Chemical feeding system and method

Abstract

The application provides a medicine adding system and a medicine adding method. The medicine adding system comprises: a medicine adding buffer bank, which comprises a medicine basket lifting device for lifting and buffering medicine baskets and a medicine basket pushing device for conveying the medicine baskets; a medicine adding module, which comprises a medicine basket bearing device for receiving the medicine baskets from the medicine basket pushing device, a medicine basket recycling device for recycling empty medicine baskets, a medicine box transferring device for transferring medicine boxes from the medicine baskets and a medicine box conveying device for conveying the medicine boxes; and a medicine adding module, which comprises a medicine feeding flow channel for conveying the medicine boxes from the medicine box conveying device, a liftable medicine blocking component arranged at a medicine outlet of the medicine feeding flow channel, and a medicine box adjusting device arranged above the medicine outlet of the medicine feeding flow channel and used for eliminating the medicine blocking fault. The medicine adding system improves the medicine adding efficiency, automatically recycles the medicine baskets, arranges the medicine boxes, reduces the manual workload, reduces the medicine adding error rate, guarantees the safety of the medicine use of patients, enhances the management level of the pharmacy and realizes the full-automatic integration of the medicine adding.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent pharmacy, in particular to a medicine adding system and a medicine adding method. BACKGROUND

[0002] With the continuous development of the medical and health field and the continuous deepening of the medical system reform, the quantity of hospital outpatient prescriptions continues to increase, and the convenience and accuracy of dispensing in the outpatient pharmacy are gradually increasing. To realize the advantages of a truly automated and intelligent dispensing system in the outpatient pharmacy, the timeliness, accuracy and efficiency of the backend medicine adding need to be ensured.

[0003] Currently, the medicine adding in the outpatient pharmacy still needs to rely on the manual participation in the medicine adding mode to replenish the medicine boxes. The main process requires manual taking of the required medicine boxes from the warehouse, and then placing the medicine boxes into the dispensing machine through the medicine adding module. In the medicine adding process, there is a phenomenon of medicine jamming, which needs to be excluded manually, resulting in high labor intensity, low medicine adding efficiency, easy errors, difficulty in tracing, and certain risks to the health of patients. In addition, due to the comprehensive influence of space, technology, cost and other factors, the hospital is limited in upgrading and updating the fully automatic medicine adding system based on the original dispensing machine. SUMMARY

[0004] The purpose of the present application is to provide a medicine adding system and a medicine adding method to solve the above problems.

[0005] The technical solution adopted by the present application is as follows:

[0006] A medicine adding system comprises a frame, and the frame is provided with:

[0007] A medicine adding buffer warehouse comprises a medicine basket lifting device and a medicine basket pushing device arranged on the top of the medicine basket lifting device. The medicine basket lifting device is used to buffer and lift a medicine basket carrying a medicine box. The medicine basket pushing device is used to transport the medicine basket.

[0008] A medicine adding module comprises a medicine basket carrying device, a medicine basket recycling device, a medicine box transferring device and a medicine box conveying device. The medicine basket carrying device is used to receive the medicine basket from the medicine basket pushing device. The medicine basket recycling device is used to recycle the empty medicine basket. The medicine box transferring device is used to transfer the medicine box from the medicine basket to the medicine box conveying device. The medicine box conveying device is used to convey the medicine box.

[0009] A medicine adding module comprises a medicine conveying flow channel. The medicine conveying flow channel is used to convey the medicine box from the medicine box conveying device. A medicine blocking assembly that can be lifted is arranged at the medicine outlet of the medicine conveying flow channel. The medicine blocking assembly is used to block or release the medicine box by lifting. A medicine box adjusting device for eliminating the medicine jamming fault is arranged above the medicine outlet of the medicine conveying flow channel.

[0010] As a further improved technical scheme of the present application, the medicine basket lifting device comprises a first driving assembly and two sets of oppositely arranged lifting mechanisms driven by the first driving assembly, the lifting mechanism comprises a first rotating shaft arranged at the bottom of the frame and a second rotating shaft arranged at the top of the frame, a sprocket set is arranged between the first rotating shaft and the second rotating shaft, the sprocket set comprises a first sprocket arranged on the first rotating shaft, a second sprocket arranged on the second rotating shaft, and a chain engaged and connected between the first sprocket and the second sprocket, a plurality of basket conveying plates for carrying medicine baskets are arranged on the chain, and the first driving assembly is used to drive the sprocket set to rotate.

[0011] As a further improved technical scheme of the present application, the medicine basket pushing device comprises a second driving assembly and a push rod driven by the second driving assembly, the second driving assembly comprises a second motor, a first pulley set driven by the second motor, the first pulley set comprises a first driving pulley, a first driven pulley and a first synchronous belt, a pushing frame is arranged on the first synchronous belt, the push rod is arranged on the pushing frame, and the push rod is used to push the medicine basket.

[0012] A first medicine basket buffer track is further arranged in the movement direction of the push rod, and the first medicine basket buffer track is used to buffer the medicine basket.

[0013] As a further improved technical scheme of the present application, the medicine basket carrying device comprises a medicine basket buffer assembly, the medicine basket buffer assembly comprises a third driving assembly and a second medicine basket buffer track, the second medicine basket buffer track comprises two oppositely arranged second roller strips, the third driving assembly comprises a third motor, a second pulley set and a first lead screw transmission mechanism, the third motor transmits driving force to the first lead screw transmission mechanism through the second pulley set, the first lead screw transmission mechanism comprises a lead screw and two first lead screw nuts reversely arranged at both ends of the lead screw, one first moving plate is fixed on each first lead screw nut, and the second roller strip is fixed on the first moving plate.

[0014] A plurality of limiting grooves are arranged on the first moving plate, a rotatable limiting strip is arranged in the limiting groove, the limiting groove is used to limit the rotation range of the limiting strip, the limiting strip is used to limit the position of the medicine basket, and a reset spring for resetting the limiting strip to the initial position is arranged on the limiting strip.

