An automatic dispensing system for traditional Chinese medicine prescriptions

Abstract

The invention discloses an automatic dispensing system for Chinese medicine prescriptions, including several three-dimensional medicine warehouses and a dispensing table, a medicine box moving mechanism is arranged between the three-dimensional medicine warehouse and the dispensing table, a medicine box switching device is arranged between the dispensing table and the medicine box moving mechanism, the three-dimensional medicine warehouse is composed of a shelf and a plurality of medicine boxes, the medicine boxes are provided with identification marks capable of storing and reading information, the three-dimensional medicine warehouse is provided with a stacking mechanism, and the adjustment table includes a frame, a control console arranged on the frame, several material-collecting windows, a total weighing table for weighing medicines, a main display for receiving prescriptions and displaying relevant information, and a medicine box information display for displaying the medicine box information after reading the medicine box information in the current material-collecting window. Automated operation is adopted in the entire feeding process, which requires fewer personnel and has lower requirements on personnel quality; improves the working environment and reduces personnel mobility; has low difficulty in operation, is quick to get started, reduces manual errors and loss of medicinal materials, and improves the traceability of prescription dispensing.

Description

Technical Field

[0001] The invention relates to a Chinese medicine prescription dispensing system, in particular to an automatic Chinese medicine prescription dispensing system. Background Art

[0002] In the field of traditional Chinese medicine, due to the wide variety and specifications of Chinese medicinal materials, Chinese medicinal pieces or Chinese patent medicines (up to thousands of kinds), and each Chinese medicinal material, Chinese medicinal piece or Chinese patent medicine needs to be stored in a separate storage space, resulting in thousands of densely packed medicine boxes neatly arranged around the traditional Chinese medicine pharmacy. When the staff adjusts the Chinese medicine prescription, they first need to memorize the prescription content and the location of the medicine boxes of each medicinal material in the pharmacy, and then in a certain order, identify and compare each Chinese herbal medicine, Chinese medicinal piece or Chinese patent medicine in the prescription from different parts of the pharmacy, and then take the medicine box to the dispensing table for matching, taking and weighing. The excess medicinal materials need to be put back into the medicine box, and the insufficient part needs to be supplemented again. After the supplement is completed, the medicine box is returned to its original position, and the above operation is repeated until each medicinal material on the prescription is adjusted (up to dozens of times to complete the adjustment of a single Chinese medicine prescription).

[0003] In recent years, with the rapid development of the Chinese medicine industry and the country's vigorous development of Chinese medicine modernization, the traditional Chinese medicine industry is facing huge development opportunities, but it is also limited by traditional processing methods and low efficiency of manual operations, which cannot meet the needs of the people; especially the current Chinese medicine pharmacies, which are still stuck in the status quo of hundreds of years ago.

[0004] At present, traditional pharmacies have the following major problems:

[0005] (1) The amount of dust in the working environment and the high labor intensity of the adjusters, with an average of more than 40,000 steps per day (equivalent to more than 30 kilometers of walking), lead to a high turnover rate of adjusters. The turnover rate of some institutions is more than 200%, and the high turnover rate has also led to service quality problems.

[0006] (2) At present, most Chinese medicine pharmacies implement the "pay by prescription" policy, so the dispensing staff pursues speed and does not strictly control the dosage of prescription preparation. The high dispensing error rate and high proportion of patient complaints have left many clinical safety risks in the prescription dispensing stage.

[0007] (3) Traditional Chinese medicine warehouses cannot count inventory in real time and need to be counted manually, which inevitably leads to chaotic warehouse management and large inventory shortages. It is difficult to control the quality of medicinal materials. At the same time, the "remuneration based on prescription" is implemented, and the staff will over-prescribe by weight, resulting in large losses in the pharmacy, greatly increasing the company's costs, and also transferring the cost to society, resulting in a waste of medicinal material resources;

[0008] (4) The traditional Chinese medicine dispensing method is inefficient and requires high professional quality of personnel. At the same time, due to factors such as high labor intensity, harsh environment, and irregular daily get off work and rest hours, most young Chinese medicine talents are unwilling to engage in Chinese medicine prescription dispensing work, which may lead to a situation where there is no successor.

[0009] (5) As there are thousands of varieties of Chinese herbal medicines, in addition to the large number, there are also different varieties that are very similar in appearance and require very professional knowledge to distinguish them. Therefore, this position is not suitable for ordinary people. Therefore, it takes more than half a year to train a skilled dispensing staff, and enterprises or medical institutions need to invest a lot of money in training new employees.

[0010] (6) During the process of picking and dispensing medicines, the medicinal materials need to be manually re-identified and weighed multiple times. After the adjustment is completed, it is impossible to accurately verify the variety and weight.

[0011] Based on the above defects, combined with the characteristics of various varieties and specifications of medicinal materials, the commonly used moving method is to move them through conveyor belts. Commonly used main medicinal materials are generally placed on shelves close to the operating table, while some auxiliary medicinal materials are placed in empty positions far away from the operating table, and they can be retrieved when needed. If the medicine box shelf is close to the medicine picker, the shelf and the operating table can be directly connected through a reversible conveyor belt to achieve rapid supply and return of the medicine box. Generally, an operating table only needs to be equipped with 3-4 conveyor belts to effectively and quickly supply and switch medicinal materials, thereby avoiding the problem of untimely supply of medicinal materials. When the medicine box shelf is a certain distance away from the operating table, if a two-way conveyor belt is used, the number of conveyor belts will be large. When there are too few medicine boxes, the transportation efficiency of the medicine boxes is seriously affected. If there are too many conveyor belts, they cannot be placed. When multiple operating tables are arranged side by side, the medicinal materials cannot be supplied with medicinal effects through a forward and reverse conveyor belt. Therefore, it is necessary to use a feeding conveyor belt from the shelf to the operating table area and a return conveyor belt that transports the medicine boxes that have been grabbed to the corresponding shelf again to effectively ensure the back and forth movement of the medicine boxes. In order to reduce the occupied space, the two conveyor belts are generally set up in upper and lower layers. No matter how close the operating table where the operator grabs the medicine is to the conveyor belt, since the feeding conveyor belt and the return conveyor belt are in a continuous rotation process, if the required medicine box cannot be taken out of the conveyor belt in time, it is easy to cause the medicine box to be over-supplied.

[0012] At the same time, although the existing shelves and conveyor belts have solved the problem of automatic supply and storage of medicinal materials, in the actual prescription adjustment process, they have high requirements on the quality of operators, high personnel costs, high labor intensity, high work intensity, high losses, low efficiency, poor traceability, difficult supervision, difficult inventory, high probability of error, dusty working environment, harsh environment, cross infection and dust pollution, etc., resulting in high operator mobility, difficulty in ensuring service quality, high adjustment costs and long cycles.

[0013] The above is the current status of Chinese medicine pharmacies, so it is inevitable for social development to realize the intelligence of traditional Chinese medicine pharmacies. Since traditional Chinese medicine pharmacies have not changed much for thousands of years, it brings huge innovation space and development opportunities to related companies, and also directly promotes the process of modernization of Chinese medicine. Summary of the invention

[0014] In order to solve one or some technical problems existing in the prior art, the present invention provides an automatic dispensing system for Chinese medicine prescriptions, which can automatically retrieve medicinal materials in the prescription from a three-dimensional shelf and supply them to a dispensing table for dispensing. The prepared medicinal materials can be automatically sent back and stored. The overall operation is automated, and the operator only needs to grab and weigh the medicinal materials in the prescription on the dispensing table. The overall operation difficulty is lower, the dispensing speed is faster, the labor intensity of personnel is lower, the personnel demand is less, the personnel quality requirements are lower, the personnel mobility is reduced, the start-up speed is fast, human errors and medicinal material losses are reduced, and management and data collection and subsequent tracing of the whole process are convenient.

[0015] In order to solve the above existing technical problems, the present invention adopts the following solutions:

[0016] A system for automatically dispensing prescriptions of traditional Chinese medicine, comprising a plurality of three-dimensional medicine warehouses for storing medicinal materials and a dispensing table for dispensing prescriptions, a medicine box moving mechanism is provided between the three-dimensional medicine warehouse and the dispensing table, a medicine box switching device is provided between the dispensing table and the medicine box moving mechanism, the three-dimensional medicine warehouse is composed of a plurality of shelves and a plurality of medicine boxes placed on the shelves, the medicine boxes are provided with identification marks for storing and reading information, the three-dimensional medicine warehouse is provided with a stacking mechanism for taking and placing the medicine boxes, the adjustment table comprises a frame, a control console provided on the frame, a plurality of material taking windows provided on the frame, a total weighing table for weighing the medicine taken out from the material taking windows, a main display for receiving prescriptions and displaying relevant information, and a medicine box information display for displaying the medicine box information after reading the medicine box information currently in the material taking window, the medicine box moving mechanism The mechanism is used to move the medicine box automatically grabbed by the stacking mechanism on the corresponding three-dimensional medicine warehouse to the waiting position of the medicine box switching device to wait for transportation, and move the medicine box transported by the medicine box switching device to the medicine box moving mechanism again to the corresponding stacking mechanism and then automatically put it back to the corresponding three-dimensional medicine warehouse. The stacking mechanism is used to extract and store the medicine box relative to the three-dimensional medicine warehouse after receiving instructions. The medicine box switching device is used to obtain the medicine box supplied by the medicine box moving mechanism and move it to the material collection window for material collection, and return the medicine box grabbed by the material collection window to the medicine box moving mechanism and transport it to the three-dimensional medicine warehouse again to wait for storage. The medicine in the medicine box supplied by the medicine box switching device is manually grabbed through the material collection window and placed on the total weighing platform for weighing matching.

[0017] Furthermore, the medicine box switching device includes a plurality of feeding belts arranged on the frame for conveying medicine boxes to the material picking window, a feeding mechanism arranged on the frame for supplying medicine boxes to the feeding belts, and a discharging mechanism for moving the medicine boxes on the feeding belts to the medicine box moving mechanism. The frame is provided with a first control mechanism for controlling the feeding belts up and down. The medicine boxes to be grabbed on the medicine box moving mechanism are obtained by the feeding mechanism and then supplied to the feeding belt and moved to the material picking window by the first control mechanism to wait for manual grabbing. After grabbing the medicinal materials, the medicine box is moved to the discharging mechanism by the first control mechanism and sent back to the medicine box moving mechanism.

[0018] Furthermore, the first control mechanism includes a slide rail provided on the frame for connecting the feeder belt, and a third driver provided on the frame for driving the feeder belt on the slide rail up and down, and the feeder belt is connected to the frame by sliding along the slide rail through the third driver.

[0019] Furthermore, the feeding mechanism includes a first mounting frame arranged on the frame, two parallel feeding belts arranged on the first mounting frame, and a feeding motor arranged on the first mounting frame to drive the feeding belt; the discharging mechanism includes a second mounting frame arranged on the frame, two parallel feeding belts arranged on the second mounting frame, and a discharging motor arranged on the second mounting frame to drive the discharging belt; one end of the feeding belt and the discharging belt are located in the medicine box moving mechanism; a third control mechanism and a second control mechanism are also provided on the frame for controlling the up and down movement of the feeding mechanism and the discharging mechanism respectively; the medicine box above the medicine box moving mechanism is separated or put back by the third control mechanism and the second control mechanism for raising and lowering the feeding mechanism and the discharging mechanism.

[0020] Furthermore, the third control mechanism includes a connecting shaft that connects each of the feeding mechanisms in series, a third slide seat arranged at both ends of the connecting shaft, and a fourth driver arranged on the frame to slide the third slide seat up and down, and the second control mechanism includes a connecting shaft that connects each of the discharging mechanisms in series, a second slide seat arranged at both ends of the connecting shaft, and a fifth driver arranged on the frame to slide the second slide seat up and down.

[0021] Furthermore, a medicine box weighing platform for weighing the current weight of the medicine box sent in by the medicine box switching device is provided in the material taking window, and the weighing result of the medicine box weighing platform is displayed through the corresponding medicine box information display.

[0022] Furthermore, each of the material picking windows is provided with a feeding belt, and the feeding belt includes a connecting seat arranged on the frame, two parallel transmission belts arranged on the connecting seat, and a fifth driving mechanism arranged on the connecting seat for forward and reverse operation of the transmission belt. The medicine box weighing platform is located between the two transmission belts, and a second height adjustment mechanism is also provided between the medicine box weighing platform and the connecting seat. After the medicine box weighing platform is raised by the second height adjustment mechanism, it is separated from the feeding belt and weighed.

[0023] Furthermore, the fifth driving mechanism includes a second driver and at least two transmission wheels arranged on the connecting seat for rotating the transmission belt, and the connecting seat is also provided with a plurality of tensioning wheels for adjusting the tensioning force of the transmission belt.

