A medicine dispensing machine

Abstract

The present invention discloses a medicine dispensing machine, comprising a medicine storage component and a medicine dispensing component which are docked; the medicine dispensing component comprises a bracket, a medicine dispensing conveyor belt component, a grabbing component, a detection platform, an NG discharge channel and at least one diverting conveyor belt, the bracket has a workbench on top, the medicine dispensing conveyor belt component is installed in combination with the bracket, and the medicine dispensing conveyor belt component passes through the workbench, and the part of the medicine dispensing conveyor belt component located at the bottom of the workbench is docked with the medicine storage component; the medicine dispensing conveyor belt component comprises a detection conveyor belt installed on the top of the workbench, and the medicine storage component is transported to the medicine dispensing conveyor belt component and then transported to the detection conveyor belt; the grabbing component, the detection platform and the diverting conveyor belt are all located on the workbench; the workbench has a plurality of reflux ports, which are respectively located at the end sides of the diverting conveyor belt, and the reflux ports are connected to the part of the medicine dispensing conveyor belt component located at the bottom of the workbench. The medicine dispensing machine can efficiently realize the classification and processing of a large number of medicines of multiple categories.

Description

Technical Field

[0001] The present invention relates to the technical field of medical automation equipment, and more precisely to a medicine dispensing machine. Background Art

[0002] Hospital pharmacies need to handle a large number of medicines on a daily basis. The previous manual sorting method is inefficient and prone to errors. In order to improve the efficiency of dispensing medicines and reduce the labor intensity of dispensing personnel, automatic dispensing machines have been widely used in major hospitals. The existing automatic dispensing machines are generally composed of medicine picking, conveying, and identification parts. After the user puts the medicine into the automatic dispensing machine, the conveying part transfers the medicine to the identification part, and the medicine is classified after identification, and then the classified medicines are transported out separately. Most of the existing automatic dispensing machines adopt a one-way conveying solution. After identification, the classified medicines, temporarily unnecessary medicines, and problematic medicines are output separately. This solution requires setting up multiple output ports, and a receiving device is set corresponding to each output port. Since the temporarily unnecessary medicines may be needed later, the user needs to manually put these medicines into the automatic dispensing machine again, and the automatic dispensing machine will process them again. The processing efficiency is low, the operation is more troublesome, and the receiving device may be taken incorrectly during the operation, and the problematic medicines may be put into the automatic dispensing machine again, causing unnecessary redundancy. In addition, existing automatic medicine dispensing machines generally do not have a medicine storage function, and the input of medicines needs to be done manually. Some automatic medicine dispensing machines are connected to medicine storage devices, but in order to adapt to the connected medicine storage devices, a complex medicine grabbing and conveying device needs to be set up, which is costly. In summary, the existing automatic medicine dispensing machines mainly have the defects of low processing efficiency and lack of medicine storage function, which makes it difficult to meet the classification needs of multiple types and large quantities of medicines. Summary of the invention

[0003] In view of this, the main purpose of the present invention is to provide a medicine dispensing machine, including a medicine storage component and a medicine dispensing component. The medicine storage component and the medicine dispensing component are docked and arranged. The medicine storage component stores medicines and transports the medicines to the medicine dispensing component. The medicine dispensing component has a reflux function, which can reflux medicines that are temporarily not needed and medicines that have not been identified in time, and then reprocess them to meet the classification needs of multiple types and large quantities of medicines.