[0015] As a further improved technical scheme of the present application, the medicine basket bearing device further comprises a clamping assembly, the clamping assembly comprises two clamping arms arranged oppositely, the clamping arms are connected with a fourth driving assembly, the fourth driving assembly comprises a first mounting seat fixed on the frame, a fourth motor arranged on the first mounting seat and a first gear and rack transmission mechanism driven by the fourth motor, the first gear and rack transmission mechanism comprises a first gear arranged on the output shaft of the fourth motor, the first gear is engaged with a first rack, the first rack is connected with the clamping arm, and the clamping arm moves towards or away from the medicine basket under the drive of the fourth driving assembly.

[0016] As a further improved technical scheme of the present application, the medicine basket bearing device further comprises a clamping assembly, the clamping assembly comprises two clamping arms arranged oppositely, the clamping arms are connected with a fourth driving assembly, the fourth driving assembly comprises a first mounting seat fixed on the frame, a fourth motor arranged on the first mounting seat and a first gear and rack transmission mechanism driven by the fourth motor, the first gear and rack transmission mechanism comprises a first gear arranged on the output shaft of the fourth motor, the first gear is engaged with a first rack, the first rack is connected with the clamping arm, and the clamping arm moves towards or away from the medicine basket under the drive of the fourth driving assembly.

[0017] As a further improved technical scheme of the present application, the medicine basket bearing device further comprises a clamping assembly, the clamping assembly comprises two clamping arms arranged oppositely, the clamping arms are connected with a fourth driving assembly, the fourth driving assembly comprises a first mounting seat fixed on the frame, a fourth motor arranged on the first mounting seat and a first gear and rack transmission mechanism driven by the fourth motor, the first gear and rack transmission mechanism comprises a first gear arranged on the output shaft of the fourth motor, the first gear is engaged with a first rack, the first rack is connected with the clamping arm, and the clamping arm moves towards or away from the medicine basket under the drive of the fourth driving assembly.

[0018] In the conveying direction of the medicine box, fourth and fifth baffle plates are arranged on the two sides of the sliding plate respectively, the fourth baffle plate is fixed on the side of the sliding plate, the fifth baffle plate is provided with a sixth driving assembly, and the sixth driving assembly is used to drive the fifth baffle plate to move towards or away from the fourth baffle plate.

[0019] A fifth detection sensor is arranged at the medicine outlet of the medicine conveying flow channel, and the fifth detection sensor is used to detect the position of the medicine box at the medicine outlet.

[0020] As a further improved technical scheme of the present application, the medicine basket bearing device further comprises a clamping assembly, the clamping assembly comprises two clamping arms arranged oppositely, the clamping arms are connected with a fourth driving assembly, the fourth driving assembly comprises a first mounting seat fixed on the frame, a fourth motor arranged on the first mounting seat and a first gear and rack transmission mechanism driven by the fourth motor, the first gear and rack transmission mechanism comprises a first gear arranged on the output shaft of the fourth motor, the first gear is engaged with a first rack, the first rack is connected with the clamping arm, and the clamping arm moves towards or away from the medicine basket under the drive of the fourth driving assembly.

[0021] As a further improved technical scheme of the present application, the medicine box transfer device comprises a first vacuum suction nozzle and a first moving assembly for driving the first vacuum suction nozzle to move, and a visual detection device is further arranged above the medicine box transfer device, the visual detection device being used to collect and identify information of the medicine boxes in the medicine baskets, and the medicine box transfer device transfers the medicine boxes according to the information collected by the visual detection device.

[0022] The medicine box adjusting device comprises a second vacuum suction nozzle and a second moving assembly for driving the second vacuum suction nozzle to move, and the medicine box adjusting device recycles the medicine boxes according to the information detected by the fifth detection sensor.

[0023] A medicine adding method using the medicine adding system described above.

[0024] The medicine basket lifting device comprises a first driving assembly and two groups of lifting mechanisms arranged oppositely, the lifting mechanism comprising a chain and a plurality of layers of basket feeding plates arranged equidistantly on the chain, and the first driving assembly drives the chain to rotate so as to drive the basket feeding plates to ascend and descend.

[0025] The steps of the medicine adding method are as follows.

[0026] S1. The required medicine boxes are put into the medicine baskets in advance, and the medicine baskets are inserted into the two basket feeding plates on the uppermost layer of the lifting mechanism, and the first driving assembly drives the basket feeding plates to move downward by one layer every time a layer of medicine baskets is added, and the process is repeated until the basket feeding plates on each layer are filled with medicine baskets or all the medicine baskets are added, and then the adding of the medicine baskets is stopped.

[0027] S2. Then, the medicine basket pushing device transports the medicine basket on the uppermost layer into the medicine adding module, and the first driving assembly is reversely operated to drive the basket feeding plates to move upward by one layer.

[0028] S3. The medicine basket enters the medicine basket carrying device, and the medicine box transfer device places the medicine boxes in order on the corresponding medicine box conveying device.

[0029] S4. When all the medicine boxes in the medicine basket are transferred, the medicine basket recycling device recycles the empty medicine basket.

[0030] S5. The medicine boxes enter the medicine feeding flow channel from the medicine box conveying device and slide to the medicine outlet, and the medicine boxes are blocked by the medicine blocking assembly before sliding out of the medicine feeding flow channel.

[0031] S6. When the medicine boxes are arranged in the medicine feeding flow channel, the medicine blocking assembly releases the medicine boxes to slide out of the medicine outlet.

[0032] S7. When the medicine boxes are stuck at the medicine outlet of the medicine feeding flow channel, the medicine box transfer device is operated to eliminate the medicine sticking fault.