[0024] Furthermore, the second height adjustment mechanism includes a first driver arranged on the connecting seat, a lifting frame arranged at the bottom of the medicine box weighing platform, and a cam mechanism arranged between the first driver and the lifting frame. The medicine box weighing platform realizes the lifting and lowering of the lifting frame by driving the cam mechanism to rotate through the first driver.

[0025] Furthermore, the cam mechanism includes a connecting block arranged on the rotating shaft of the first driver, a driving wheel arranged on the connecting block, and a connecting hole arranged on the lifting frame, and the driving wheel is located in the connecting hole.

[0026] Furthermore, the medicine box moving mechanism includes a feeding conveyor belt and a returning conveyor belt for cyclically moving the medicine box, and the feeding conveyor belt and the returning conveyor belt are arranged in a ring shape, one end of the feeding conveyor belt is located in the feeding conveyor belt, and one end of the discharging belt is located in the returning conveyor belt. The feeding conveyor belt is used to supply the medicine box taken from the three-dimensional medicine warehouse by the stacking mechanism to the top of the corresponding feeding belt, and the returning conveyor belt is used to transport the medicine box returned by the discharging belt to one side of the three-dimensional medicine warehouse to be grabbed by the stacking mechanism and put back.

[0027] Furthermore, the three-dimensional medicine warehouse includes at least one main medicine warehouse for storing commonly used medicinal materials and an auxiliary medicine warehouse for storing auxiliary medicinal materials. Each of the dispensing tables is equipped with a main medicine warehouse. The frame is provided with a plurality of feeding belts for directly moving the medicine boxes on the main medicine warehouse back and forth. Each of the material collection windows is connected to the main medicine warehouse through a feeding belt. The medicine boxes on the main medicine warehouse are connected to the feeding belt through the feeding belt, and the medicine boxes on the auxiliary medicine warehouse are transported through the medicine box moving mechanism.

[0028] Furthermore, a height-adjustable reversing conveyor belt is provided between the feed conveyor belt and the return conveyor belt and the auxiliary medicine warehouse, and the reversing conveyor belt is composed of two parallel transmission belts and a reversible control motor. The two ends of the reversing conveyor belt are respectively located in the medicine box moving mechanism and the auxiliary medicine warehouse, and the movement of the medicine box between the medicine box moving mechanism and the stacking mechanism is controlled by the reversing conveyor belt.

[0029] Furthermore, the stacking mechanism includes a quadrilateral positioning frame, a medicine box picking and placing mechanism arranged on the positioning frame, a lateral adjustment mechanism arranged on the positioning frame to control the left and right movement of the medicine box picking and placing mechanism, and a first height adjustment mechanism arranged on the positioning frame to control the up and down movement of the lateral adjustment mechanism. The medicine box picking and placing mechanism moves to a designated medicine box position on the three-dimensional shelf through the lateral adjustment mechanism and the first height adjustment mechanism to pick up and place the medicine box or place the medicine box into a medicine box slot of the designated three-dimensional shelf.

[0030] Furthermore, the first height adjustment mechanism includes longitudinal guide rails arranged on both sides of the positioning frame and a third driving mechanism arranged on the positioning frame. Both ends of the lateral adjustment mechanism are slidably arranged on the longitudinal guide rails, and the lateral adjustment mechanism is driven by the third driving mechanism to move up and down along the longitudinal guide rails.

[0031] Furthermore, the lateral adjustment mechanism includes a mobile base slidably mounted on the longitudinal guide rail at both ends, a lateral slide rail mounted on the mobile base, and a fourth driving mechanism. The medicine box picking and placing mechanism is slidably mounted on the lateral slide rail through the slider, and the medicine box picking and placing mechanism moves left and right along the lateral slide rail through the fourth driving mechanism.

[0032] Furthermore, the third driving mechanism and the fourth driving mechanism are composed of a servo motor and a transmission belt or a servo motor and a chain, and the driving distances of the third driving mechanism and the fourth driving mechanism are controlled by a position sensor or a distance sensor.

[0033] Furthermore, the medicine box picking and placing mechanism includes a fork slide, baffles arranged on both sides of the fork slide, a transfer seat arranged on the fork slide, and a fork plate arranged on the transfer seat. The transfer seat is slidably mounted on the fork slide via a double-axis guide rail, and the fork plate is slidably mounted on the transfer seat via a double-axis guide rail. The fork slide is provided with a first driving mechanism for moving the transfer seat along the double-axis guide rail, and the transfer seat is provided with a second driving mechanism for moving the fork plate along the double-axis guide rail. The transfer seat realizes bidirectional movement relative to the fork slide via the first driving mechanism, and the fork plate realizes bidirectional sliding relative to the transfer seat via the second driving mechanism. The medicine boxes on the shelf are picked up and placed via the fork plate.

[0034] Furthermore, the first driving mechanism includes a sixth driver arranged at the bottom of the fork slide, a driving gear arranged on the sixth driver, and a rack arranged at the bottom of the transfer seat. The transfer seat realizes synchronous movement by driving the rack to move in both directions through the driving gear.

[0035] Furthermore, the second driving mechanism includes a first synchronous belt and a second synchronous belt whose two ends are respectively fixed on the fork slide and the fork plate, and two driving shafts arranged on the transfer seat. The first synchronous belt and the second synchronous belt respectively pass through one of the driving shafts to form two reverse U-shaped structures, and the second driving mechanism is driven by the left and right movement of the transfer seat to realize the same-direction movement of the fork plate.

[0036] Furthermore, an adjustment seat for adjusting the running length of the first synchronous belt and the second synchronous belt is provided on the fork slide or the fork plate, and the extension length of the fork plate relative to the transfer seat is adjusted by the adjustment seat.

[0037] Furthermore, the driving shaft is a gear shaft, the first synchronous belt and the second synchronous belt are chains, the first synchronous belt and the second synchronous belt are both provided with a screw rod, the adjustment seat includes a fixed bracket and an adjustment screw hole provided on the fixed bracket, and the adjustment length of the first synchronous belt and the second synchronous belt is adjusted by the screw rod.

[0038] Furthermore, distance sensing devices for monitoring the moving distance of the medicine box on the fork plate are provided at both ends of the baffle.

[0039] Furthermore, a stop mechanism is provided between the intermediate transfer seat and the fork plate, and the extension limit distance of the fork plate relative to the intermediate transfer seat is controlled by the stop mechanism.

[0040] Furthermore, the stop mechanism includes a stop block arranged in the middle of the transfer seat, and two movable positioning blocks arranged at the bottom of the fork plate and cooperating with the stop block. The movable positioning blocks are located on both sides of the stop block, and the fork plates achieve mutual positioning after contacting the stop blocks through the movable positioning blocks.

[0041] Furthermore, the stop block is a Z-shaped structure, and the two movable positioning blocks are respectively fitted with one end of the Z-shaped stop block.

[0042] Furthermore, the distance sensing device is a through-beam photoelectric sensor, and a position sensor is provided between the fork slide and the transfer seat.

[0043] Furthermore, the sixth driver is a servo motor or a stepper motor, a dry slider is provided at the bottom of the fork slide, and the fork slide is connected to the external slide rail through the slider.

[0044] Furthermore, a medicine box spacing control device is provided on the feeding conveyor belt at the feeding end of the medicine box switching device, and the medicine boxes transported to the medicine box switching device are stopped and accelerated forward again on the feeding conveyor belt by the medicine box spacing control device.

[0045] Furthermore, the medicine box spacing control device includes two support frames arranged on both sides of the feeding conveyor belt, mounting seats respectively arranged on the two support frames, two conveying mechanisms respectively arranged on the mounting seats, and a tensioning mechanism arranged between the two mounting seats. The bottom of the mounting seat is connected to the support frame through a rotating shaft, and the two mounting seats form a trumpet-shaped structure with a discharge end opening smaller than a feed end through the tensioning mechanism. The medicine box located in the distance adjusting device is clamped and positioned by the conveying mechanisms on both sides that are in a stopped state through the tensioning force of the tensioning mechanism. The medicine box positioned in the distance adjusting device is accelerated forward again after the conveying mechanism is started.

[0046] Furthermore, the conveying mechanism includes a power belt arranged in a ring on the side of the mounting seat, and a servo motor arranged on the mounting seat to rotate or stop the power belt. The medicine box is clamped and positioned by the power belts on both sides, and the servo motor drives the rotation speed of the power belt to realize forward acceleration control of the medicine box.

[0047] Furthermore, a floating support plate is provided on the inner side surface of the mounting seat, and an elastic telescopic mechanism is provided inside the mounting seat for controlling the front and rear telescopic movement of the floating support plate. The clamping area of ​​the power belt is provided on the outer side of the floating support plate, and the distance between the clamping surfaces of the two power belts is controlled by the floating support plate.

[0048] Furthermore, the elastic telescopic mechanism includes a plurality of limit connecting rods arranged between the floating support plate and the mounting seat, and a return spring sleeved outside the limit connecting rod. The floating support plate is pushed outward by the return spring, and the floating support plate contracts inward after receiving pressure.

[0049] Furthermore, the limiting connecting rod is a connecting screw, one end of which is fixed on the floating support plate, and the other end of which is fixed to the nut head through a hole.

[0050] Furthermore, a driving shaft and a driven shaft for driving the power belt are respectively provided at both ends of the mounting seat, the servo motor controls the rotation speed of the driving shaft, and a position adjustment mechanism for controlling the position of the driven shaft is also provided on the mounting seat, and the spacing between the driving shaft and the driven shaft is adjusted by the position adjustment mechanism.

[0051] Furthermore, the position adjustment mechanism includes an elongated positioning hole provided on the mounting seat, a fixed seat provided on the mounting seat, and an adjusting screw provided on the fixed seat. Both ends of the driven shaft are limited by the elongated positioning hole. The spacing is adjusted by rotating the adjusting screw to move the driven shaft along the elongated positioning hole.

[0052] Furthermore, the tensioning mechanism is a tensioning spring, and both ends of the tensioning spring are respectively fixed to the top of the mounting seat.

[0053] Furthermore, a limit block for controlling the tensioning angle of the mounting seat is provided on the feeding conveyor belt, and the minimum contraction angle of the two conveying mechanisms is controlled by the limit block.

[0054] Furthermore, the material taking window is provided with an induction alarm device, and an alarm signal is sent through the induction alarm device when an object enters the material taking window that cannot grab the medicine.

[0055] Furthermore, the induction alarm device includes a grating for monitoring the material picking window, a signal indicator light for indicating the medicine picking status of the material picking window on the frame, and an alarm on the frame. The grating is used to monitor in real time whether an object enters the material picking window, the indicator light is used to prompt the operation priority of the material picking window, the current operation completion status and special situation alarm prompts, and the alarm is used to send an alarm signal when an object enters the material picking window where medicine cannot be picked up by mistake.

[0056] Furthermore, at least one medicine replenishing device is provided on one side of the medicine box moving mechanism, and the structure of the medicine replenishing device is consistent with that of the dispensing table.

[0057] Furthermore, the frame is also provided with an external device installation slot, and a printer is arranged in the external device installation slot.

[0058] Furthermore, it also includes a video monitoring system, which is composed of cameras installed in different areas. The storage and movement of the medicine box are captured and stored in real time by each of the cameras.

[0059] Compared with the prior art, the present invention has the following beneficial effects:

[0060] 1. Accurate and efficient

[0061] After the prescription is reviewed by the back-end system, the medicinal materials in the prescription can be automatically obtained from the three-dimensional medicine warehouse through the stacking mechanism and placed on the medicine box moving mechanism to the medicine box switching device, and then the corresponding medicine box is transferred to the dispensing table through the medicine box switching device to wait for the medicine to be dispensed. In the process of dispensing medicine, the weight of the medicine taken can be automatically weighed by the total weighing table, which is convenient for the system and operators to quickly obtain the data of a batch of medicinal materials and judge the amount of medicinal materials. In particular, after the weighing equipment directly weighs the closed storage medicine box, the system can verify the real-time record of inventory information, so as to timely dispense the amount of medicinal materials in the medicine box, thereby realizing real-time and rapid adjustment. The movement of the entire medicine box is operated by automated mechanical equipment, which can automatically retrieve the medicinal materials in the prescription from the three-dimensional shelves and supply them to the dispensing table for dispensing. The prepared medicinal materials can be automatically sent back and stored. The overall operation is automated. The operator only needs to grab and weigh the medicinal materials in the prescription on the dispensing table. There is no need to move around during the operation. The work position is fixed, similar to the assembly line operation. The dispensing speed and efficiency are improved by more than several times, the overall operation difficulty is lower, the dispensing speed is faster, the labor intensity of personnel is lower, the personnel demand is less, the requirements on personnel quality are lower, the personnel mobility is reduced, the speed of getting started is fast, and human errors and medicinal material loss are reduced.