[0004] In order to achieve the above-mentioned purpose, the present invention provides a medicine dispensing machine, including a medicine storage component and a medicine dispensing component, the medicine storage component is docked with the medicine dispensing component; the medicine dispensing component includes a bracket, a medicine dispensing conveyor belt component, a grabbing component, a detection table, an NG discharge channel and at least one diversion conveyor belt, the bracket has a workbench on the top, the medicine dispensing conveyor belt component is installed in combination with the bracket, and the medicine dispensing conveyor belt component passes through the workbench, and the part of the medicine dispensing conveyor belt component located at the bottom of the workbench is docked with the medicine storage component; the medicine dispensing conveyor belt component includes a detection conveyor belt installed on the top of the workbench, and the medicine storage component is transported to the medicine dispensing conveyor belt component and then transported to the detection conveyor belt; the grabbing component, the detection table and the diversion conveyor belt are all located on the workbench; the workbench is provided with a plurality of reflux ports, the reflux ports are respectively located on the end sides of the diversion conveyor belt, and the reflux ports are connected with the part of the medicine dispensing conveyor belt component located at the bottom of the workbench.

[0005] Preferably, the medicine dispensing conveyor belt assembly comprises a receiving conveyor belt, a climbing conveyor belt, a transverse conveyor belt and a detection conveyor belt, the receiving conveyor belt is installed in combination with the bracket, and the receiving conveyor belt is located at the bottom of the workbench, and the receiving conveyor belt is docked with the output end of the medicine storage assembly; the end of the receiving conveyor belt away from the medicine storage assembly is docked with the climbing conveyor belt, and the climbing conveyor belt extends obliquely upward in a direction away from the receiving conveyor belt and passes through the workbench; the end of the climbing conveyor belt passing through the workbench is docked with the transverse conveyor belt, and the transverse conveyor belt is installed on the top of the workbench; the running direction of the transverse conveyor belt is perpendicular to the running direction of the climbing conveyor belt; one end of the transverse conveyor belt is docked with an oblique slide, and the oblique slide extends downward in a direction away from the transverse conveyor belt; the end of the oblique slide away from the transverse conveyor belt is docked with the detection conveyor belt, and the detection conveyor belt is installed on the top of the workbench, and the running direction of the detection conveyor belt is perpendicular to the running direction of the transverse conveyor belt; a 3D camera aligned with it is installed on the top of the detection conveyor belt.

[0006] Preferably, it includes a reflux channel, which penetrates the workbench, and the top of the reflux channel is located at the side of one end of the detection conveyor belt away from the oblique slide, and the bottom end of the reflux channel is connected to the middle section of the climbing conveyor belt.

[0007] Preferably, the return port is located at the top of the receiving conveyor belt or the climbing conveyor belt.

[0008] Preferably, the grabbing assembly includes a first manipulator and a second manipulator, both of which are installed on the workbench, the first manipulator is arranged adjacent to the detection conveyor belt and the detection table, and the second manipulator is arranged adjacent to the detection table and the diversion conveyor belt.

[0009] Preferably, the medicine storage component includes a main body, the main body has an upper bin and a lower bin, the upper bin is located at the top of the lower bin, the width of the lower bin is greater than the width of the upper bin, an upper conveyor belt is installed at the bottom of the upper bin, and a lower conveyor belt is installed at the bottom of the lower bin, the upper conveyor belt is parallel to the lower conveyor belt, the upper conveyor belt and the lower conveyor belt run in opposite directions, the lower conveyor belt is docked with the medicine dispensing component, and a connecting portion is provided at the bottom of the upper bin, and the connecting portion is located at the end of the upper conveyor belt.

[0010] Preferably, an observation window is installed on the top of the lower silo, and the observation window is vertically aligned with the joint between the lower conveyor belt and the medicine dispensing assembly.

[0011] Preferably, the medicine storage component includes a main body, which has an upper bin and a lower bin, the upper bin is located at the top of the lower bin, the width of the lower bin is greater than the width of the upper bin, an upper conveyor belt is installed at the bottom of the upper bin, and a lower conveyor belt and a turning conveyor belt are installed at the bottom of the lower bin, the upper conveyor belt is parallel to the lower conveyor belt, and the upper conveyor belt and the lower conveyor belt run in opposite directions, the bottom of the upper bin has a connecting portion, the connecting portion is located at the end of the upper conveyor belt, the end of the lower conveyor belt away from the connecting portion is connected to the turning conveyor belt, the turning conveyor belt is perpendicular to the running direction of the lower conveyor belt, and the turning conveyor belt is connected to the medicine dispensing component.