[0033] The present application has the following beneficial effects:

[0034] Through the above structure, the medicine adding system greatly improves the medicine adding efficiency, automatically recovers the medicine basket, arranges the medicine box, reduces the artificial workload, effectively reduces the medicine adding error rate, guarantees the safety of the patient's medicine taking, deeply enhances the management level of the pharmacy, and realizes the full-automatic integration of medicine adding. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is a schematic diagram of the overall structure of the medicine adding system;

[0036] Figure 2 is a schematic diagram of the medicine adding buffer;

[0037] Figure 3 is a schematic diagram of part of the medicine basket lifting device;

[0038] Figure 4 is a schematic diagram of the medicine basket lifting device; Figure 3 is an enlarged view of A in FIG. 8;

[0039] Figure 5 is a schematic diagram of the medicine basket lifting device;

[0040] Figure 6 is a schematic diagram of the medicine basket pushing device;

[0041] Figure 7 is a schematic diagram of the medicine basket pushing device; Figure 6 is an enlarged view of B in FIG. 9;

[0042] Figure 8 is a side view of the medicine basket pushing device;

[0043] Figure 9 is a schematic diagram of the medicine adding module;

[0044] Figure 10 is a schematic diagram of the medicine adding module without a frame;

[0045] Figure 11 is a schematic diagram of the medicine basket bearing device;

[0046] Figure 12 is a schematic diagram of the medicine basket bearing device; Figure 11 is an enlarged view of C in FIG. 11;

[0047] Figure 13 is a schematic diagram of the medicine basket recycling device;

[0048] Figure 14 is a schematic diagram of the medicine box transfer device;

[0049] Figure 15 is a schematic diagram of the medicine box conveying device;

[0050] Figure 16is a structural schematic diagram of the medicine adding module;

[0051] Figure 17 is a structural schematic diagram of the medicine delivery flow channel;

[0052] Figure 18 is Figure 17 is an enlarged view of D in the middle;

[0053] Figure 19 is a front view of the medicine delivery flow channel;

[0054] Figure 20 is a structural schematic diagram of the medicine blocking assembly;

[0055] Figure 21 is a structural schematic diagram of the medicine blocking assembly;

[0056] Figure 22 is a structural schematic diagram of the medicine box adjusting device;

[0057] Figure 23 is a structural schematic diagram of the medicine box adjusting device.

[0058] wherein:

[0059] 101 - medicine basket, 102 - medicine box, 103 - frame, 104 - machine frame;

[0060] 200 - medicine basket lifting device, 201 - first rotating shaft, 202 - second rotating shaft, 203 - first sprocket, 204 - second sprocket, 205 - chain, 206 - basket conveying plate, 2061 - connecting plate, 2062 - supporting plate, 2063 - limiting plate, 2064 - guide plate, 207 - first motor, 208 - third rotating shaft, 209 - first bevel gear, 210 - second bevel gear, 211 - first detection sensor;

[0061] 300 - medicine basket pushing device, 301 - push rod, 302 - second motor, 303 - first driving pulley, 304 - first driven pulley, 305 - first synchronous belt, 306 - pushing frame, 307 - first sliding rail, 308 - first sliding block, 309 - second detection sensor, 310 - first baffle, 311 - first roller frame, 312 - first roller set, 313 - first groove;

[0062] 400 - medicine basket bearing device, 401 - second baffle, 402 - second roller frame, 403 - second roller set, 404 - third motor, 405 - first screw nut, 406 - first moving plate, 4061 - limiting groove, 4062 - limiting strip, 407 - first screw, 408 - second screw, 409 - second driving pulley, 410 - second driven pulley, 411 - second synchronous belt, 412 - third pulley, 413 - fourth pulley, 414 - third synchronous belt, 415 - clamping arm, 416 - first mounting seat, 417 - fourth motor, 418 - first gear, 419 - first rack, 420 - second sliding block, 421 - second sliding rail;

[0063] 500 - medicine basket recycling device, 501 - basket collecting plate, 502 - second mounting seat, 503 - fifth motor, 504 - second gear, 505 - second rack, 506 - third sliding block, 507 - third sliding rail;

[0064] 600 - medicine box transfer device, 601 - first vacuum nozzle, 602 - y-axis moving mechanism, 603 - x-axis moving mechanism, 604 - first z-axis lifting mechanism, 605 - z-axis rotating mechanism, 606 - visual detection device;

[0065] 700 - medicine box conveying device, 701 - sixth motor, 702 - conveying belt, 703 - third baffle, 704 - fourth detection sensor, 705 - counter;

[0066] 800 - medicine delivery flow channel, 801 - sliding plate, 802 - third mounting seat, 803 - ball, 804 - fourth baffle, 805 - fifth baffle, 806 - seventh motor, 807 - fifth driving pulley, 808 - fifth driven pulley, 809 - fourth synchronous belt, 810 - third screw, 811 - third screw nut, 812 - second moving plate, 813 - fourth sliding block, 814 - fourth sliding rail, 815 - medicine blocking plate, 816 - fourth mounting seat, 817 - eighth motor, 818 - third gear, 819 - third rack, 820 - fifth sliding block, 821 - fifth sliding rail, 822 - medicine blocking groove, 823 - fifth detection sensor, 824 - sixth detection sensor;

[0067] 900 - medicine box adjusting device, 901 - second vacuum nozzle, 902 - ninth motor, 903 - fourth screw, 904 - fifth mounting seat, 905 - fourth screw nut, 906 - third moving plate, 907 - sixth sliding block, 908 - sixth sliding rail, 909 - tenth motor, 910 - fifth screw, 911 - sixth mounting seat, 912 - fifth screw nut, 913 - fourth moving plate, 914 - seventh sliding block, 915 - seventh sliding rail. DETAILED DESCRIPTION

[0068] The present invention will now be described in detail with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the scope of protection of the present invention.

[0069] If the description of this invention involves orientation (e.g., up, down, left, right, front, back, outside, inside, etc.), then the orientations involved need to be defined. For example, "To clearly express the positions and directions described in this invention, the end closer to the operator is the proximal end, and the end farther from the operator is the distal end," or the paper surface can be used as a reference. Of course, if the positional relationship between the two is defined by mutual reference in the subsequent description, then this definition is not necessary.

