area, controlling the humanoid mechanical arm mechanism to move, driving the humanoid mechanical arm mechanism to grab a target medicine in the medicine goods shelf area and temporarily store the target medicine in the storage box, controlling the walking base to drive the humanoid robot to move to a medicine sending window, controlling the humanoid mechanical arm mechanism to send the medicine in the medicine sending window, and displaying medicine information of the target medicine through the display screen. Optionally, a connecting rod is arranged between the display screen and the trunk, one end of the connecting rod is fixedly connected with the display screen, and the other end of the connecting rod is hinged with the trunk. Optionally, the humanoid mechanical arm mechanism includes first arm portion, second arm portion, third arm portion, fourth arm portion, the one end swing joint of first arm portion in the trunk portion, the other end of first arm portion with the second arm portion passes through first rotation actuating mechanism and rotates to be connected, the second arm portion with the third arm portion passes through second rotation actuating mechanism and rotates to be connected, the third arm portion with the one end of fourth arm portion passes through third rotation actuating mechanism and rotates to be connected, the other end of fourth arm portion with humanoid mechanical arm mechanism is connected. Optionally, the first arm portion and the trunk portion are rotatably connected by a fourth rotation driving mechanism, and a rotation axis of the first arm portion and the trunk portion is perpendicular to a rotation axis of the first arm portion and the second arm portion. Optionally, the second arm part comprises a first arm part and a second arm part which are rotationally connected through a fifth rotation driving mechanism, the first arm part is rotationally connected with the first arm part through the first rotation driving mechanism, the second arm part is rotationally connected with the second arm part through the first rotation driving mechanism, and the rotation axis of the first arm part are perpendicular to the rotation axis of the second arm part. Optionally, the third arm part comprises a third arm section and a fourth arm section which are rotationally connected through a sixth rotation driving mechanism, the third arm section is rotationally connected with the second arm section through the second rotation driving mechanism, the fourth arm section is rotationally connected with the fourth arm part through the third rotation driving mechanism, and the rotation axes of the third arm section and the second arm section are perpendicular to the rotation axes of the third arm section and the fourth arm sect