[0012] Preferably, the medicine dispensing conveyor belt assembly includes a climbing conveyor belt, a transverse conveyor belt and a detection conveyor belt, the climbing conveyor belt is docked with the output end of the medicine storage assembly, and the climbing conveyor belt extends obliquely upward in a direction away from the medicine storage assembly through the workbench; the climbing conveyor belt passes through one end of the workbench and docks with the transverse conveyor belt, and the transverse conveyor belt is installed on the top of the workbench; the running direction of the transverse conveyor belt is perpendicular to the running direction of the climbing conveyor belt; one end of the transverse conveyor belt is docked with an oblique slide, and the oblique slide extends downward in a direction away from the transverse conveyor belt; one end of the oblique slide away from the transverse conveyor belt is docked with the detection conveyor belt, and the detection conveyor belt is installed on the top of the workbench, and the running direction of the detection conveyor belt is perpendicular to the running direction of the transverse conveyor belt; a 3D camera aligned with it is installed on the top of the detection conveyor belt.

[0013] Preferably, the grasping assembly is a robot arm.

[0014] Compared with the prior art, the advantages of the medicine dispensing machine disclosed in the present invention are: the medicine dispensing machine can efficiently realize the classification and processing of multiple types and large quantities of medicines with high accuracy; the medicine dispensing machine can store a large number of medicines and is more convenient to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] like Figure 1 Shown is a schematic structural diagram of a first preferred embodiment of a medicine dispensing machine of the present invention.

[0017] like Figure 2 Shown is a schematic structural diagram of a medicine dispensing assembly of a first preferred embodiment of a medicine dispensing machine of the present invention.

[0018] like Figure 3 Shown is a schematic structural diagram of a medicine storage assembly of a first preferred embodiment of a medicine dispensing machine of the present invention.

[0019] like Figure 4 Shown is a schematic structural diagram of a second preferred embodiment of a medicine dispensing machine of the present invention.

[0020] like Figure 5 Shown is a schematic structural diagram of a medicine dispensing assembly of a second preferred embodiment of a medicine dispensing machine of the present invention.

[0021] like Figure 6 FIG. 1 is a schematic structural diagram of a medicine storage assembly of a second preferred embodiment of a medicine dispensing machine according to the present invention.

[0022] like Figure 7 Shown is a schematic structural diagram of a third preferred embodiment of a medicine dispensing machine of the present invention.