[0070] A dosing system, including frame 103, such as Figures 1 to 23 As shown, the frame 103 is provided with:

[0071] The system includes a dosing buffer, a dosing module, and a dosing module. The dosing buffer is used to buffer the medicine basket 101 and transport the medicine basket 101, which carries the medicine box 102, to the dosing module. The dosing module is used to receive the medicine basket 101 from the dosing buffer, remove the medicine box 102 from the medicine basket 101, and transport it to the dosing module. The dosing module is used to receive the medicine box 102 from the dosing module and transport the medicine box 102 sequentially to the next step device, such as a dispensing machine.

[0072] like Figures 2 to 8 As shown, the drug addition buffer includes a medicine basket lifting device 200 and a medicine basket pushing device 300 disposed on the frame 103. The medicine basket pushing device 300 is disposed on top of the medicine basket lifting device 200. The medicine basket lifting device 200 is used to buffer and lift the medicine basket 101 carrying the medicine box 102, and the medicine basket pushing device 300 is used to push the medicine basket 101 located at the top to the drug addition module.

[0073] The medicine basket lifting device 200 includes a first driving component and two sets of oppositely arranged lifting mechanisms driven by the first driving component.

[0074] The lifting mechanism comprises a first rotating shaft 201 arranged at the bottom of the frame 103 and a second rotating shaft 202 arranged at the top of the frame 103, and a sprocket set is arranged between the first rotating shaft 201 and the second rotating shaft 202, the sprocket set comprises a first sprocket 203 arranged on the first rotating shaft 201, a second sprocket 204 arranged on the second rotating shaft 202, and a chain 205 engagedly connected between the first sprocket 203 and the second sprocket 204, and a plurality of basket conveying plates 206 are arranged on the chain 205. In order to improve the stability of the lifting movement, the number of the sprocket set is greater than or equal to 2 sets. In order to improve the convenience of use and management, the plurality of basket conveying plates 206 are arranged at equal intervals.

[0075] The basket conveying plate 206 comprises a connecting plate 2061, a supporting plate 2062 and a limiting plate 2063, the connecting plate 2061 is fixed with the chain 205, the supporting plate 2062 is arranged at the bottom of the connecting plate 2061, the supporting plate 2062 is used for supporting the medicine basket 101, the limiting plate 2063 is arranged at the top of the connecting plate 2061, the limiting plate 2063 is used for limiting the height of the medicine basket 101, and the connecting plate 2061, the supporting plate 2062 and the limiting plate 2063 form an accommodating space with an opening. The medicine basket 101 slides into the basket conveying plate 206 from the horizontal direction, and the basket conveying plate 206 further comprises a guide plate 2064 arranged in the sliding direction of the medicine basket 101, the extension direction of the guide plate 2064 is away from the accommodating space, and the guide plate 2064 is used for guiding the movement of the medicine basket 101 sliding into the basket conveying plate 206, thereby improving the convenience of the basket feeding operation.

[0076] The first driving assembly is arranged at the bottom of the frame 103, and the first driving assembly comprises a first motor 207 and a first bevel gear set driven by the first motor 207, the first bevel gear set comprises a third rotating shaft 208, two first bevel gears 209 are arranged at both ends of the third rotating shaft 208, and the first motor 207 drives the third rotating shaft 208 to rotate so as to drive the first bevel gears 209 to rotate. A second bevel gear 210 is arranged at the end of the first rotating shaft 201 close to the first driving assembly, and the first bevel gears 209 and the second bevel gear 210 are in meshing transmission. Through forward and reverse rotation of the first motor 207, the basket conveying plate 206 and the medicine basket 101 located on the basket conveying plate 206 are lifted and lowered.

[0077] When the plurality of basket conveying plates 206 are arranged at equal intervals, the medicine basket lifting device 200 further comprises a jog button, and each time the jog button is pressed, the first driving assembly drives the third rotating shaft 208 to rotate so as to move the chain 205 between the adjacent two basket conveying plates 206.

[0078] A first detection sensor 211 is arranged on the frame 103 to detect the position of the medicine basket 101 on the second layer of the basket plate 206 from top to bottom. Specifically, when the first detection sensor 211 detects that there is no medicine basket 101 on the second layer of the basket plate 206 during the ascending of the medicine basket 101, it feeds back to the external control system to control the first driving assembly to stop running and stop conveying the medicine basket 101 upward.

[0079] In use, the medicine basket 101 is inserted into the uppermost basket plate 206 of the lifting mechanism, and then the basket plate 206 moves down one layer, and a new medicine basket 101 is inserted into the uppermost basket plate 206 at this time, and so on until all the basket plates 206 are full or all the medicine baskets 101 are full; then the medicine basket pushing device 300 pushes the medicine basket 101 on the uppermost basket plate 206 to the medicine loading module, the first motor 207 reverses, the basket plate 206 moves up one layer, and the external control system sends a working signal to the first motor 207, and the basket plate 206 moves up one layer again, and the medicine basket pushing device 300 pushes the medicine basket 101 on the uppermost basket plate 206 to the medicine loading module, and so on until the first detection sensor 211 detects that there is no medicine basket 101 on the second layer of the basket plate 206, and the first motor 207 stops running.

[0080] The medicine basket pushing device 300 comprises a second driving assembly and a push rod 301 driven by the second driving assembly, the second driving assembly comprises a second motor 302, a first pulley set driven by the second motor 302, the first pulley set comprises a first driving pulley 303, a first driven pulley 304 and a first synchronous belt 305, the first driving pulley 303 is directly driven by the second motor 302 to synchronously rotate the first driven pulley 304 through the first synchronous belt 305, a pushing frame 306 is arranged on the first synchronous belt 305, and the push rod 301 is arranged on the pushing frame 306, the first synchronous belt 305 drives the pushing frame 306 to move to drive the push rod 301 to push the medicine basket 101.

[0081] Preferably, the number of the push rod 301 is greater than or equal to 2, and the center lines of the push rod 301 coincide with the center line of the medicine basket 101 in the direction of movement, so that the direction of movement of the medicine basket 101 does not deviate during the pushing of the medicine basket 101 by the push rod 301. In addition, the stability of pushing can be improved by increasing the area in contact with the medicine basket 101, for example, using a push plate or a push block with a larger contact area instead of the push rod 301.