[0062] 2. Intelligent Management

[0063] The management and control system can read the data of the identification labels on the medicine box through the collectors installed in different areas, screen the prescription medicines, and automatically feed and replenish the materials. In addition, when combined with the locator installed in the medicine box or the position sensor installed in various parts, it can also accurately track or determine the current position of the medicine box, which is more convenient for the supply of medicine boxes and the position switching between different institutions.

[0064] 3. High combination flexibility

[0065] According to different sites and needs, the number and position of the dispensing table and the three-dimensional medicine warehouse, the trajectory of the medicine box moving mechanism, etc. can be freely combined, which is more flexible and has a wider range of applications.

[0066] 4Convenient data tracing

[0067] Through the combination of scanning of identification marks, weighing and external video monitoring by the management and control system, it is possible to easily realize the informatization and visualization management of the adjustment process and achieve data traceability of the entire adjustment process.

[0068] 5. Form a dynamic three-dimensional drug library

[0069] After the three-dimensional medicine warehouse is combined with the stacking mechanism, each stacking mechanism can be automatically controlled according to the management control system, and the medicine boxes can be stored in different three-dimensional medicine warehouses, dynamic medicine warehouse management can be implemented, and system data can be updated in real time to simplify the management process. A big data management system is introduced to automatically generate operating data based on management demand information for management to analyze operating conditions.

[0070] 6. Realized automatic replenishment and next-day usage evaluation

[0071] Based on the real-time data of the management and control system, the replenishment personnel can be notified in time to replenish the goods in real time. The system can also automatically generate the replenishment quantity required for the next day based on the big data of previous work and notify the large warehouse stocking personnel in advance, which greatly improves work efficiency and reduces labor intensity.

[0072] 7. Automatically check medications

[0073] The system automatically identifies the drug information in the medicine box, eliminating human errors and solving the problem of low efficiency of manual review.

[0074] 8. Minimal employee training

[0075] After combining with the back-end management and control system, operators only need to perform single-step operations according to the actual prompts of the system. The cultural quality requirements for operating staff are extremely low. They can start operating as soon as they get to work and become skilled operators in one to three days, which greatly reduces the difficulty of management of enterprises or hospitals. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0077] Figure 2 It is a schematic diagram of the combined structure of the dispensing table and the medicine box switching device in the present invention;

[0078] Figure 3 It is a schematic diagram of the assembly structure of the adjusting table and the feeding belt in the present invention;

[0079] Figure 4 The structure diagram of the medicine box switching mechanism of the present invention is shown in FIG. Figure 1 ;

[0080] Figure 5 The structure diagram of the medicine box switching mechanism of the present invention is shown in FIG. Figure 2 ;

[0081] Figure 6 It is a structural schematic diagram of the connecting seat mechanism in the present invention;

[0082] Figure 7 It is a structural schematic diagram of the stacking mechanism in the present invention;

[0083] Figure 8 It is a first structural schematic diagram of the medicine box taking and placing mechanism of the present invention;

[0084] Fig. 9 It is a second structural schematic diagram of the medicine box taking and placing mechanism of the present invention;

[0085] Fig.10 It is a schematic diagram of the internal structure of the medicine box pick-and-place machine of the present invention;

[0086] Fig.11 It is a schematic diagram of the clamping state operation of the medicine box spacing control device of the present invention.

[0087] Fig.12 It is a structural schematic diagram of the medicine box spacing control device of the present invention;

[0088] In the figure: medicine box pick-up and placement mechanism 100, fork slide 101, distance sensing device 102, double-axis guide rail 103, position sensor 104, drive gear 105, drive shaft 106, transfer seat 107, first synchronous belt 108, fork plate 109, mobile positioning block 110, stop block 111, baffle 112, stop mechanism 113, rack 114, first drive mechanism 115, second drive mechanism 116, sixth driver 117, slider 118, second synchronous belt 119, adjustment seat 120, screw 121, fixed bracket 122, first height adjustment mechanism 130, longitudinal guide rail 131, third drive mechanism 132, transverse adjustment The fourth driving mechanism 143, the positioning frame 150, the stacking mechanism 160, the medicine box spacing control device 201, the support frame 202, the distance adjustment device 203, the mounting seat 204, the conveying mechanism 205, the adjusting screw 206, the fixing seat 207, the position adjustment mechanism 208, the long strip positioning hole 209, the limit block 210, the tensioning mechanism 211, the return spring 212, the floating support plate 213, the driven shaft 214, the limit connecting rod 215, the power belt 216, the elastic telescopic mechanism 217, the driving shaft 218, the servo motor 219, the dispensing table 300, the total weighing table 301, the 302, a frame 303, a discharging mechanism 304, a feeding mechanism 305, an induction alarm device 306, a medicine box information display 307, a main display 308, a printer 309, an alarm 310, a mounting slot 311, a control console 312, a grating 313, a medicine box weighing platform 314, a material taking window 315, a signal indicator light 316, a feeding belt 317, a first control mechanism 318, a third driver 319, a second height adjustment mechanism 320, a first driver 321, a lifting frame 322, a connecting hole 323, a connecting seat 324, a fifth driving mechanism 325, a transmission belt 326, a transmission wheel 327, a tensioning wheel 328, a third Second driver 329, connecting block 330, driving wheel 331, cam mechanism 332, slide rail 333, discharging motor 334, second mounting frame 335, discharging belt 336, feeding belt 337, first mounting frame 338, feeding motor 339, fourth driver 340, connecting shaft 341, third slide 342, second control mechanism 343, second slide 344, fifth driver 345, feeding belt 346, medicine box switching device 350, three-dimensional medicine warehouse 400, main medicine warehouse 410, auxiliary medicine warehouse 420, medicine replenishing device 500, medicine box moving mechanism 600, feeding conveyor belt 610, return conveyor belt 620, video monitoring system 700. DETAILED DESCRIPTION

[0089] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0090] A system for automatically dispensing Chinese medicine prescriptions, comprising a plurality of three-dimensional medicine warehouses 400 for storing medicinal materials and a dispensing table 300 for dispensing prescriptions, a medicine box moving mechanism 600 is arranged between the three-dimensional medicine warehouse 400 and the dispensing table 300, a medicine box switching device 350 is arranged between the dispensing table 300 and the medicine box moving mechanism 600, the three-dimensional medicine warehouse 400 is composed of a plurality of shelves and a plurality of medicine boxes placed on the shelves, the medicine boxes are provided with identification marks that can store and read information, the three-dimensional medicine warehouse 400 is composed of a plurality of shelves and a plurality of medicine boxes placed on the shelves, the medicine boxes are provided with identification marks that can store and read information, The medicine warehouse 400 is provided with a stacking mechanism 160 for taking and placing the medicine boxes, the adjustment table includes a frame 303, a control console 312 arranged on the frame 303, a plurality of material taking windows 315 arranged on the frame 303, a total weighing table 301 for weighing the medicine taken out of the material taking windows 315, a main display 308 for receiving prescriptions and displaying relevant information, and a medicine box information display 307 for reading and displaying the medicine box information in the current material taking windows 315, the medicine box The box moving mechanism 600 is used to move the medicine box automatically grabbed by the stacking mechanism 160 on the corresponding three-dimensional medicine warehouse 400 to the waiting position of the medicine box switching device 350 to wait for transportation, and move the medicine box transported by the medicine box switching device 350 to the medicine box moving mechanism 600 again to the corresponding stacking mechanism 160 and then automatically put it back to the corresponding three-dimensional medicine warehouse 400. The stacking mechanism 160 is used to extract and store the medicine box relative to the three-dimensional medicine warehouse 400 after receiving instructions. The medicine box switching device 350 is used to obtain the medicine box supplied by the medicine box moving mechanism 600 and move it to the material collection window 315 for material collection, and return the medicine box grabbed by the material collection window 315 to the medicine box moving mechanism 600 and transport it to the three-dimensional medicine warehouse 400 again to wait for storage. The medicine in the medicine box supplied by the medicine box switching device 350 is manually grabbed through the material collection window 315 and placed on the total weighing platform 301 for weighing and matching.

[0091] In actual use, we have made improvements to the medicine warehouse for storing medicine boxes. The improved medicine warehouse is referred to as a three-dimensional medicine warehouse 400. Each three-dimensional medicine warehouse 400 is composed of several shelves and multiple medicine boxes placed on the shelves, and each medicine box is affixed with a unique identification mark that can store and read information. After the management system analyzes the big data, the location of each medicine box can be accurately controlled so that the stacking mechanism 160 can accurately obtain it. When the prescription is dispensed through the automatic dispensing system of traditional Chinese medicine prescriptions, the prescription to be dispensed is first received through the dispensing table 300 and the information is displayed on the main display 308 so that the medicine picker can quickly read and pick the medicine. The display content of the main display 308 generally includes one or more of the basic information of the prescription and the information of the medicine that has been grabbed, the medicine that is currently grabbed, or the medicine that has not been grabbed. When the prescription is determined, the management control system automatically retrieves the medicinal materials in the prescription and sends the instruction to the stacking mechanism 160. The corresponding medicine box is taken out from the three-dimensional medicine warehouse 400 through the stacking mechanism 160 and placed in the medicine box moving mechanism 600 for supply. After the medicine box moving mechanism 600 moves the medicine box to the medicine box switching device 350, the medicine box is moved from the medicine box moving mechanism 600 to the dispensing table 300 through the medicine box switching device 350 for manual medicine picking. After the medicine in the medicine box is picked up, it is sent back to the medicine box moving mechanism 600 through the medicine box switching device 350 again, and then the medicine box is sent back to the side of the three-dimensional medicine warehouse 400 through the medicine box moving mechanism 600, and is put back into the three-dimensional medicine warehouse 400 through the stacking mechanism 160. The position switching of the medicine box between the mechanisms can be determined by a position sensor 104 or a locator. Generally, the three-dimensional medicine warehouse 400 is composed of multiple large storage medicine warehouses. The three-dimensional medicine warehouses 400 are generally placed in sequence along the medicine box moving mechanism 600. One three-dimensional medicine warehouse 400 can be equipped with one stacking mechanism 160, or two or more three-dimensional medicine warehouses 400 can share one stacking mechanism 160.When multiple dispensing tables 300 are used, they are placed along the medicine box moving mechanism 600 in sequence, and each dispensing table 300 is connected to the medicine box moving mechanism 600 through a medicine box switching device 350. During the dispensing process, multiple people can simultaneously grab different prescriptions and share the three-dimensional medicine warehouse 400. During the entire process of supplying and loading the medicine box, manual operation is no longer required. In particular, after the medicine box enters the dispensing table 300, the required medicine box is sent to the material collection window 315 through the medicine box switching device 350. After the identification mark on the medicine box is scanned by the reading device in the material collection window 315, the scanned information can be directly displayed on the medicine box information display 307. The display content of the medicine box information display 307 includes basic information such as the current drug name and the weight of the medicine box, and also has the function of real-time display of information on reduced weight, the operation priority level of the current medicine box, the drug name, code, and drug map in the medicine box. The information such as tablets, weight to be taken, actual weight taken, special requirements, etc., no longer needs to be manually identified the basic information of the medicine, the medicine accuracy is higher, and it is not easy to make mistakes when grabbing. The operator only needs to grab the medicinal materials in the medicine box and put them in the dispensing frame to complete the medicine grabbing; and the dispensing frame is placed on the total weighing table 301, and each time the medicinal materials are put in, they can be weighed accurately in real time, avoiding the operator's repeated taking and putting of medicinal materials; and the medicinal materials can be reviewed by the automatic reading function of the current medicinal material weight provided by the system. For example, when the main display 308 shows that the medicinal materials need to be grabbed, the operator grabs the medicinal materials in the material picking window 315 and puts them into the dispensing frame, and the total weighing table 301 can automatically weigh them, and the weighed data can be automatically matched with the weight of the medicinal materials in the formula. When it meets the requirements, the main display 308 is displayed in gray, while the others are bright colors, which is more convenient for the operator to judge. Moreover, the medicine box entering the material collection channel and the main display 308 are uniformly identified by the system, and the type of medicinal materials in the prescription can be directly locked according to the medicine box in the material collection window 315.