[0023] like Figure 8 Shown is a schematic back view of a third preferred embodiment of a medicine dispensing machine of the present invention. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] like Figure 1 and Figure 2As shown, the first preferred embodiment of a medicine dispensing machine of the present application is shown, and the medicine dispensing machine includes a medicine storage component 1 and a medicine dispensing component 2, and the medicine storage component 1 and the medicine dispensing component 2 are docked and arranged in a line. The medicine dispensing component 2 stores medicines and transports the medicines to the medicine storage component 1, which identifies and classifies the medicines and then transports them to the outside. Specifically, the medicine dispensing component 2 includes a bracket 20, a receiving conveyor belt 21, a climbing conveyor belt 22, a transverse conveyor belt 23, a detection conveyor belt 24, a grabbing component 25, a detection table 26, a reflux channel 27, an NG discharge channel 28, and a plurality of diversion conveyor belts 29. Among them, the receiving conveyor belt 21, the climbing conveyor belt 22, the transverse conveyor belt 23, and the detection conveyor belt 24 constitute a medicine dispensing conveyor belt assembly. The top of the support 20 is provided with a workbench 200, a receiving conveyor belt 21 is installed in combination with the support 20, and the receiving conveyor belt 21 is located at the bottom of the workbench 200, and the receiving conveyor belt 21 is docked with the output end of the medicine storage assembly 1 to receive the medicine output by the medicine storage assembly 1. The end of the receiving conveyor belt 21 away from the medicine storage assembly 1 is docked with the climbing conveyor belt 22, and the climbing conveyor belt 22 extends upwardly and obliquely in a direction away from the receiving conveyor belt 21 through the workbench 200. The end of the climbing conveyor belt 22 passing through the workbench 200 is docked with the transverse conveyor belt 23, and the transverse conveyor belt 23 is installed on the top of the workbench 200. The running direction of the transverse conveyor belt 23 is perpendicular to the running direction of the climbing conveyor belt 22. One end of the transverse conveyor belt 23 is docked with the oblique slide 231, and the oblique slide 231 extends downward in a direction away from the transverse conveyor belt 23. The end of the oblique slide 231 away from the transverse conveyor belt 23 is docked with the detection conveyor belt 24, and the detection conveyor belt 24 is installed on the top of the workbench 200, and the running direction of the detection conveyor belt 24 is perpendicular to the running direction of the transverse conveyor belt 23. A 3D camera 241 aligned with the detection conveyor belt 24 is installed on the top of the detection conveyor belt 24. The grab assembly 25 and the detection table 26 are both installed on the workbench 200, and a plurality of diverter conveyor belts 29 are installed on the workbench 200 in parallel with each other, and the plurality of diverter conveyor belts 29 extend to the outside of the edge of the workbench 200. The reflux channel 27 is set through the workbench 200, and the top of the reflux channel 27 is located at the side of the end of the detection conveyor belt 24 away from the oblique slide 231, and the bottom of the reflux channel 27 is docked with the middle section of the climbing conveyor belt 22. The NG discharge channel 28 is set through the workbench 200, and the top of the NG discharge channel 28 is located on the workbench 200, and the bottom of the NG discharge channel 28 is located on the side of the bracket 20. The workbench 200 has a plurality of reflux ports 291 which are through holes. The number of the reflux ports 291 is the same as the number of the diversion conveyor belts 29 . The reflux ports 291 are respectively located at the end sides of the diversion conveyor belts 29 , and the reflux ports 291 are all located at the top of the receiving conveyor belt 21 or the climbing conveyor belt 22 .

[0026] The 3D camera 241 identifies and detects the outline of the medicine box, and the grabbing component 25 grabs the medicine to the testing table 26. After the testing of the testing table 26 is completed, the grabbing component 25 grabs the medicine to the diversion conveyor belt 29 or the NG discharge channel 28 according to the testing situation to complete the medicine dispensing operation. When there are too many medicines on the detection conveyor belt 24 to be tested in time, the detection conveyor belt 24 continues to run, and the excess medicines are transported to the reflux channel 27. The medicines fall onto the climbing conveyor belt 22 through the reflux channel 27 to achieve circulation. If the medicines on the diversion conveyor belt 29 do not meet the requirements, the diversion conveyor belt 29 transports the medicines in the direction of the reflux port 291, and transports the medicines to the reflux port 291. The medicines fall onto the receiving conveyor belt 21 or the climbing conveyor belt 22 through the reflux port 291 to achieve circulation. The medicine dispensing machine can circulate and sort medicines without manual repeated pouring, and has high medicine dispensing efficiency, convenient operation, and is not prone to errors.

[0027] Specifically, the grabbing assembly 25 includes a first manipulator 251 and a second manipulator 252. The first manipulator 251 and the second manipulator 252 are both installed on the workbench 200. The first manipulator 251 is arranged near the detection conveyor belt 24 and the detection table 26, and the second manipulator 251 is arranged near the detection table 26 and a plurality of diversion conveyor belts 29. The first manipulator 251 grabs the medicine on the detection conveyor belt 24 and places it on the detection table 26, and the second manipulator 252 grabs the medicine on the detection table 26 and places it on the diversion conveyor belt 29 or puts it into the NG discharge channel 28.