[0082] The medicine basket pushing device 300 further comprises a first guiding mechanism, which comprises a first sliding rail 307 and a first sliding block 308 slidable on the first sliding rail 307, the first sliding block 308 being fixed with the pushing frame 306, and the extending direction of the first sliding rail 307 being consistent with the moving direction of the pushing rod 301, so that the pushing rod 301 can move linearly without deviation.

[0083] The first sliding rail 307 is provided with a second detection sensor 309 for detecting the position of the medicine basket 101, so as to determine whether the pushing rod 301 pushes the medicine basket 101 to the designated position.

[0084] A first medicine basket buffer track is further provided in the moving direction of the pushing rod 301, which is used for buffering the medicine basket 101 before entering the medicine adding module.

[0085] The first medicine basket buffer track comprises two oppositely arranged first roller strips, each of which comprises a first baffle 310, a first roller frame 311, and a plurality of groups of first roller groups 312 arranged on the first roller frame 311. The first baffle 310 is fixed on the side of the first roller frame 311 away from the first synchronous belt 305. During the process of pushing the medicine basket 101 by the pushing rod 301, the two first baffles 310 are used for limiting the position of the medicine basket 101 and guiding the movement of the medicine basket 101, so as to prevent the movement direction of the medicine basket 101 from deviating or falling off the first roller strip. A first channel 313 in the shape of a strip is arranged in the first roller frame 311. Each first roller group 312 comprises a first roller shaft and a first roller rotatably sleeved on the first roller shaft. The first roller shaft is arranged on the two side walls of the first channel 313. The first roller can rotate freely in the first channel 313. The first roller shafts are parallel to each other. The axis of the first roller shaft is perpendicular to the moving direction of the pushing rod 301. The highest point of the first roller is higher than the upper surface of the first roller frame 311.

[0086] The medicine adding buffer realizes the lifting and pushing of the medicine basket 101, can effectively deliver the medicine basket 101 to the medicine adding module, has high automation degree, solves the problem of no medicine buffer during medicine adding, improves the efficiency of medicine dispensing, reduces the workload of pharmacists, does not require pharmacists to be on duty for medicine adding at all times, greatly reduces the labor intensity, avoids the frequent back and forth between the warehouse and the medicine adding system for pharmacists, and can create more value.

[0087] The medicine adding module, as shown in Figures 9 to 15 comprises, from bottom to top on the frame 103:

[0088] The medicine basket recycling device 500 is used for recycling the empty medicine basket 101.

[0089] The medicine basket bearing device 400 is used for receiving the medicine basket 101 from the medicine basket pushing device 300, and comprises a medicine basket caching assembly and a medicine basket clamping assembly.

[0090] The medicine box conveying device 700 is used for conveying the medicine box 102 to the medicine adding module.

[0091] The medicine box transferring device 600 is used for transferring the medicine box 102 from the medicine basket 101 to the medicine box conveying device 700.

[0092] The medicine basket caching assembly comprises a third driving assembly and a second medicine basket caching track, and the second medicine basket caching track comprises two oppositely arranged second roller strips.

[0093] The third driving assembly is used for driving the two second roller strips to move close to or away from each other, so as to realize the bearing or releasing of the medicine basket 101.

[0094] The third driving assembly comprises a third motor 404, a second belt pulley set and a first screw rod transmission mechanism.

[0095] In the embodiment, the first screw rod transmission mechanism has two, and the screw rods in the two are defined as a first screw rod 407 and a second screw rod 408. The second pulley set includes a second driving pulley 409, a second driven pulley 410 and a second synchronous belt 411. The output shaft of the third motor 404 is connected to the second driving pulley 409 and drives the second driven pulley 410 to rotate. The second driving pulley 409 drives the second driven pulley 410 to rotate through the second synchronous belt 411. The second driven pulley 410 is arranged on the first screw rod 407 and drives the first screw rod 407 to rotate. The first screw rod 407 is further provided with a third pulley 412. The second screw rod 408 is provided with a fourth pulley 413. The third pulley 412 and the fourth pulley 413 are sleeved with a third synchronous belt 414. The first screw rod 407 drives the third pulley 412 to rotate. The third pulley 412 drives the fourth pulley 413 to rotate through the third synchronous belt 414. The fourth pulley 413 drives the second screw rod 408 to rotate.

[0096] The first moving plate 406 is provided with a plurality of limiting grooves 4061, and a rotatable limiting strip 4062 is arranged in each limiting groove 4061. The limiting grooves 4061 are used to limit the rotation range of the limiting strip 4062. The position of the limiting strip 4062 when not subjected to the pressure of the medicine basket 101 is defined as an initial position. The position of the limiting strip 4062 when subjected to the pressure of the medicine basket 101 is defined as an avoiding position. When in the initial position, the highest point of the limiting strip 4062 is higher than the highest point of the second roller, thereby limiting the position of the medicine basket 101. When in the avoiding position, the highest point of the limiting strip 4062 is lower than or equal to the highest point of the second roller.

[0097] The limiting strip 4062 is provided with a reset spring for resetting the limiting strip 4062 to the initial position. When the medicine basket 101 slides on the second roller strip and contacts the limiting strip 4062, the limiting strip 4062 is subjected to downward pressure, the reset spring is compressed, and the vertex of the limiting strip 4062 rotates downward to avoid the medicine basket 101. When the medicine basket 101 is separated from the limiting strip 4062, the reset spring resets the limiting strip 4062 to the initial position to limit the medicine basket 101.

[0098] Two limiting strips 4062 are arranged on each side of the first moving plate 406, and the front and rear directions of the movement of the medicine basket 101 on the second medicine basket buffer track are limited.

[0099] The limiting strip 4062 is provided with a third detection sensor, and the third detection sensor is used to identify whether the medicine basket 101 on the second roller strip is in a set position.