[0092] When multiple material picking windows 315 are installed side by side on the rack 303, each material picking window 315 can enter the medicine box, so that multiple medicinal materials in the prescription can be located in different material picking windows 315 at the same time waiting to be picked up, and each material picking window 315 corresponds to a medicine box information display 307 that displays the medicine box information separately, and the basic information of the medicine in the current material picking window 315 is displayed through the medicine box information display 307, so that when the dispensing station 300 picks up the medicine on the prescription, there are multiple medicine boxes to be picked up, which makes the efficiency of picking up medicine better and the time waiting for the supply of the medicine box shorter. Function buttons for different operations are provided on the control console 312, and the medicine box that has been picked up can be transmitted back through the corresponding control switch and then wait for the supply of the next medicine box, so that the supply of new medicine boxes can be convenient. During the entire operation process, the medicine box is automatically supplied and returned, and there is no need to manually carry the medicine box, the labor intensity is low, and the use of multiple parallel material collection windows 315 structures can make the supply efficiency of the medicine box faster, and the efficiency of grabbing the medicine in the prescription is higher. During the entire operation process, a dispensing table 300 only needs one operator to accurately complete the operation, fewer personnel are required, and the requirements for personnel quality are lower, which effectively reduces personnel costs, reduces manual errors and losses, reduces personnel mobility, has low operating difficulty, and is quick to get started. The material collection windows 315 are generally arranged in parallel with 3-4. When one person operates a dispensing table 300, the supply speed and the time allocation for grabbing medicine are more reasonable, which can solve the problem that the medicine box needs to be manually picked up and placed when manually grabbing the prescription Chinese medicinal materials, and the situation that the medicine is wrongly grabbed, missed, or the amount does not correspond, fewer personnel are required, and the requirements for personnel quality are lower, and the personnel mobility is reduced, the operation difficulty is low, and the speed of getting started is fast.

[0093] The shelves can be made of overlapping metal rods or keels. When the medicine boxes are stacked and placed on the shelves of the three-dimensional medicine warehouse 400, a grabbing space similar to a suspended bottom can be formed for the medicine boxes, which can facilitate the stacking mechanism 160 to grab the medicine boxes. A through hole can also be set on the shelf to facilitate the insertion and transportation of the medicine box moving mechanism 600.

[0094] Furthermore, the medicine box switching device 350 includes a plurality of feeding belts 317 arranged on the frame 303 for conveying medicine boxes to the material collection window 315, a feeding mechanism 305 arranged on the frame 303 for supplying medicine boxes to the feeding belts 317, and a discharging mechanism 304 for moving the medicine boxes on the feeding belts 317 to the medicine box moving mechanism 600. The frame 303 is provided with a first control mechanism 318 for controlling the feeding belts 317 up and down. The medicine boxes to be grabbed on the medicine box moving mechanism 600 are obtained by the feeding mechanism 305 and then supplied to the feeding belt 317 and moved to the material collection window 315 through the first control mechanism 318 to wait for manual grabbing. After grabbing the medicinal materials, the medicine box is moved to the discharging mechanism 304 through the first control mechanism 318 to be sent back to the medicine box moving mechanism 600.

[0095] When the position of the medicine box is switched by the medicine box switching device 350, one end of the feeding belt 317 extends into the material collection window 315, and the feeding belt 317 is used to transport and return the medicine box in the material collection window 315, while the feeding mechanism 305 and the discharging mechanism 304 are used to transport the feeding belt 317 and the medicine box moving mechanism 600. Since the frame 303 is provided with a first control mechanism 318 for controlling the feeding belt 317 up and down, and the feeding mechanism 305 and the discharging mechanism 304 are set in the up and down positions, after the feeding belt 317 is raised and lowered by the first control mechanism 318, it can be connected with the feeding mechanism 305 and the discharging mechanism 304, thereby realizing the movement of the medicine box. The structure is simple and convenient, the operation is flexible and the overall volume is smaller. For example, when the medicine box is transported to the feeding mechanism by the medicine box moving mechanism 600, 305, the medicine box is obtained by the feeding mechanism 305 and then moved to one end of the feeding belt 317. At the same time, the first control mechanism 318 makes the feeding belt 317 located at one end of the feeding mechanism 305 waiting for supply, and then moves to the material taking window 315 to wait for taking medicine. When the medicine box needs to be returned to the medicine box moving mechanism 600, the feeding belt 317 is moved to one end of the discharging mechanism 304 by the first control mechanism 318, and then transported out through the discharging mechanism 304. The medicine box moving mechanism 600 does not need to stop frequently, thereby solving the problems of untimely supply and over-supply of the medicine box when the medicine box is transported by the medicine box moving mechanism 600. Fewer personnel are required, and lower personnel quality requirements are required, which effectively reduces personnel costs and reduces personnel mobility. The operation difficulty is low, the labor intensity is low, the adjustment cycle is short and the efficiency is high. During the entire operation process, the rack 303 is equipped with a plurality of feeding belts 317 for transferring the medicine boxes to be grabbed to the material picking window 315 and returning the grabbed medicine boxes to be supplied again. Each feeding belt 317 can work independently, which is more flexible and enables the operator on the dispensing table 300 to grab the medicinal materials in time, and the supply efficiency of the medicinal materials is higher. When the medicine boxes are transferred between the shelves and the feeding belts 317, the feeding mechanism 305 can be used as a transfer waiting area for the medicine boxes. After the feeding mechanism 305 promptly obtains the medicine boxes from the supply conveyor belt, it can be obtained from the feeding mechanism 305 when the feeding belt 317 needs to supply the medicine boxes.

[0096] In particular, the first control mechanism 318 includes a slide rail 333 provided on the frame 303 for connecting the feeding belt 317, and a third driver 319 provided on the frame 303 for driving the feeding belt 317 on the slide rail 333 up and down. The feeding belt 317 is slidably connected to the frame 303 along the slide rail 333 through the third driver 319.

[0097] When the height of the feeding belt 317 is controlled by the first control mechanism 318, the feeding belt 317 is slidably connected to the slide rail 333 on the frame 303 through the slider 118, and the power is transmitted between the third driver 319 and the feeding belt 317 through the transmission chain. When the third driver 319 is reversed, the feeding belt 317 can be directly driven to move along the slide rail 333 through the transmission chain, and the moving position can be controlled by the position sensor 104, which is easier to operate. The third driver 319 preferably uses a servo motor 219, which is more convenient in system control, has a simple structure, and has a low production cost.

[0098] Furthermore, the feeding mechanism 305 includes a first mounting frame 338 disposed on the frame 303, two parallel feeding belts 337 disposed on the first mounting frame 338, and a feeding motor 339 disposed on the first mounting frame 338 to drive the feeding belt 337; the discharging mechanism 304 includes a second mounting frame 335 disposed on the frame 303, two parallel discharging belts 336 disposed on the second mounting frame 335, and a discharging motor 339 disposed on the second mounting frame 335 to drive the discharging belt 336. The discharging motor 334 is driven by the medicine box moving mechanism 600, and one end of the feeding belt 337 and the discharging belt 336 are located in the medicine box moving mechanism 600. The frame 303 is also provided with a third control mechanism 302 and a second control mechanism 343 for controlling the up and down movement of the feeding mechanism 305 and the discharging mechanism 304 respectively. The medicine box above the medicine box moving mechanism 600 is separated or put back by the third control mechanism 302 and the second control mechanism 343 for lifting and lowering the feeding mechanism 305 and the discharging mechanism 304.

[0099] In the process of feeding the medicine box to the feeding belt 317 through the feeding mechanism 305, one end of the feeding mechanism 305 is fixed on the frame 303 through the first mounting frame 338, and the other end extends into the running track of the medicine box. When the medicine box enters the upper part of the feeding belt 337 and is in place, the feeding belt 337 is moved upward by the third control mechanism 302, so that the feeding belt 337 is lifted from the bottom of the medicine box, and the feeding motor 339 drives the feeding belt 337 to move, thereby achieving the purpose of feeding. When the medicine box needs to be moved out from the feeding belt 317, the medicine box moves outward through The running surface of the discharge belt 336 of the second control mechanism 343 is higher than the medicine box moving mechanism 600. When the medicine box moves onto the discharge belt 336 and continues to move forward to above the medicine box moving mechanism 600, the second control mechanism 343 moves it downward to a moving surface lower than the medicine box moving mechanism 600, so that the medicine box can be moved by the medicine box moving mechanism 600. The feed motor 339 and the discharge motor 334 generally use forward and reverse motors or servo motors 219. The position of the medicine box and the start of each motor can be controlled by the position sensor 104.

[0100] At present, the medicine box moving mechanism 600 adopts a roller conveyor belt for circular movement, and one end of the feed belt 337 and the discharge belt 336 extends between the rollers of the two conveyor belts. When the medicine box needs to move on the conveyor belt, the third control mechanism 302 and the second control mechanism 343 are used to lower the feed mechanism 305 and the discharge mechanism 304, so that their contact surfaces are lower than the working surfaces of the rollers. When the medicine box needs to move on the feed mechanism 305 and the discharge mechanism 304, the third control mechanism 302 and the second control mechanism 343 are used to raise the feed mechanism 305 and the discharge mechanism 304, so that the bottom surface of the medicine box is higher than the rollers. The operation is flexible and convenient, and the trajectory switching of the medicine box is simple.

[0101] Furthermore, the third control mechanism 302 includes a connecting shaft 341 that connects each of the feeding mechanisms 305 in series, a third slide 342 arranged at both ends of the connecting shaft 341, and a fourth driver 340 arranged on the frame 303 to slide the third slide 342 up and down, and the second control mechanism 343 includes a connecting shaft 341 that connects each of the discharging mechanisms 304 in series, a second slide 344 arranged at both ends of the connecting shaft 341, and a fifth driver 345 arranged on the frame 303 to slide the second slide 344 up and down.

[0102] The feeding mechanism 305 and the discharging mechanism 304 are connected in series through their respective connecting shafts 341, and the fourth driver 340 and the fifth driver 345 are respectively located on both sides of the frame 303, and the two ends of the connecting shaft 341 are connected to the transmission chain through a transfer block. When the feeding mechanism 305 and the discharging mechanism 304 need to be moved up and down, the height can be adjusted by controlling the direction of the transmission chain through their respective drivers. The operation is simple, the height adjustment is easy, and the cost and power consumption are lower. The fourth driver 340 and the fifth driver 345 both use forward and reverse motors or servo motors 219.

[0103] Furthermore, a medicine box weighing platform 314 for weighing the current weight of the medicine box delivered by the medicine box switching device 350 is provided in the material taking window 315 , and the weighing result of the medicine box weighing platform 314 is displayed through the corresponding medicine box information display 307 .

[0104] When the medicine box is transported into the material taking window 315 through the box switching device to wait for medicine to be picked up, it is placed on the medicine box weighing platform 314 for support and weighing. The weighing information is displayed through the medicine box information display 307. The display content of the medicine box information display 307 includes basic information such as the current medicine name and the weight of the medicine box, as well as real-time display of information on reduced weight, the current operation priority level of the medicine box, the name of the medicine in the medicine box, the code, the picture of the medicine, the weight to be taken, the actual weight taken, special requirements and other information, so as to facilitate quick calculation. When the medicine is taken out, it is possible to know how much weight is taken, which makes it more convenient and quick to calculate the weight of the prescribed medicine. When the medicine that has been weight-checked by the medicine box weighing platform 314 is compared with the weight gain of the total weighing platform 301 again, the weight of the medicine can be confirmed for a second time to avoid the problem of incorrect proportion of the medicine due to equipment errors, thereby effectively ensuring the accuracy of each pharmacy. For example, the operator grabs the medicine from the corresponding material collection window 315. A medicine dispensing frame is generally placed on the total weighing table 301. After the medicine in the medicine box is grabbed and placed in the medicine dispensing frame, the weight of the grabbed medicine can be directly displayed through the total weighing table 301, and there is no need to perform separate weighing processing during the drug grabbing process. In particular, when the display content of the medicine box information display 307 includes the reduced weight, by comparing the two, it can be accurately determined whether the grabbed amount of medicine is incorrect.

[0105] High-precision weighing is achieved, ensuring that the weighing accuracy is much higher than the current "Specifications for Adjustment of Traditional Chinese Medicine Prescriptions". The weight increase and reduction quantity matching mechanism is adopted, and repeated weighing is achieved twice to ensure that the weighing is correct. The identification mark in the adjustment system is formed by combining an electronic tag with a QR code. The identification mark combined with an electronic tag and a QR code is used. At the same time, during the adjustment process, standard decoction piece pictures and voice prompts are provided to the adjustment personnel, which plays a double-checking role and perfectly solves the problem that manual adjustment cannot be accurately reviewed.

[0106] Furthermore, each of the material picking windows 315 is provided with a feeding belt 317, and the feeding belt 317 includes a connecting seat 324 arranged on the frame 303, two parallel transmission belts 326 arranged on the connecting seat 324, and a fifth driving mechanism 325 arranged on the connecting seat 324 for forward and reverse operation of the transmission belt 326. The medicine box weighing platform 314 is located between the two transmission belts 326, and a second height adjustment mechanism 320 is also provided between the medicine box weighing platform 314 and the connecting seat 324. After the medicine box weighing platform 314 is raised by the second height adjustment mechanism 320, it is separated from the feeding belt 317 and weighed.