[0028] A top detection camera is set on the top of the detection platform 26, and four side detection cameras 261 are set around it. A bottom detection camera 262 is set inside the bracket 20 at the bottom. The top detection camera, the side detection camera 261, and the bottom detection camera 262 respectively detect the drug barcode from the six sides of the drug box to determine the drug type and realize classification judgment, so as to improve the judgment basis of the grasping component 25.

[0029] See also Figure 3The medicine storage component 1 includes a main body 10, which has an upper bin 101 and a lower bin 102. The upper bin 101 is located at the top of the lower bin 102. The width of the lower bin 102 is greater than that of the upper bin 101. An upper conveyor belt 11 is installed at the bottom of the upper bin 101, and a lower conveyor belt 12 is installed at the bottom of the lower bin 102. The upper conveyor belt 11 is parallel to the lower conveyor belt 12, and the upper conveyor belt 11 and the lower conveyor belt 12 run in opposite directions. The lower conveyor belt 12 is connected to the receiving conveyor belt 21, and the lower conveyor belt 12 runs in the same direction as the receiving conveyor belt 21. The upper bin 101 has a connecting portion 111 at the bottom, and the connecting portion 111 is located at the end of the upper conveyor belt 11. The medicine on the upper conveyor belt 11 can be transported through the connecting portion 111 and fall onto the lower conveyor belt 12, and then transported to the medicine dispensing component 2 by the lower conveyor belt 12. The user can place medicines from the top of the upper bin 101 or the lower bin 102 into the body 10 according to actual needs. When the medicines in the lower bin 102 are transported, the upper bin 101 can transport the medicines therein to the lower bin 102. In order to facilitate the user to understand the drug transport status of the medicine storage component 1, an observation window 103 is installed on the top of the lower bin 102, and the observation window 103 is vertically aligned with the joint between the lower conveyor belt 12 and the medicine dispensing component 2.

[0030] In order to effectively control the flow of medicines, sensors for detecting the load conditions are installed on the hand-touch ends of the receiving conveyor belt 21, the climbing conveyor belt 22, the transverse conveyor belt 23, the detection conveyor belt 24, the upper conveyor belt 11 and the lower conveyor belt 12 to control the working conditions of the conveyor belts respectively.