[0100] The clamping assembly comprises two clamping arms 415 arranged oppositely, the clamping arms 415 are connected with a fourth driving assembly, the fourth driving assembly comprises a first mounting seat 416 fixed on the frame 103, a fourth motor 417 arranged on the first mounting seat 416 and a first gear and rack transmission mechanism driven by the fourth motor 417, the first gear and rack transmission mechanism comprises a first gear 418 arranged on an output shaft of the fourth motor 417, a first rack 419 meshed with the first gear 418, and the first rack 419 is connected with the clamping arm 415, the clamping arm 415 moves towards or away from the medicine basket 101 under the drive of the fourth driving assembly, so as to clamp or release the medicine basket 101.

[0101] In order to improve the stability of the movement of the clamping arm 415, the clamping assembly further comprises a second guide mechanism, the second guide mechanism comprises a second sliding block 420 arranged on the clamping arm 415 and a second sliding rail 421 arranged on the first mounting seat 416 and parallel to the movement direction of the clamping arm 415, and the second sliding block 420 is slidably arranged on the second sliding rail 421.

[0102] The medicine basket recycling device 500 comprises a fifth driving assembly and a basket collecting plate 501, the fifth driving assembly comprises a second mounting seat 502, a fifth motor 503 arranged on the second mounting seat 502 and a second gear and rack transmission mechanism driven by the fifth motor 503, the second gear and rack transmission mechanism comprises a second gear 504 arranged on an output shaft of the fifth motor 503, a second rack 505 extending vertically and meshed with the second gear 504, and the second rack 505 is fixed on the frame 103.

[0103] The basket collecting plate 501 is arranged on the second mounting seat 502, the basket collecting plate 501 is horizontally arranged, and the basket collecting plate 501 is used for carrying the empty medicine basket 101. The fifth motor 503 drives the second gear 504 to rotate, the second gear 504 moves up and down along the second rack 505, drives the second mounting seat 502 and the basket collecting plate 501 to move up and down.

[0104] In order to improve the stability of the movement of the basket collecting plate 501, the medicine basket recycling device 500 further comprises a third guide mechanism, the third guide mechanism comprises a third sliding block 506 arranged on the second mounting seat 502 and a third sliding rail 507 arranged on the frame 103 and consistent with the extending direction of the second rack 505, and the third sliding block 506 is slidably arranged on the third sliding rail 507.

[0105] The medicine basket recycling device 500 realizes the recycling of the medicine basket 101, and simplifies the conveying and recycling process of the medicine basket 101.

[0106] The medicine box transfer device 600 comprises a first vacuum nozzle 601 and a first moving assembly for driving the first vacuum nozzle 601 to move, the first moving assembly comprises two y-axis moving mechanisms 602 arranged on the frame 103, an x-axis moving mechanism 603 is arranged on the two y-axis moving mechanisms 602, a first z-axis lifting mechanism 604 and a z-axis rotating mechanism 605 are arranged on the x-axis moving mechanism 603, and the first vacuum nozzle 601 is arranged at the tail end of the z-axis rotating mechanism 605.

[0107] A visual detection device 606 is further arranged above the medicine box transfer device 600, the visual detection device 606 is used for collecting and identifying the information of the medicine box 102 in the medicine basket 101, and assisting the first vacuum nozzle 601 to transfer the medicine box 102. Through automatic identification and checking of the information of the medicine box 102, the error rate of the medicine dispensing process is reduced, the safety of the patient's medicine is ensured, the medicine dispensing efficiency is improved, the information tracing of the medicine dispensing process of the medicine box 102 can be carried out without manual intervention, meanwhile, the labor is greatly reduced, and the contradiction between limited personnel and work load is solved.

[0108] The medicine box conveying device 700 comprises a sixth motor 701 and a conveying belt 702 driven by the sixth motor 701 to rotate, the conveying belt 702 is used for conveying the medicine box 102, the conveying belt 702 comprises a conveying inlet and a conveying outlet, third baffles 703 are arranged on both sides of the conveying direction of the conveying belt 702, and the third baffles 703 are used for limiting and guiding the medicine box 102 during the conveying process.

[0109] A fourth detection sensor 704 is arranged at the conveying inlet of the conveying belt 702, the fourth detection sensor 704 is used for detecting the position of the medicine box 102, when emergency is needed, the medicine box 102 that needs to be added can be manually placed at the conveying inlet of the conveying belt 702, and the fourth detection sensor 704 detects the medicine box 102 and automatically makes the conveying belt 702 move forward by a set interval, and waits for the next medicine box 102 to be placed, so that the manually added medicine mode that can be used in emergency is reserved.

[0110] A counter 705 is arranged at the conveying outlet of the conveying belt 702, and the counter 705 is used for continuously counting the number of medicine dispensing.

[0111] The medicine dispensing module has small occupied space, low cost, fast medicine dispensing, high automation degree, can perfectly dock the original medicine dispensing management system, use the original operation interface, the pharmacist does not need to change the interface operation habit, can directly operate, and is suitable for the original pharmacy warehouse.

[0112] A medicine adding module, such as Figures 16 to 23As shown, it comprises a rack 104 arranged on the frame 103, and a medicine feeding channel 800 arranged on the rack 104, which is used to feed the medicine box 102 from the medicine box feeding device 700. The medicine feeding channel 800 comprises a medicine feeding inlet and a medicine feeding outlet, and the position of the medicine feeding inlet is higher than that of the medicine feeding outlet, so that the medicine box 102 entering from the medicine feeding inlet can slide from the medicine feeding inlet to the medicine feeding outlet to enter the next device.

[0113] A liftable medicine blocking assembly is arranged at the medicine feeding outlet, and the blocking or releasing of the medicine box 102 from the medicine feeding outlet is realized by the lifting of the medicine blocking assembly.

[0114] A medicine box adjusting device 900 is arranged above the medicine feeding outlet, which is used to eliminate the medicine blocking failure.