[0107] In the process of moving the medicine box back and forth by the feeding belt 317, the feeding belt 317 is installed on the frame 303 through the connecting seat 324, and the two parallel transmission belts 326 are driven to rotate by the forward and reverse driving of the fifth driving mechanism 325, so that the medicine box placed on the two parallel transmission belts 326 can be moved. The transmission belts 326 are two and arranged in parallel, which can make the medicine box stable during the movement, and make the bottom of the medicine box have a hollow section, which can facilitate the placement and extension of the medicine box weighing platform 314. The medicine box placed on the upper end of the medicine box weighing platform 314 has better stability. After the medicine box weighing platform 314 is raised and pointed out by the second height adjustment mechanism 320, the medicine box can be separated from the feeding belt 317 and weighed, and the stability when grabbing the medicine is also better. When the medicine box needs to be withdrawn, the medicine box weighing platform 314 only needs to be retracted by the second height adjustment mechanism 320, so that the two transmission belts 326 can support and transport the medicine box again. The structure is simple and the operation is easy.

[0108] Furthermore, the fifth driving mechanism 325 includes a second driver 329 and at least two transmission wheels 327 arranged on the connecting seat 324 to rotate the transmission belt 326 . The connecting seat 324 is also provided with a plurality of tensioning wheels 328 for adjusting the tension of the transmission belt 326 .

[0109] When the transmission belt 326 is rotated by the fifth driving mechanism 325, the two ends of the transmission belt 326 are positioned and rotated by the transmission wheel 327, and the two transmission belts 326 are driven to rotate by the second driver 329 at the same time, which has lower cost. A tensioning wheel 328 is provided between the second driver 329 and the transmission wheel 327, which can adjust the tightness of the transmission belt 326. Its simplest structure is to install a transmission wheel 327 at each end of the two transmission belts 326. The second driver 329 adopts a servo motor 219, and a rotating shaft is driven to rotate by the second driver 329. A driving wheel is installed at each end of the rotating shaft. The transmission belts 326 on both sides are driven to rotate by the driving wheels, and a tensioning wheel 328 is pressed on both sides of the driving wheel. The tensioning wheel 328 can achieve the tensioning effect and change the running trajectory of the transmission belt 326.

[0110] Furthermore, the second height adjustment mechanism 320 includes a first driver 321 arranged on the connecting seat 324, a lifting frame 322 arranged at the bottom of the medicine box weighing platform 314, and a cam mechanism 332 arranged between the first driver 321 and the lifting frame 322. The medicine box weighing platform 314 realizes the lifting and lowering of the lifting frame 322 by driving the cam mechanism 332 to rotate through the first driver 321; the cam mechanism 332 includes a connecting block 330 arranged on the rotating axis of the first driver 321, a driving wheel 331 arranged on the connecting block 330, and a connecting hole 323 arranged on the lifting frame 322, and the driving wheel 331 is located in the connecting hole 323.

[0111] When the medicine box weighing platform 314 is lifted and lowered by the second height adjustment mechanism 320, it is only necessary to drive the cam mechanism 332 to rotate by the first driver 321, so that the lifting frame 322 can be driven to lift and lower by the cam mechanism 332, thereby realizing the lifting and lowering control of the medicine box weighing platform 314. The structure is simple and convenient, the operation is flexible, and the up and down height adjustment is stable, the control accuracy is high, and the production cost is low. Moreover, when the first driver 321 and the lifting frame 322 are connected by the cam mechanism 332, a connecting block 330 equipped with a driving wheel 331 is used as a cam on the first driver 321, and a connecting block 330 installed with a driving wheel 331 is used as a cam at the bottom of the lifting frame 322. A connecting hole 323 is provided to be connected to the driving wheel 331. The axis of the driving wheel 331 is staggered with the rotating axis of the first driver 321 through the connecting block 330. When the first driver 321 rotates, the driving wheel 331 can drive the lifting frame 322 to control the height. The lifting frame 322 is composed of two guide rods installed at the bottom of the medicine box weighing platform 314 and a connecting rod located at the bottom of the two guide rods. The connecting hole 323 is located in the connecting rod. A guide sleeve is provided between the guide rod and the connecting seat 324. When the lifting frame 322 is moved up and down, it slides up and down in the guide sleeve through the guide rod. The first driver 321 adopts a servo motor 219.

[0112] Furthermore, the medicine box moving mechanism 600 includes a feeding conveyor belt 610 and a return conveyor belt 620 for cyclically moving the medicine box, and the feeding conveyor belt 610 and the return conveyor belt 620 are arranged in a ring shape, one end of the feeding belt 337 is located in the feeding conveyor belt 610, and one end of the discharging belt 336 is located in the return conveyor belt 620. The feeding conveyor belt 610 is used to supply the medicine box taken out of the three-dimensional medicine warehouse 400 by the stacking mechanism 160 to the top of the corresponding feeding belt 337, and the return conveyor belt 620 is used to transport the medicine box returned by the discharging belt 336 to one side of the three-dimensional medicine warehouse 400 to be grabbed by the stacking mechanism 160 and put back.

[0113] When there are multiple dispensing tables 300 or three-dimensional shelves arranged in sequence, the medicine box moving mechanism 600 formed by the feeding conveyor belt 610 and the returning conveyor belt 620 can be shorter, and the supply and return of medicinal materials can be clearer without crossing each other. In addition, the setting space and position of the feeding belt 337 and the discharging belt 336 are more flexible, the overall volume is smaller, and the overall structure is simpler. The feeding conveyor belt 610 and the returning conveyor belt 620 both adopt a roller structure with a gap between the two rollers, which makes it easier for the feeding belt 337 and the discharging belt 336 to move up and down after being inserted into the gap.

[0114] Furthermore, the three-dimensional medicine warehouse 400 includes at least one main medicine warehouse 410 for storing commonly used medicinal materials and an auxiliary medicine warehouse 420 for storing auxiliary medicinal materials. Each of the dispensing tables 300 is equipped with a main medicine warehouse 410. The frame 303 is provided with a plurality of feeding belts 346 for directly moving the medicine boxes on the main medicine warehouse 410 back and forth. Each of the material collection windows 315 is connected to the main medicine warehouse 410 through a feeding belt 346. The medicine boxes on the main medicine warehouse 410 are connected to the feeding belt 317 through the feeding belt 346, and the medicine boxes on the auxiliary medicine warehouse 420 are transported through the medicine box moving mechanism 600.

[0115] Since each dispensing station 300 is equipped with a main medicine warehouse 410, the two are placed adjacent to each other, the commonly used main medicinal materials are placed in the main medicine warehouse 410, and each material collection window 315 is connected to the main medicine warehouse 410 through a feeding belt 346. In the process of dispensing prescriptions, commonly used medicinal materials can be directly taken out from the main warehouse through the stacking mechanism 160 and placed on the feeding belt 346 for transportation to the medicine box switching mechanism, and then moved to the material collection window 315 through the feeding belt 317 in the medicine box switching mechanism. It is generally arranged above the feeding mechanism 305, and its height is consistent with the position of the feeding belt 317 when it supplies to the material picking window 315, so that it is directly connected with the feeding belt 317 to form a parallel conveyor belt, which is more convenient for the supply and return of medicinal materials. For infrequently used auxiliary medicinal materials, they are uniformly installed in the shared auxiliary medicine warehouse 420, and are uniformly dispatched through the medicine box moving mechanism 600, which effectively avoids the problem that commonly used medicine boxes also need to be frequently supplied and shared through the medicine box conveying mechanism 205.

[0116] Furthermore, a height-adjustable reversing conveyor belt is provided between the feed conveyor belt 610 and the return conveyor belt 620 and the auxiliary drug warehouse 420. The reversing conveyor belt is composed of two parallel transmission belts 326 and a reversible control motor. The two ends of the reversing conveyor belt are respectively located in the medicine box moving mechanism 600 and the auxiliary drug warehouse 420. The movement of the medicine box between the medicine box moving mechanism 600 and the stacking mechanism 160 is controlled by the reversing conveyor belt.

[0117] The switching principle of the medicine box by the reversing conveyor belt is similar to that of the feeding mechanism 305, and when the three-dimensional medicine warehouse 400 is placed next to the medicine box moving mechanism 600, whether the medicine box needs to be supplied or returned, the stacking mechanism 160 only needs to cooperate with the reversing conveyor belt, and the structure is simpler and more convenient. The operating space of the stacking mechanism 160 can be smaller, especially when the stacking mechanism 160 is arranged between two three-dimensional medicine warehouses 400, it is only necessary to extend one end of the reversing conveyor belt into the outer three-dimensional medicine warehouse 400 to achieve the purpose of sharing the reversing conveyor belt for the two three-dimensional medicine warehouses 400.

[0118] Furthermore, the stacking mechanism 160 includes a quadrilateral positioning frame 150, a medicine box picking and placing mechanism 100 arranged on the positioning frame 150, a lateral adjustment mechanism 140 arranged on the positioning frame 150 for controlling the left and right movement of the medicine box picking and placing mechanism 100, and a first height adjustment mechanism 130 arranged on the positioning frame 150 for controlling the up and down movement of the lateral adjustment mechanism 140. The medicine box picking and placing mechanism 100 moves to a designated medicine box position on the three-dimensional shelf through the lateral adjustment mechanism 140 and the first height adjustment mechanism 130 to pick up and place the medicine box or place the medicine box into a medicine box slot of the designated three-dimensional shelf.

[0119] The positioning frame 150 is generally a quadrilateral frame structure, which basically matches the size of the three-dimensional shelf, so that the medicine box picking and placing mechanism 100 can reach the position of each medicine box on the three-dimensional shelf. When it is necessary to pick up and place the medicine box through the stacking mechanism 160, the up, down, left and right positions of the medicine box picking and placing mechanism 100 are adjusted by the lateral adjustment mechanism 140 and the first height adjustment mechanism 130, so that it can be quickly moved to the front end of each medicine box placement slot on the three-dimensional shelf, thereby realizing automatic picking or placing of the medicine box, and the space required between the two shelves is smaller. During the entire operation process, manual operation is no longer required. The use of automated operation has a higher efficiency in the selection of medicinal materials, and the time required for picking and dispensing medicines is shorter. Moreover, when two parallel shelves are used, the positioning frame 150 only needs to be fixed between the two shelves to realize the operation.

[0120] Furthermore, the first height adjustment mechanism 130 includes longitudinal guide rails 131 arranged on both sides of the positioning frame 150 and a third driving mechanism 132 arranged on the positioning frame 150. Both ends of the lateral adjustment mechanism 140 are slidably arranged on the longitudinal guide rails 131. The lateral adjustment mechanism 140 is driven by the third driving mechanism 132 to move up and down along the longitudinal guide rails 131.

[0121] When the height of the medicine box picking and placing mechanism 100 is controlled by the first height adjustment mechanism 130, since the two ends of the lateral adjustment mechanism 140 are slidably connected to the longitudinal guide rails 131 on both sides of the positioning frame 150, a third driving mechanism 132 is also installed on the positioning frame 150. The overall smooth up and down movement of the medicine box picking and placing mechanism 100 can be achieved by only driving the lateral adjustment mechanism 140 up and down through the third driving mechanism 132. The third driving mechanism 132 is composed of a servo motor 219 and a transmission belt 326 or a servo motor 219 and a chain. The servo motor 219 drives the rotating shaft to rotate forward and reverse, and then drives the chain to rotate forward and reverse through the rotating shaft. The chain is fixed on the lateral adjustment mechanism 140. The structure is simpler and more convenient, and the automatic control is simpler. The moving distance of the chain in the third driving mechanism 132 or the lateral adjustment mechanism 140 can be monitored by the position sensor 104 or the distance sensor, so that the overall height adjustment is more precise.

[0122] Furthermore, the lateral adjustment mechanism 140 includes a movable base 141 slidably mounted on the longitudinal guide rail 131 at both ends, a lateral slide rail 142 and a fourth driving mechanism 143 mounted on the movable base 141. The medicine box picking and placing mechanism 100 is slidably mounted on the lateral slide rail 142 through the slider 118. The medicine box picking and placing mechanism 100 moves left and right along the lateral slide rail 142 through the fourth driving mechanism 143.

[0123] The movable base 141 is connected to the third driving mechanism 132, and the third driving mechanism 132 directly generates a force on the movable base 141, and the medicine box pick-up and placement mechanism 100 moves left and right along the transverse slide rail 142 through the fourth driving mechanism 143, thereby realizing the left and right movement of the medicine box pick-up and placement mechanism 100. The fourth driving mechanism 143 is also composed of a servo motor 219 and a transmission belt 326 or a servo motor 219 and a chain. The driving distance of the fourth driving mechanism 143 is controlled by a position sensor 104 or a distance sensor. Its structure is basically similar to that of the first height adjustment mechanism 130. At the same time, it can also be directly driven by the servo motor 219 to drive the screw 121 to rotate, and then drive the medicine box pick-up and placement mechanism 100 to translate through the screw 121.