[0031] The first preferred embodiment is suitable for scenarios where the longitudinal dimension is not limited. For scenarios where the longitudinal dimension is limited, the medicine storage component 1 and the medicine dispensing component 2 need to be placed side by side. In view of this situation, the present application provides a medicine dispensing machine of the second preferred embodiment. Figure 4 and Figure 5As shown, the medicine dispensing machine includes a medicine storage component 1A and a medicine dispensing component 2A, and the medicine storage component 1A and the medicine dispensing component 2A are arranged side by side. The medicine storage component 1A has the same structure as the medicine storage component 1. The medicine dispensing component 2A includes a bracket 20A, a receiving conveyor belt 21A, a climbing conveyor belt 22A, a transverse conveyor belt 23A, a detection conveyor belt 24A, a grabbing component 25A, a detection table 26A, a reflux channel 27A, an NG discharge channel 28A and a plurality of diversion conveyor belts 29A. Among them, the receiving conveyor belt 21A, the climbing conveyor belt 22A, the transverse conveyor belt 23A, and the detection conveyor belt 24A constitute the medicine dispensing conveyor belt assembly. A workbench 200A is provided on the top of the bracket 20A, and the receiving conveyor belt 21A is installed in combination with the bracket 20A, and the receiving conveyor belt 21A is located at the bottom of the workbench 200A, and the receiving conveyor belt 21A is docked with the output end of the medicine storage component 1A to receive the medicine output by the medicine storage component 1A. The end of the receiving conveyor belt 21A away from the medicine storage assembly 1A is docked with the climbing conveyor belt 22A, and the climbing conveyor belt 22A extends obliquely upward in a direction away from the receiving conveyor belt 21A through the workbench 200A. The climbing conveyor belt 22A passes through the end of the workbench 200A and docks with the transverse conveyor belt 23A, and the transverse conveyor belt 23A is installed on the top of the workbench 200A. The running direction of the transverse conveyor belt 23A is perpendicular to the running direction of the climbing conveyor belt 22A. One end of the transverse conveyor belt 23A docks with the oblique slide 231A, and the oblique slide 231A extends downward in a direction away from the transverse conveyor belt 23A. The end of the oblique slide 231A away from the transverse conveyor belt 23A docks with the detection conveyor belt 24A, and the detection conveyor belt 24A is installed on the top of the workbench 200A, and the running direction of the detection conveyor belt 24A is perpendicular to the running direction of the transverse conveyor belt 23A. A 3D camera 241A aligned with it is installed on the top of the detection conveyor belt 24A. The grab assembly 25A and the detection table 26A are both installed on the workbench 200A, and a plurality of diverter conveyor belts 29A are installed on the workbench 200A in parallel, and the plurality of diverter conveyor belts 29A extend to the outside of the edge of the workbench 200A. The reflux channel 27A penetrates the workbench 200A, and the top of the reflux channel 27A is located at the side of the end of the detection conveyor belt 24A away from the oblique slide 231A, and the bottom of the reflux channel 27A is connected to the middle section of the climbing conveyor belt 22A. The NG discharge channel 28A penetrates the workbench 200A, and the top of the NG discharge channel 28A is located on the workbench 200A, and the bottom of the NG discharge channel 28A is located at the side of the bracket 20A. There are several reflux ports 291A on the workbench 200A. The reflux ports 291A are through holes. The number of the reflux ports 291A is the same as the diversion conveyor belt 29A. The reflux ports 291A are respectively located on the end sides of the diversion conveyor belt 29A, and the reflux ports 291A are all located on the top of the receiving conveyor belt 21A or the climbing conveyor belt 22A.

[0032] See also Figure 6The medicine storage component 1A includes a main body 10A, which has an upper bin 101A and a lower bin 102A. The upper bin 101A is located at the top of the lower bin 102A, and the width of the lower bin 102A is greater than that of the upper bin 101A. An upper conveyor belt 11A is installed at the bottom of the upper bin 101A, and a lower conveyor belt 12A and a steering conveyor belt 13A are installed at the bottom of the lower bin 102A. The upper conveyor belt 11A is parallel to the lower conveyor belt 12A, and the upper conveyor belt 11A and the lower conveyor belt 12A run in opposite directions. A connecting portion 111A is provided at the bottom of the upper bin 101, and the connecting portion 111A is located at the end of the upper conveyor belt 11A. The medicines on the upper conveyor belt 11A can be transported through the connecting portion 111A and fall onto the lower conveyor belt 12A. One end of the lower conveyor belt 12A away from the connecting portion 111A is connected to the turning conveyor belt 13A, and the turning conveyor belt 13A is perpendicular to the running direction of the lower conveyor belt 12A. The turning conveyor belt 13A extends into the interior of the bracket 20A and connects with the receiving conveyor belt 21A, and the turning conveyor belt 13A is perpendicular to the running direction of the receiving conveyor belt 21A.