[0115] The medicine feeding channel 800 comprises a slide plate 801, and a plurality of third mounting seats 802 are arranged in an array in the slide plate 801. A plurality of balls 803 are arranged in the third mounting seats 802, and the point of contact between the medicine box 102 and the balls 803 is the top point of the balls 803. A medicine feeding surface is formed by the top points of the balls 803, and the medicine feeding surface is higher than the top surface of the slide plate 801 based on the bottom surface of the slide plate 801. The medicine box 102 is fed on the balls 803, and the point contact between the medicine box 102 and the balls 803 has the advantages of small friction and easy sliding. In addition, the balls 803 can also be replaced by rolling elements such as rollers or roller strips.

[0116] The feeding direction of the medicine box 102 is from the medicine feeding inlet to the medicine feeding outlet. Fourth and fifth baffles 804 and 805 are arranged on both sides of the slide plate 801 in the feeding direction of the medicine box 102. The fourth baffle 804 is arranged on the side surface of the slide plate 801 and remains fixed. The fifth baffle 805 is arranged on the sixth driving assembly, and the fifth baffle 805 can move towards or away from the fourth baffle 804 under the driving of the sixth driving assembly. Through the movement of the fifth baffle 805, the position and posture of the medicine box 102 on the slide plate 801 can be preliminarily regulated, and the width of the medicine feeding outlet can be consistent with the width of the medicine receiving inlet of the next device.

[0117] Specifically, the sixth driving assembly comprises a seventh motor 806 and a third pulley set driven by the seventh motor 806, the third pulley set comprises a fifth driving pulley 807, a fifth from driving pulley 808 and a fourth synchronous belt 809, the fourth synchronous belt 809 connects the fifth driving pulley 807 and the fifth from driving pulley 808, an output shaft of the seventh motor 806 is connected with the fifth driving pulley 807 and drives the fifth driving pulley 807 to rotate, the fifth driving pulley 807 drives the fifth from driving pulley 808 to rotate, the fifth from driving pulley 808 is sleeved with a third screw rod 810, the fifth from driving pulley 808 is coaxially arranged with the third screw rod 810 and drives the third screw rod 810 to rotate; the axis of the third screw rod 810 is perpendicular to the conveying direction of the medicine box 102, a third screw nut 811 is arranged on the third screw rod 810, a second moving plate 812 is arranged on the third screw nut 811, the second moving plate 812 is connected with the fifth baffle 805 and drives the fifth baffle 805 to move close to or away from the fourth baffle 804.

[0118] In order to improve the stability of the movement of the fifth baffle 805, the sixth driving assembly further comprises a fourth guide mechanism, the fourth guide mechanism comprises a fourth sliding block 813 arranged on the fifth baffle 805 and a fourth sliding rail 814 arranged on the rack 104 and parallel to the movement direction of the fifth baffle 805, the fourth sliding block 813 is slidably arranged on the fourth sliding rail 814.

[0119] The medicine blocking assembly comprises a medicine blocking plate 815 and a seventh driving assembly for driving the medicine blocking plate 815 to move up and down, the seventh driving assembly comprises a fourth mounting seat 816, an eighth motor 817 arranged on the fourth mounting seat 816 and a third gear and rack transmission mechanism driven by the eighth motor 817, the fourth mounting seat 816 is fixed on the rack 104, the third gear and rack transmission mechanism comprises a third gear 818 arranged on the output shaft of the eighth motor 817, the third gear 818 is engaged with a third rack 819, and the third rack 819 is connected with the medicine blocking plate 815.

[0120] In order to improve the stability of the movement of the medicine blocking plate 815, the medicine blocking assembly further comprises a fifth guide mechanism, the fifth guide mechanism comprises a fifth sliding block 820 arranged on the medicine blocking plate 815 and a fifth sliding rail 821 arranged on the fourth mounting seat 816 and parallel to the movement direction of the medicine blocking plate 815, the fifth sliding block 820 is slidably arranged on the fifth sliding rail 821.

[0121] A medicine blocking groove 822 is arranged on the slide plate 801, and the position of the medicine blocking groove 822 corresponds to the medicine blocking plate 815. The medicine blocking plate 815 rises to extend into the medicine blocking groove 822 or falls to withdraw from the medicine blocking groove 822. When the eighth motor 817 drives the third gear 818 to rotate, the third gear 818 drives the third rack 819 to move up and down, and the third rack 819 drives the medicine blocking plate 815 to move up and down. The medicine blocking plate 815 rises to extend into the medicine blocking groove 822 to block the medicine box 102 on the medicine conveying channel 800, or the medicine blocking plate 815 falls to withdraw from the medicine blocking groove 822 to release the medicine box 102 on the medicine conveying channel 800.

[0122] A fifth detection sensor 823 is arranged at the medicine outlet of the medicine conveying channel 800. The fifth detection sensor 823 is used to detect the position of the medicine box 102 at the medicine outlet and feed back to the external control system. If there is a medicine blocking phenomenon, the medicine box adjusting device 900 works to eliminate the medicine blocking fault.

[0123] The medicine box adjusting device 900 includes a second vacuum nozzle 901 and a second moving assembly for adjusting the position of the second vacuum nozzle 901. The second moving assembly includes a horizontal moving mechanism and a second z-axis lifting mechanism. The second vacuum nozzle 901 moves to suck the medicine box 102 and pull the medicine box 102 back into the medicine conveying channel 800.

[0124] The horizontal moving mechanism includes a ninth motor 902 and a fourth lead screw 903 driven by the ninth motor 902. A fifth mounting seat 904 is arranged on the machine frame 104. The ninth motor 902 is arranged on the fifth mounting seat 904. The axis of the fourth lead screw 903 is parallel to the conveying direction of the medicine box 102. A fourth lead screw nut 905 is arranged on the fourth lead screw 903. A third moving plate 906 is fixed on the fourth lead screw nut 905. The third moving plate 906 is connected to the second vacuum nozzle 901 and drives the second vacuum nozzle 901 to move horizontally.