[0124] Furthermore, the third driving mechanism 132 and the fourth driving mechanism 143 are composed of a servo motor 219 and a transmission belt 326 or a servo motor 219 and a chain, and the driving distances of the third driving mechanism 132 and the fourth driving mechanism 143 are controlled by a position sensor 104 or a distance sensor.

[0125] Furthermore, the medicine box picking and placing mechanism 100 includes a fork slide 101, baffles 112 arranged on both sides of the fork slide 101, a transfer seat 107 arranged on the fork slide 101, and a fork plate 109 arranged on the transfer seat 107. The transfer seat 107 is slidably arranged on the fork slide 101 through a double-axis guide rail 103, and the fork plate 109 is slidably arranged on the transfer seat 107 through a double-axis guide rail 103. The fork slide 101 is provided with a A first driving mechanism 115 moves along the dual-axis guide rail 103, and a second driving mechanism 116 is provided on the transfer seat 107 to move the fork plate 109 along the dual-axis guide rail 103. The transfer seat 107 can achieve bidirectional movement relative to the fork slide 101 through the first driving mechanism 115, and the fork plate 109 can achieve bidirectional sliding relative to the transfer seat 107 through the second driving mechanism 116. The medicine boxes on the shelf are taken and placed through the fork plate 109.

[0126] In the process of picking up and placing the medicine box by the medicine box picking and placing mechanism 100, the fork slide 101 and the two baffles 112 form a U-shaped cross-section structure with two ends open. When the medicine box is moved to the top of the fork slide 101 through the fork plate 109, the baffle 112 can prevent the medicine box from moving left and right, so that the medicine box can be inserted with higher accuracy and better stability during transportation. The fork slide 101, the transfer seat 107 and the fork plate 109 can be moved relative to each other. When they are not in working state, the transfer seat 107 and the fork plate 109 are generally stacked on the fork. The fork slide 101 is connected to the fork plate 109 by a double-axis guide rail 103, and the fork slide 101, the transfer seat 107 and the fork plate 109 are connected to each other by a double-axis guide rail 103, so that the overall height of the fork slide 101, the transfer seat 107 and the fork plate 109 can be thinner than other structures, and the required height between the upper and lower medicine boxes can be lower, and more medicine boxes can be stacked on the shelf of the same height. In addition, the fork plate 109 can be extended forward again under the premise that the transfer seat 107 is extended outward through the first drive mechanism 115 and the second drive mechanism 116, so that the overall length of the transfer seat 107 and the fork plate 109 is reduced when the transfer seat 107 and the fork plate 109 are reduced when the transfer seat 107 and the fork plate 109 are reduced. The fork plate 109 is shorter and has a longer extended length than other structures. At the same time, the transfer seat 107 and the fork plate 109 can move forward and backward in two directions. When the shelf and the conveyor belt are on the same side, the operation can be achieved by moving only one side. When the shelf and the conveyor belt are on different sides, the operation can also be achieved. Even if there are shelves on both sides, a medicine box picking and placing mechanism 100 can be used to pick up and place medicine boxes on two adjacent shelves. When the medicine box picking and placing mechanism 100 is placed between two shelves, the gap between the two can be made smaller, which is more space-efficient for the warehouse. High, when the medicine box is taken out and moved, the bottom is lifted up for extraction, which will not cause damage to the medicine box. No matter what material the medicine box is made of, the bottom of the medicine box will not be broken due to aging during the movement. When taking or placing the medicine box on the shelf, manual operation is no longer required, the labor intensity is lower, the work efficiency is higher, the structure is simple, and the operation is easy. When inserting the medicine box, you only need to take the medicine box from the conveyor belt and then move it to the shelf mounting slot 311 and move it down a certain distance to achieve separation and placement. The structure is simple and convenient.

[0127] Furthermore, the first driving mechanism 115 includes a sixth driver 117 arranged at the bottom of the fork slide 101, a driving gear 105 arranged on the sixth driver 117, and a rack 114 arranged at the bottom of the transfer seat 107. The transfer seat 107 realizes synchronous movement by driving the rack 114 to move in both directions through the driving gear 105.

[0128] When the transfer seat 107 is moved forward and backward relative to the fork base through the first driving mechanism 115, the rack 114 can be moved forward and backward only by the sixth driver 117 to drive the driving gear 105 to perform forward and reverse movements, so that the rack 114 fixed at the bottom of the transfer seat 107 can drive it to move forward and backward. The moving distance can also be controlled according to the tooth size of the driving gear 105. After cooperating with the two double-axis guide rails 103, the transfer seat 107 can slide forward and backward smoothly. The sixth driver 117 is installed at the bottom of the fork slide 101, and the rack 114 is generally located between the two double-axis guide rails 103 and are arranged parallel to each other. The sliding distance between the transfer seat 107 and the fork slide 101 can also be monitored by a distance sensor, and the sliding distance can be more accurate.

[0129] Furthermore, the second driving mechanism 116 includes a first synchronous belt 108 and a second synchronous belt 119 whose two ends are respectively fixed on the fork slide 101 and the fork plate 109, and two driving shafts 106 arranged on the transfer seat 107. The first synchronous belt 108 and the second synchronous belt 119 are respectively transferred through one of the driving shafts 106 to form two reverse U-shaped structures, and the left and right movement of the transfer seat 107 drives the second driving mechanism 116 to realize the same-direction movement of the fork plate 109.

[0130] When the fork plate 109 is moved forward and backward relative to the transfer seat 107 by the second driving mechanism 116, two first synchronous belts 108 and second synchronous belts 119 in opposite directions are installed between the fork slide 101 and the fork plate 109, and two drive shafts 106 are installed at both ends of the transfer seat 107. The first synchronous belt 108 and the second synchronous belt 119 respectively pass around their respective drive shafts 106 from the outside to the inside. For example, when the U-shaped opening of the first synchronous belt 108 faces backward and the U-shaped opening of the second synchronous belt 119 faces forward, when the sixth driver 117 controls the transfer seat 107 to move forward, the first synchronous belt 108 can be pushed forward by the drive shaft 106 as power. The first synchronous belt 108 drives the fork plate 109 to move forward, and the second synchronous belt 119 is in a following state. When it moves in the opposite direction, the second synchronous belt 119 is driven by the driving shaft 106, so that the fork plate 109 moves backward. Since the transfer seat 107 is controlled to move forward and backward by the first driving mechanism 115, after being connected by the second driving mechanism 116, the passive force is transformed into the main force. The fork plate 109 and the transfer seat 107 can be synchronously moved in the same direction only through the first driving mechanism 115. The structure is simple and convenient, the driving source can be less, and the overall thickness can also be thinner, and the speed is faster when controlling the extension and retraction of the fork plate 109.

[0131] Furthermore, an adjustment seat 120 for adjusting the running length of the first synchronous belt 108 and the second synchronous belt 119 is provided on the fork slide 101 or the fork plate 109 , and the extension length of the fork plate 109 relative to the transfer seat 107 is adjusted by the adjustment seat 120 .

[0132] During the equipment debugging process, after adjusting the running lengths of the first synchronous belt 108 and the second synchronous belt 119 through the adjustment seat 120, the entire equipment can form a vertically symmetrical stacking structure in the initial state, and the debugging difficulty is low.

[0133] Furthermore, the driving shaft 106 is a gear shaft, the first synchronous belt 108 and the second synchronous belt 119 are chains, the first synchronous belt 108 and the second synchronous belt 119 are both provided with a screw rod 121, the adjustment seat 120 includes a fixed bracket 122 and an adjustment screw hole provided on the fixed bracket 122, and the adjustment length of the first synchronous belt 108 and the second synchronous belt 119 is adjusted by the screw rod 121.

[0134] The drive shaft 106 is a gear shaft, the first synchronous belt 108 and the second synchronous belt 119 are chains, and a through hole is opened on the transfer seat 107 to penetrate from top to bottom. The drive shaft 106 is installed in the through hole, which can enable the chain to be fixed at both ends without increasing the length of the transfer seat 107, and has better concealment. Moreover, one end of the chain is fixed by an adjusting seat 120. When adjusting the length of the chain by adjusting the adjusting seat 120, it is only necessary to rotate the screw 121, and the screw 121 can be extended and retracted in the adjusting screw hole, thereby quickly and easily realizing the length control. The structure is simple and convenient, and the cost is low.

[0135] Furthermore, distance sensing devices 102 for monitoring the moving distance of the medicine box on the fork plate 109 are provided at both ends of the baffle plate 112 .

[0136] When the medicine box is moved by the fork plate 109, the distance the medicine box moves to one end can be monitored in real time by the distance sensing device 102, so that the system can determine whether the medicine box has reached the designated position and can be put down.

[0137] Furthermore, a stop mechanism 113 is provided between the intermediate transfer seat 107 and the fork plate 109 , and the extension limit distance of the fork plate 109 relative to the intermediate transfer seat 107 is controlled by the stop mechanism 113 .

[0138] During the telescopic control process of the medicine box picking and placing mechanism 100, the extension limit distance of the fork plate 109 relative to the transfer seat 107 can be controlled by the stop mechanism 113, thereby avoiding the separation of the fork plate 109 due to excessive extension, and also avoiding the first synchronous belt 108 and the second synchronous belt 119 from directly running to a position beyond the drive shaft 106 during the movement.

[0139] Furthermore, the stop mechanism 113 includes a stop block 111 arranged in the middle of the transfer seat 107, and two movable positioning blocks 110 arranged at the bottom of the fork plate 109 and cooperating with the stop block 111. The movable positioning blocks 110 are located on both sides of the stop block 111, and the fork plate 109 achieves mutual positioning after the movable positioning blocks 110 contact the stop blocks 111.

[0140] The distance between the movable positioning block 110 and the stop block 111 at both ends of the bottom of the fork plate 109 is smaller than the effective distance of the first synchronous belt 108 and the second synchronous belt 119 rolling on the drive shaft 106. When the fork plate 109 extends to one end until the movable positioning block 110 contacts the stop block 111, the movable positioning block 110 and the stop block 111 can prevent the fork plate 109 from continuing to extend outward, thereby effectively ensuring the stability of the second drive mechanism 116. The structure is simple, and the limiting function can be achieved by only a strip block and two short-point protrusions.

[0141] Furthermore, the stop block 111 is a Z-shaped structure, and the two movable positioning blocks 110 are respectively fitted with one end of the Z-shaped stop block 111. Thus, a similar L-shaped structure is formed on both sides, and the two movable positioning blocks 110 are respectively fitted with one side of the Z-shaped stop block 111. The Z-shaped stop block 111 also has a certain left and right position limiting function, so as to avoid the fork plate 109 from shaking due to poor left and right position stability when it is extended outward to the limit.

[0142] Furthermore, the distance sensing device 102 is a through-beam photoelectric sensor, and a position sensor 104 is provided between the fork slide 101 and the transfer seat 107. The position sensor 104 can facilitate the system to control the telescopic distance of the transfer seat 107, thereby avoiding excessive movement of the sixth driver 117. At the same time, the sixth driver 117 is a servo motor 219 or a stepper motor, and a dry slider 118 is provided at the bottom of the fork slide 101. The fork slide 101 is connected to the external slide rail 333 through the slider 118. Only one driving mechanism is needed to realize the movement of the fork slide 101 along the bottom slider 118 and the slide rail 333, and the structure is simple and convenient with high flexibility.

[0143] Furthermore, a medicine box spacing control device 201 is provided on the feeding conveyor belt 610 at the feeding end of the medicine box switching device 350. The medicine boxes transported to the medicine box switching device 350 are stopped and moved forward again with acceleration on the feeding conveyor belt 610 by the medicine box spacing control device 201, which can solve the problems of being unable to stop and accumulate medicine boxes on the conveyor line and being unable to adjust the distance between two adjacent medicine boxes. It has a simple structure, easy operation, high working efficiency and a long service life.

[0144] Furthermore, the medicine box spacing control device 201 includes two support frames 202 arranged on both sides of the feeding conveyor belt 610, mounting seats 204 respectively arranged on the two support frames 202, two conveying mechanisms 205 respectively arranged on the mounting seats 204, and a tensioning mechanism 211 arranged between the two mounting seats 204. The bottom of the mounting seat 204 is connected to the support frame 202 through a rotating shaft. The two mounting seats 204 form a trumpet-shaped structure with a discharge end opening smaller than a feed end through the tensioning mechanism 211. The medicine box located in the distance adjusting device 203 is clamped and positioned by the conveying mechanisms 205 on both sides that are stopped through the tensioning force of the tensioning mechanism 211. The medicine box positioned in the distance adjusting device 203 is accelerated forward again by starting the conveying mechanism 205.