[0033] like Figure 7 and Figure 8As shown, the medicine dispensing machine of the third preferred embodiment of the present application is a miniaturized design. The medicine dispensing machine includes a medicine storage component 1B and a medicine dispensing component 2B, the medicine storage component 1B and the medicine dispensing component 2B are docked, and the medicine storage component 1B and the medicine dispensing component 2B are arranged in a line. Specifically, the medicine dispensing component 2B includes a bracket 20B, a climbing conveyor belt 22B, a transverse conveyor belt 23B, a detection conveyor belt 24B, a grabbing component 25B, a detection table 26B, a reflux channel 27B, an NG discharge channel 28B and a diversion conveyor belt 29B. Among them, the climbing conveyor belt 22B, the transverse conveyor belt 23B, and the detection conveyor belt 24B constitute a medicine dispensing conveyor belt assembly. A workbench 200B is provided on the top of the bracket 20B, and the climbing conveyor belt 22B docks with the output end of the medicine storage component 1B to receive the medicine output by the medicine storage component 1B, and the climbing conveyor belt 22B extends upward in a direction away from the medicine storage component 1B through the workbench 200B. The climbing conveyor belt 22B passes through one end of the workbench 200B and docks with the transverse conveyor belt 23B, and the transverse conveyor belt 23B is installed on the top of the workbench 200B. The running direction of the transverse conveyor belt 23B is perpendicular to the running direction of the climbing conveyor belt 22B. One end of the transverse conveyor belt 23B docks with the oblique slide 231B, and the oblique slide 231B extends downward in a direction away from the transverse conveyor belt 23B. The end of the oblique slide 231B away from the transverse conveyor belt 23B docks with the detection conveyor belt 24B, and the detection conveyor belt 24B is installed on the top of the workbench 200B. The running direction of the detection conveyor belt 24B is perpendicular to the running direction of the transverse conveyor belt 23B. A 3D camera 241B aligned with the detection conveyor belt 24B is installed on the top of the detection conveyor belt 24B. The grabbing assembly 25B and the detection platform 26B are both installed on the workbench 200B, and the diverter conveyor belt 29B is installed on the workbench 200B, and the diverter conveyor belt 29B extends to the outside of the edge of the workbench 200B. The reflux channel 27B is arranged to penetrate the workbench 200B, and the top of the reflux channel 27B is located on the side of one end of the detection conveyor belt 24B away from the oblique slide 231B, and the bottom of the reflux channel 27B is connected to the middle section of the climbing conveyor belt 22B. The NG discharge channel 28B is arranged to penetrate the workbench 200B, and the top of the NG discharge channel 28B is located on the workbench 200B, and the bottom of the NG discharge channel 28B is located on the side of the bracket 20B. There is a reflux port 291B on the workbench 200B, and the reflux port 291B is a through hole. The reflux port 291B is located on the end side of the diversion conveyor belt 29B, and the reflux port 291B is located at the top of the climbing conveyor belt 22B. It is worth noting that the grabbing component 25B is a manipulator.

[0034] The medicine storage assembly 1B includes a main body 10B, which has an upper bin 101B and a lower bin 102B. The upper bin 101B is located at the top of the lower bin 102B. The width of the lower bin 102B is greater than that of the upper bin 101B. An upper conveyor belt 11B is installed at the bottom of the upper bin 101B. A lower conveyor belt 12B is installed at the bottom of the lower bin 102B. The upper conveyor belt 11B is parallel to the lower conveyor belt 12B. The upper conveyor belt 11B and the lower conveyor belt 12B run in opposite directions. The lower conveyor belt 12B is connected to the climbing conveyor belt 22B. The upper bin 101B has a connecting portion 111B at the bottom. The connecting portion 111B is located at the end of the upper conveyor belt 11B. The medicine on the upper conveyor belt 11B can be transported through the connecting portion 111B and fall onto the lower conveyor belt 12B, and then transported to the medicine dispensing assembly 2B by the lower conveyor belt 12B. An observation window 103B is installed on the top of the lower material bin 102B, and the observation window 103B is vertically aligned with the joint between the lower conveyor belt 12B and the medicine dispensing component 2B.