[0145] In actual use, the distance adjusting device 203 is installed on the feeding conveyor belt 610 through two support frames 202, so that a mounting seat 204 and a conveying mechanism 205 are provided on both sides of the feeding conveyor belt 610. Since the bottom of the mounting seat 204 is connected to the support frame 202 through a rotating shaft, and the discharge ends of the two mounting seats 204 form a structure with a reduced opening through the tensioning force of the tensioning mechanism 211, when the medicine box does not enter the distance adjusting device 203, the mounting seat 204 forms a structure with a reduced opening through the tensioning mechanism 211. The discharge end opening is smaller than the feed end opening, and the conveying mechanism 205 is in a stopped state. When the medicine box moves forward from the feeding conveyor belt 610 and slowly enters the distance adjusting device 203, an outward squeezing tension is generated on the reduced area of ​​the mounting seats 204 on both sides through the medicine box entry end, so that the trumpet-shaped passage slowly returns to a parallel state. At this time, the two sides of the box body just fit with the conveying mechanism 205, and the medicine box is clamped and fixed by the conveying mechanism 205, so that the medicine box will not be affected by the transmission of the feeding conveyor belt 610. The medicine box continues to move forward with the power, and the subsequent medicine box will not move forward due to the existence of the currently positioned medicine box, thereby having a positioning effect on the medicine box on the entire feeding conveyor belt 610. When the stationary medicine box on the entire large conveyor belt needs to be transported forward again, it is only necessary to start the conveying mechanism 205, and the conveying mechanism 205 will generate an instantaneous acceleration force on the medicine box, so that the medicine box moves forward with instantaneous acceleration, so that the medicine box can be quickly pulled away from the medicine box behind it on the uniformly rotating feeding conveyor belt 610 by a certain distance, so that the stationary medicine box can be quickly moved to the required position again, thereby realizing the adjustment of the spacing between each medicine box moving backward, and effectively solving the problem that the medicine box can only move forward according to the current speed of the feeding conveyor belt 610 and cannot be accelerated when it cannot be stopped, accumulated, or transported forward again after stopping on the conveyor line. At the same time, it also solves the problem that the spacing between two adjacent medicine boxes cannot be adjusted. The structure is simple, the operation is easy, the working efficiency is high, and the service life is long.

[0146] For example, when an operator is dispensing medicine on a prescription, if the medicine box for taking medicine at that time has not yet prepared the dosage, if the subsequent medicine box continues to move forward, the medicine box will move too far, so it is necessary to pause the subsequent medicine box. The clamping and positioning function of the distance adjustment device 203 can effectively achieve this function. After the previous medicine box is taken, the subsequent medicine box needs to be quickly transported to the operator's current position again. If the conventional conveying speed is used, it will lead to the problem of slow medicine box conveying speed. Therefore, a forward thrust is required to improve work efficiency. The instantaneous acceleration function of the conveying mechanism 205 can also solve the problem of the medicine box not being able to be quickly supplied after the pause.

[0147] Furthermore, the conveying mechanism 205 includes a power belt 216 arranged in a ring on the side of the mounting seat 204, and a servo motor 219 arranged on the mounting seat 204 for rotating or stopping the power belt 216. The medicine box is clamped and positioned by the power belts 216 on both sides, and the servo motor 219 drives the rotation speed of the power belt 216 to realize the forward acceleration control of the medicine box.

[0148] When the medicine box is clamped or accelerated by the conveying mechanism 205, the power belt 216 is wrapped around the side of the mounting seat 204 and driven by the servo motor 219, which makes it more convenient to start and control the power belt 216 and to operate the system. At the same time, the power belt 216 is used to directly clamp the two side surfaces of the medicine box, and the medicine box no longer contacts the mounting seat 204, which makes it more efficient when delivered instantly. The overall structure is simple and convenient, and the inner side of the power belt 216 can be contacted and transmitted through rollers or rollers.

[0149] Furthermore, a floating support plate 213 is provided on the inner side surface of the mounting seat 204, and an elastic telescopic mechanism 217 is provided inside the mounting seat 204 for controlling the forward and backward telescopic movement of the floating support plate 213. The clamping area of ​​the power belt 216 is provided on the outer side of the floating support plate 213, and the distance between the clamping surfaces of the two power belts 216 is controlled by the floating support plate 213.

[0150] When the conveying mechanism 205 clamps the medicine box, in order to prevent the power belt 216 from being deformed by the force of the medicine box and causing inflexible rotation, and the clamping force cannot be adjusted in real time during clamping and causing clamping, the regional support plate of the clamping surface of the power belt 216 is designed as a floating support plate 213 that can be retracted inwards and outwards. The floating support plate 213 is connected and fixed by an elastic retractable mechanism 217. Under normal circumstances, the power belt 216 is protruded outward by the floating support plate 213, so that the distance between the two power belts 216 is smaller than the width of the medicine box. When the medicine box enters, the contact area on the power belt 216 and the floating support plate 213 are contracted by the force of the elastic retractable mechanism 217. It contracts inward, so that the distance between the two power belts 216 is consistent with the box body and a clamping force is formed through the reaction force of the elastic telescopic mechanism 217, so as to achieve fixation. In this state, the medicine box is only in contact with the power belt 216. When the power belt 216 is driven by the servo motor 219, the power belts 216 on both sides can generate an instantaneous forward thrust on the clamped medicine box, so that the medicine box moves forward quickly, and at the same time the floating support plate 213 is quickly reset, and the two mounting seats 204 are also quickly reset through the tensioning mechanism 211 to facilitate the clamping of the next medicine box. It has a simple structure, easy operation, good conveying effect, and a wide range of adaptability. Even if the size of the medicine box changes, it can still be clamped.

[0151] Furthermore, the elastic telescopic mechanism 217 includes a plurality of limiting connecting rods 215 arranged between the floating support plate 213 and the mounting seat 204, and a return spring 212 sleeved outside the limiting connecting rod. The floating support plate 213 is pushed outward by the return spring 212, and the floating support plate 213 shrinks inward after receiving the pressure; the limiting connecting rod 215 is adopted as a connecting screw 121, one end of the connecting screw 121 is fixed on the floating support plate 213, and the other end of the connecting screw 121 is fixed to the nut head through a hole.

[0152] When the floating support plate 213 is installed and positioned by the elastic telescopic mechanism 217, the rear end of the floating support plate 213 is connected to the mounting seat 204 by a plurality of limit connecting rods 215, and at the same time, the mounting seat 204 and the floating support plate 213 are supported and positioned by a reset spring 212. The reset spring 212 can push the floating support plate 213 outward, and can retract inward after being forced, so that the floating support plate 213 can realize the automatic telescopic function of different distances according to different forces. The limit connecting rod 215 preferably adopts the connecting screw 121, which is easy to obtain and low in cost, and is more convenient for adjusting the telescopic distance, and is also convenient for replacement and disassembly.

[0153] Furthermore, a driving shaft 218 and a driven shaft 214 for driving the power belt 216 are respectively provided at both ends of the mounting seat 204, the servo motor 219 controls the rotation speed of the driving shaft 218, and a position adjustment mechanism 208 for controlling the position of the driven shaft 214 is also provided on the mounting seat 204, and the spacing between the driving shaft 218 and the driven shaft 214 is adjusted by the position adjustment mechanism 208.

[0154] The front and rear ends of the power belt 216 are respectively connected to the driving shaft 218 and the driven shaft 214, and the servo motor 219 controls the rotation speed of the driving shaft 218. When the power belt 216 needs to be driven, the driving shaft 218 only needs to be driven by the servo motor 219 to rotate, so that the driving of the entire conveying mechanism 205 can be realized. The structure is simple and convenient, and the driving is flexible. In addition, a position adjustment mechanism 208 for controlling the position of the driven shaft 214 is also provided on the mounting seat 204. The spacing between the driving shaft 218 and the driven shaft 214 can also be adjusted through the position adjustment mechanism 208, so that the tension adjustment of the power belt 216 is more convenient and simple, and there will be no problem that the power belt 216 cannot be tensioned again due to relaxation during long-term use.

[0155] Furthermore, the position adjustment mechanism 208 includes an elongated positioning hole 209 provided on the mounting seat 204, a fixed seat 207 provided on the mounting seat 204, and an adjusting screw 206 provided on the fixed seat 207. Both ends of the driven shaft 214 are limited by the elongated positioning hole 209. The spacing is adjusted by rotating the adjusting screw 206 to move the driven shaft 214 along the elongated positioning hole 209.

[0156] The two ends of the driven shaft 214 are limited after passing through the long strip positioning hole 209, so that it can only move along the long strip positioning hole 209, and the fixed seat 207 and the adjusting screw 206 are installed on the long strip positioning hole 209 at one end of the active shaft 218, and the driven shaft 214 can be pushed out to the other end of the long strip positioning hole 209 through the adjusting screw 206. Through the dual effects of the external force of the adjusting screw 206 and the internal tensioning force generated by the power belt 216 on the driven shaft 214, the stable rotation of the power belt 216 can be achieved, and when adjusting the distance, it only needs to rotate the adjusting screw 206 to achieve it. The adjustment is simple and convenient. The position adjustment mechanism 208 is generally arranged on the outside of the mounting seat 204 and is uniformly arranged on the upper and lower sides.

[0157] Furthermore, the tensioning mechanism 211 is a tensioning spring, and the two ends of the tensioning spring are respectively fixed to the top of the mounting seat 204, with a simple and convenient structure, and the mounting seat 204 is flexible to rotate, and it is easier to replace without affecting the medicine box. The support frame 202 is generally a support structure with adjustable height. The feed conveyor belt 610 is provided with a limit block 210 for controlling the tensioning angle of the mounting seat 204, and the minimum contraction angle of the two conveying mechanisms 205 is controlled by the limit block 210.

[0158] Furthermore, a limit block 210 for controlling the tensioning angle of the mounting seat 204 is provided on the feeding conveyor belt 610 , and the minimum contraction angle of the two conveying mechanisms 205 is controlled by the limit block 210 .

[0159] When the mounting seat 204 rotates inwardly through the tensioning mechanism 211 and contacts the limit block 210 , it will not continue to rotate inwardly, so that the mounting seats 204 on both sides will not collide, and the position after tensioning is more precise and more symmetrical.

[0160] Furthermore, the material taking window 315 is provided with a sensing alarm device 306 , and when an object enters the material taking window 315 that cannot take medicine, an alarm signal is sent through the sensing alarm device 306 .

[0161] When picking up medicine, in order to prevent the operator from reaching into the material picking window 315 that is not currently for picking up medicine to pick up medicine during the dispensing process, a sensing alarm device 306 is installed on each material picking window 315. If the hand is inserted into the correct material picking window 315, the sensing alarm device 306 will not generate an alarm signal. When an object enters the material picking window 315 that cannot pick up medicine, an alarm signal can be sent through the sensing alarm device 306 to remind the operator of the operating error. When the material picking window 315 is designed to be open, foreign objects can also be prevented from falling into the material picking window 315 and causing damage to the equipment.

[0162] Furthermore, the sensing alarm device 306 includes a grating 313 for monitoring the material picking window 315, a signal indicator light 316 for indicating the drug picking status of the material picking window 315 provided on the frame 303, and an alarm 310 provided on the frame 303. The grating 313 is used for real-time monitoring of whether an object enters the material picking window 315, the indicator light is used for prompting the operation priority of the material picking window 315, the current operation completion status and special situation alarm prompts, and the alarm 310 is used to send an alarm signal when an object enters the material picking window 315 where drug picking is not allowed.

[0163] When the material collection window 315 is monitored by the induction alarm device 306, the window area is covered by the grating 313. When a foreign object is inserted, the grating 313 will be blocked and the signal will be interrupted, thereby triggering the alarm 310 to sound an alarm. Monitoring through the grating 313 can also make the structure of the material collection window 315 open. When grabbing the medicine in the medicine box, you only need to open the lid on the upper end of the medicine box to grab it directly. In addition, in order to facilitate the operator to make a quick judgment, a signal indicator light 316 of the medicine collection status is also installed next to the material collection window 315. For example, a red light indicates a static medicine collection window, and a green light indicates a current medicine collection window, so that the material collection window 315 can be determined more quickly and conveniently.

[0164] Furthermore, at least one medicine replenishing device 500 is provided on one side of the medicine box moving mechanism 600. The structure of the medicine replenishing device 500 can be combined with the dispensing table 300, and the total weighing table 301 can also be removed.

[0165] When the system detects that there are not enough medicinal materials in the medicine box, it will promptly notify the replenishment personnel to replenish the materials in real time based on the real-time data of the dynamic medicine warehouse management system, and automatically generate the replenishment quantity required for the next day based on the big data of the previous work, notify the large warehouse stocking personnel in advance, and notify the operator to replenish the medicinal materials on the replenishment device 500, so that the system can call the inventory status of the three-dimensional warehouse in real time, and push the replenishment information to the replenishment desk and replenishment management personnel according to the set replenishment rules to complete the replenishment work, and organically combine with the dispensing desk 300 in real time to greatly improve work efficiency; while completing the day's dispensing, based on the big data of the previous work, it provides the company or hospital managers with a recommended list of the demand for each variety of Chinese herbal medicines for the next day, and notifies the warehouse to prepare stocks in advance, which greatly simplifies the work intensity and management pressure of the warehouse.