[0035] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A medicine dispensing machine, characterized in that: It comprises a medicine storage component and a medicine dispensing component, the medicine storage component is docked with the medicine dispensing component; the medicine dispensing component comprises a bracket, a medicine dispensing conveyor belt component, a grabbing component, a testing platform, an NG discharge channel and at least one diverter conveyor belt, the bracket has a workbench on the top, the medicine dispensing conveyor belt component is installed in combination with the bracket, and the medicine dispensing conveyor belt component passes through the workbench, and the part of the medicine dispensing conveyor belt component located at the bottom of the workbench is docked with the medicine storage component; the grabbing component, the testing platform and the diverter conveyor belt are all located on the workbench; the workbench has a plurality of reflux ports, the reflux ports are respectively located on the end sides of the diverter conveyor belt, and the reflux ports are connected with the part of the medicine dispensing conveyor belt component located at the bottom of the workbench; The medicine dispensing conveyor belt assembly comprises a receiving conveyor belt, a climbing conveyor belt, a transverse conveyor belt and a detection conveyor belt, wherein the receiving conveyor belt is installed in combination with the bracket, and the receiving conveyor belt is located at the bottom of the workbench, and the receiving conveyor belt is butted with the output end of the medicine storage assembly; the end of the receiving conveyor belt away from the medicine storage assembly is butted with the climbing conveyor belt, and the climbing conveyor belt extends obliquely upward in a direction away from the receiving conveyor belt and passes through the workbench; the end of the climbing conveyor belt passing through the workbench is butted with the transverse conveyor belt, and the transverse conveyor belt is installed on the top of the workbench; the running direction of the transverse conveyor belt is perpendicular to the running direction of the climbing conveyor belt; one end of the transverse conveyor belt is butted with an oblique slide, and the oblique slide extends downward in a direction away from the transverse conveyor belt; the end of the oblique slide away from the transverse conveyor belt is butted with the detection conveyor belt, and the detection conveyor belt is installed on the top of the workbench, and the running direction of the detection conveyor belt is perpendicular to the running direction of the transverse conveyor belt; a 3D camera aligned with it is installed on the top of the detection conveyor belt; It includes a reflux channel, which penetrates the workbench, and the top of the reflux channel is located at the side of one end of the detection conveyor belt away from the oblique slide, and the bottom of the reflux channel is connected to the middle section of the climbing conveyor belt; The medicine storage component includes a main body, which has an upper bin and a lower bin, the upper bin is located at the top of the lower bin, the width of the lower bin is greater than the width of the upper bin, an upper conveyor belt is installed at the bottom of the upper bin, a lower conveyor belt and a steering conveyor belt are installed at the bottom of the lower bin, the upper conveyor belt is parallel to the lower conveyor belt, and the upper conveyor belt and the lower conveyor belt run in opposite directions, a connecting portion is provided at the bottom of the upper bin, the connecting portion is located at the end of the upper conveyor belt, an end of the lower conveyor belt away from the connecting portion is connected to the steering conveyor belt, the steering conveyor belt is perpendicular to the running direction of the lower conveyor belt, and the steering conveyor belt is connected to the medicine dispensing component.

2. The medicine dispensing machine according to claim 1, characterized in that: The return port is located at the top of the receiving conveyor belt or the climbing conveyor belt.

3. The medicine dispensing machine according to claim 1, characterized in that: The grabbing assembly includes a first manipulator and a second manipulator, both of which are installed on the workbench, the first manipulator is arranged adjacent to the detection conveyor belt and the detection table, and the second manipulator is arranged adjacent to the detection table and the diversion conveyor belt.

4. The medicine dispensing machine according to claim 1, characterized in that: A lower conveyor belt is installed at the bottom of the lower silo, and the lower conveyor belt is connected to the medicine dispensing component. A connecting portion is provided at the bottom of the upper silo, and the connecting portion is located at the end of the upper conveyor belt.

5. The medicine dispensing machine according to claim 1, characterized in that: An observation window is installed on the top of the lower silo, and the observation window is vertically aligned with the joint between the lower conveyor belt and the medicine dispensing component.

6. The medicine dispensing machine according to claim 1, characterized in that: The climbing conveyor belt is connected to the output end of the medicine storage assembly, and the climbing conveyor belt extends upward and obliquely in a direction away from the medicine storage assembly through the workbench.

7. The medicine dispensing machine according to claim 1, characterized in that: The grabbing component is a manipulator.

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