[0166] When the medicine in the medicine box is lower than the set minimum value, it can also be automatically transported to the medicine replenishing device 500, which replenishes the medicine and automatically records the weight of the replenished medicine and the total weight of the current medicine. The system automatically updates the inventory information for prescription adjustment.

[0167] The medicine replenishment device 500 also introduces the principle of matching increase and decrease in weight, and introduces a management system in accordance with the relevant provisions of the "Regulations on Adjustment of Traditional Chinese Medicine Prescriptions" to achieve double automatic review; and establishes standard pictures of single-variety Chinese medicine pieces on the operating channels of the operating tables in the replenishment area and the adjustment area, which is convenient for operators and management to review and check in time.

[0168] Furthermore, an external device installation slot 311 is provided on the frame 303 , and a printer 309 is provided in the external device installation slot 311 .

[0169] Various external interfaces are provided on the external device installation slot 311, and a printer 309 is connected to the external device installation slot 311. When the prescription is captured, the prescription can be directly printed through the printer 309, and telephones, card readers and other equipment can also be installed, which makes the management of external devices more tidy.

[0170] Furthermore, it also includes a video monitoring system 700, which is composed of cameras installed in different areas. The storage and movement of the medicine box are collected and stored in real time by each of the cameras. Especially when a camera is installed on the dispensing table 300, the dispensing process can be monitored in real time and tracked by video later, so as to realize full-process monitoring of the dispensing area, establish video recording of the dispensing process of a single prescription, and establish a database for reference, which is conducive to subsequent investigation and accident responsibility determination. It can be open to enterprises, regulatory agencies, or patients to enhance the reputation and visitability of enterprises or hospitals. Combined with the identification system and weighing and metering, it can truly realize the informatization and visualization management of the dispensing process and realize the data traceability of the whole process of dispensing.

[0171] Furthermore, the system is equipped with an automatic medicine replenishment device 500. The system sets a minimum value for the weight or quantity of a single drug variety. When the weight or quantity of a single drug variety is lower than the set minimum value, the conveying mechanism conveys the current medicine box to the medicine replenishment device 500 for replenishment. At the same time, the display device of the medicine replenishment device 500 provides the drug variety that will be replenished, which is convenient for the operator to prepare in advance.

[0172] Furthermore, each medicine box weighing platform 314 is equipped with a weighing sensor, and the total weighing platform 301 on the dispensing platform 300 is also equipped with a weighing sensor. Each time a single drug variety is dispensed, the reduced weight of the medicine box on the dispensing platform 300 and the increased weight on the total weighing platform must be consistent to achieve double weight verification.

[0173] Furthermore, the medicine box information display 307 also includes a standard picture of the current drug variety, which is used to double-check whether the current drug variety is consistent with the currently adjusted drug variety.

[0174] Furthermore, the system's dispensing table 300 and medicine replenishment device 500 are both equipped with image display equipment and light alarms for interacting with operators. The display provides a picture of the current variety of standard medicines detected by the system, which facilitates the operator to check and confirm the medicine variety for the second time, and the light alarm device guides the operator to complete the operation quickly.

[0175] Furthermore, the dispensing table 300 and the medicine replenishing device 500, and all the operating channels on each operating table, are equipped with weighing equipment. The weight system is automatically updated after each medicine box enters and exits the system. The system automatically updates the inventory information, and the management personnel can manage the inventory in real time through the system.

[0176] Furthermore, based on real-time inventory management, the system automatically calculates the need for replenishment of each drug the next day based on the statistics of daily consumption in previous operations and the consumption during the same period.

[0177] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A Chinese medicine prescription automatic dispensing system, characterized by: The invention comprises a plurality of three-dimensional medicine warehouses for storing medicinal materials and a dispensing table for dispensing prescriptions, a medicine box moving mechanism is arranged between the three-dimensional medicine warehouse and the dispensing table, a medicine box switching device is arranged between the dispensing table and the medicine box moving mechanism, the three-dimensional medicine warehouse is composed of a plurality of shelves and a plurality of medicine boxes placed on the shelves, the medicine boxes are provided with identification marks for storing and reading information, the three-dimensional medicine warehouse is provided with a stacking mechanism for taking and placing the medicine boxes, the dispensing table comprises a frame, a control console arranged on the frame, a plurality of material taking windows arranged on the frame, a total weighing table for weighing the medicine taken out from the material taking windows, a control console for receiving and displaying prescriptions The main display of relevant information and the medicine box information display that displays after reading the information of the medicine box in the current material collection window; the medicine box moving mechanism is used to move the medicine box automatically grabbed by the stacking mechanism on the corresponding three-dimensional medicine warehouse to the waiting position of the medicine box switching device to wait for transportation, and the medicine box transported by the medicine box switching device to the medicine box moving mechanism is moved to the corresponding stacking mechanism again and automatically placed back to the corresponding three-dimensional medicine warehouse. The stacking mechanism is used to extract and store the medicine box relative to the three-dimensional medicine warehouse after receiving instructions. The medicine box switching device includes a plurality of pairs of material collection windows arranged on the frame A feeding belt for conveying medicine boxes, a feeding mechanism provided on the frame to supply medicine boxes to the feeding belt, and a discharging mechanism for moving the medicine boxes on the feeding belt to the medicine box moving mechanism, a first control mechanism for controlling the feeding belt up and down is provided on the frame, the medicine boxes to be grabbed on the medicine box moving mechanism are supplied to the feeding belt after being acquired by the feeding mechanism, and are moved to the picking window by the first control mechanism to wait for manual grabbing, and the medicine box after grabbing the medicinal materials is moved to the discharging mechanism by the first control mechanism to be sent back to the medicine box moving mechanism, and a control mechanism for switching the medicine boxes is provided in the picking window. A medicine box weighing platform is provided for weighing the current weight of the medicine box fed into the device, and the weighing result of the medicine box weighing platform is displayed through the corresponding medicine box information display; each of the material taking windows is provided with a feeding belt, and the feeding belt comprises a connecting seat provided on the frame, two parallel transmission belts provided on the connecting seat, and a fifth driving mechanism provided on the connecting seat for performing forward and reverse operation of the transmission belt; the medicine box weighing platform is located between the two transmission belts, and a second height adjustment mechanism is further provided between the medicine box weighing platform and the connecting seat; the medicine box is separated from the feeding belt and weighed after the medicine box weighing platform is raised by the second height adjustment mechanism;The medicine box switching device is used to obtain the medicine box supplied by the medicine box moving mechanism and move it to the material picking window for picking, and return the medicine box grabbed by the material picking window to the medicine box moving mechanism and transport it to the three-dimensional medicine warehouse to wait for storage, and manually grab the medicine in the medicine box supplied by the medicine box switching device through the material picking window and put it into the total weighing table for weighing and matching; The stacking mechanism includes a quadrilateral positioning frame, a medicine box picking and placing mechanism arranged on the positioning frame, a lateral adjustment mechanism arranged on the positioning frame to control the left and right movement of the medicine box picking and placing mechanism, and a first height adjustment mechanism arranged on the positioning frame to control the up and down movement of the lateral adjustment mechanism. The medicine box picking and placing mechanism moves to a designated medicine box position on the three-dimensional shelf through the lateral adjustment mechanism and the first height adjustment mechanism to pick up and place the medicine box or put the medicine box into a medicine box slot of the designated three-dimensional shelf; The first height adjustment mechanism includes longitudinal guide rails arranged on both sides of the positioning frame, and a third driving mechanism arranged on the positioning frame. Both ends of the lateral adjustment mechanism are slidably arranged on the longitudinal guide rails. The lateral adjustment mechanism is driven by the third driving mechanism to move up and down along the longitudinal guide rails. The transverse adjustment mechanism includes a mobile base slidably mounted on the longitudinal guide rail at both ends, a transverse slide rail mounted on the mobile base, and a fourth driving mechanism. The medicine box pick-up and put mechanism is slidably mounted on the transverse slide rail via a slider, and the medicine box pick-up and put mechanism moves left and right along the transverse slide rail via the fourth driving mechanism. The third driving mechanism and the fourth driving mechanism are composed of a servo motor and a transmission belt or a servo motor and a chain, and the driving distances of the third driving mechanism and the fourth driving mechanism are controlled by a position sensor or a distance sensor; The medicine box picking and placing mechanism includes a fork slide, baffles arranged on both sides of the fork slide, a transfer seat arranged on the fork slide, and a fork plate arranged on the transfer seat. The transfer seat is slidably mounted on the fork slide via a double-axis guide rail, and the fork plate is slidably mounted on the transfer seat via a double-axis guide rail. The fork slide is provided with a first driving mechanism for moving the transfer seat along the double-axis guide rail, and the transfer seat is provided with a second driving mechanism for moving the fork plate along the double-axis guide rail. The transfer seat realizes bidirectional movement relative to the fork slide via the first driving mechanism, and the fork plate realizes bidirectional sliding relative to the transfer seat via the second driving mechanism. The medicine boxes on the shelf are picked up and placed via the fork plate.

2. The automatic dispensing system for traditional Chinese medicine prescription according to claim 1, characterized in that: The feeding mechanism includes a first mounting frame arranged on the frame, two parallel feeding belts arranged on the first mounting frame, and a feeding motor arranged on the first mounting frame to drive the feeding belt. The discharging mechanism includes a second mounting frame arranged on the frame, two parallel discharging belts arranged on the second mounting frame, and a discharging motor arranged on the second mounting frame to drive the discharging belt. One end of the feeding belt and the discharging belt are located in the medicine box moving mechanism. The frame is also provided with a third control mechanism and a second control mechanism for controlling the up and down movement of the feeding mechanism and the discharging mechanism respectively. The medicine box above the medicine box moving mechanism is separated or put back by the third control mechanism and the second control mechanism to raise and lower the feeding mechanism and the discharging mechanism.

3. The automatic dispensing system for Chinese medicine prescription according to claim 2, characterized in that: The medicine box moving mechanism includes a feeding conveyor belt and a returning conveyor belt for cyclically moving the medicine box, and the feeding conveyor belt and the returning conveyor belt are arranged in a ring shape, one end of the feeding conveyor belt is located in the feeding conveyor belt, and one end of the discharging belt is located in the returning conveyor belt. The feeding conveyor belt is used to supply the medicine boxes taken from the three-dimensional medicine warehouse by the stacking mechanism to the top of the corresponding feeding belt, and the returning conveyor belt is used to transport the medicine boxes returned by the discharging belt to one side of the three-dimensional medicine warehouse to be grabbed by the stacking mechanism and put back.

4. The automatic dispensing system for Chinese medicine prescription according to claim 1, characterized in that: It also includes a video monitoring system, which is composed of cameras installed in different areas. The storage and movement of the medicine box are collected and stored in real time through each of the cameras. An induction alarm device is provided on the material collection window. When an object enters the material collection window that cannot grab medicine, an alarm signal is sent through the induction alarm device.

5. The automatic dispensing system for Chinese medicine prescription according to any one of claims 1 to 4, characterized in that: The three-dimensional medicine warehouse includes at least one main medicine warehouse for storing commonly used medicinal materials and an auxiliary medicine warehouse for storing auxiliary medicinal materials. Each of the dispensing tables is equipped with a main medicine warehouse. The frame is provided with a plurality of feeding belts for directly moving the medicine boxes on the main medicine warehouse back and forth. Each of the material collection windows is connected to the main medicine warehouse through a feeding belt. The medicine boxes on the main medicine warehouse are connected to the feeding belt through the feeding belt, and the medicine boxes on the auxiliary medicine warehouse are transported by the medicine box moving mechanism.

6. The automatic dispensing system for Chinese medicine prescription according to claim 3, characterized in that: A medicine box spacing control device is provided on the feeding conveyor belt at the feeding end of the medicine box switching device. The medicine boxes transported to the medicine box switching device are stopped and accelerated forward again on the feeding conveyor belt by the medicine box spacing control device.

7. The automatic dispensing system for Chinese medicine prescription according to claim 5, characterized in that: A height-adjustable reversing conveyor belt is provided between the feed conveyor belt and the return conveyor belt and the auxiliary medicine warehouse. The reversing conveyor belt is composed of two parallel transmission belts and a forward and reversible control motor. The two ends of the reversing conveyor belt are respectively located in the medicine box moving mechanism and the auxiliary medicine warehouse. The movement of the medicine box between the medicine box moving mechanism and the stacking mechanism is controlled by the reversing conveyor belt.

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