[0125] In order to improve the stability of the movement of the third moving plate 906, the horizontal moving mechanism further includes a sixth guide mechanism. The sixth guide mechanism includes a sixth sliding block 907 arranged on the third moving plate 906 and a sixth sliding rail 908 arranged on the third mounting seat 802 and parallel to the axis of the fourth lead screw 903. The sixth sliding block 907 is slidably arranged on the sixth sliding rail 908.

[0126] The second z-axis lifting mechanism comprises a tenth motor 909 and a fifth screw rod 910 driven by the tenth motor 909, a sixth mounting seat 911 is arranged on the third moving plate 906, the tenth motor 909 is arranged on the sixth mounting seat 911, the axis of the fifth screw rod 910 is perpendicular to the axis of the fourth screw rod 903, a fifth screw rod nut 912 is arranged on the fifth screw rod 910, a fourth moving plate 913 is fixed on the fifth screw rod nut 912, and the fourth moving plate 913 is connected with the second vacuum nozzle 901 and drives the second vacuum nozzle 901 to move up and down.

[0127] In order to improve the stability of the movement of the fourth moving plate 913, the second z-axis lifting mechanism further comprises a seventh guide mechanism, the seventh guide mechanism comprises a seventh sliding block 914 arranged on the fourth moving plate 913 and a seventh sliding rail 915 arranged on the sixth mounting seat 911 and parallel to the axis of the fifth screw rod 910, and the seventh sliding block 914 is slidably arranged on the seventh sliding rail 915.

[0128] A sixth detection sensor 824 is arranged on the fourth baffle 804, and the sixth detection sensor 824 is used for detecting the alignment condition between the medicine outlet of the medicine feeding channel 800 and the inlet of the next device. An alignment moving assembly is further arranged on the rack 104, and the alignment moving assembly is used for adjusting the spatial position of the rack 104, so that the medicine outlet of the medicine feeding channel 800 is aligned with the medicine receiving port of the next device.

[0129] The medicine feeding module adjusts the position and posture of the jammed medicine box 102 through the medicine box adjusting device 900, solves the problem that the jammed medicine cannot be automatically removed in the medicine feeding process, automatically adjusts, does not need manual adjustment, saves manpower and improves efficiency; meanwhile, the medicine feeding channel 800 adopts a ball type point contact, reduces the friction between the medicine box 102 and the medicine feeding channel 800, and reduces the risk of jamming.

[0130] The working principle of the application is as follows:

[0131] The required medicine box 102 is placed in the medicine basket 101 in advance, the medicine basket 101 is inserted into the uppermost feeding basket plate 206 of the lifting mechanism, the jog button is pressed, the first driving assembly drives the second bevel gear 210 to rotate, the second bevel gear 210 drives the first rotating shaft 201 to rotate, thereby driving the sprocket set to rotate, and then the feeding basket plate 206 located in the two lifting mechanisms is lowered from the upper layer to the lower layer, so that the medicine basket 101 is also lowered from the upper layer to the lower layer; every time a layer of the medicine basket 101 is added, the feeding basket plate 206 is lowered by one layer, and the cycle is repeated until every layer of the feeding basket plate 206 is provided with the medicine basket 101 or all the medicine baskets 101 to be added are placed on the feeding basket plate 206.

[0132] Then the medicine basket pushing device 300 operates, the second drive assembly drives the push rod 301 to push the uppermost medicine basket 101 to the first medicine basket buffer track, waiting to enter the medicine loading module, and the first drive assembly reversely operates to drive the basket pushing plate 206 to rise from the lower layer to the upper layer;

[0133] The third drive assembly of the medicine loading module drives two second roller strips to approach each other to form a second medicine basket buffer track, the medicine basket pushing device 300 delivers the medicine basket 101 into the second medicine basket buffer track, the limiting strip 4062 limits the medicine basket 101 staying on the second medicine basket buffer track, the fourth drive assembly drives two clamping arms 415 to approach the medicine basket 101 to clamp the medicine basket 101;

[0134] According to the position of the medicine box 102 in the medicine basket 101 and the information of the medicine box 102 recognized by the visual detection device 606, the first moving assembly drives the first vacuum suction nozzle 601 to move above the medicine box 102, the first vacuum suction nozzle 601 sucks the medicine box 102 from the medicine basket 101 and moves again to place the medicine box 102 in order on the conveying belt 702 of the medicine box conveying device 700, and when the medicine box 102 on the conveying belt 702 passes through the conveying outlet of the conveying belt 702, the counter 705 continuously counts the number of the medicine box 102;

[0135] The medicine box transferring device 600 continuously transfers the medicine box 102 from the medicine basket 101 to the medicine box conveying device 700 until the medicine box 102 in the medicine basket 101 is completely transferred; after completion, the third drive assembly drives two second roller strips to move away from each other to a set position, then the fifth drive assembly drives the basket collecting plate 501 to rise until the medicine basket 101 is lifted, then the fourth drive assembly drives the clamping arm 415 to move away from the medicine basket 101 to release the medicine basket 101 to the basket collecting plate 501, and the fifth drive assembly drives the basket collecting plate 501 to descend to a set height to recycle the empty medicine basket 101;

[0136] The medicine box 102 enters the medicine conveying flow channel 800 through the medicine inlet, slides on the ball 803 to the medicine outlet, the sixth drive assembly drives the fifth baffle 805 to move to adjust the distance between the fourth baffle 804 and the fifth baffle 805, regulates the position and posture of the medicine box 102 on the medicine conveying flow channel 800, and makes the width of the medicine outlet consistent with the width of the medicine receiving port (such as the medicine adding channel of the medicine delivery machine) of the next device;

[0137] The seventh drive assembly drives the medicine blocking plate 815 to rise to prevent the medicine box 102 on the medicine conveying flow channel 800 from falling off;

[0138] When the medicine box 102 is full of the medicine delivery channel 800, according to the position deviation between the medicine outlet of the medicine delivery channel 800 and the medicine receiving port of the next device detected by the sixth detection sensor 824, the alignment moving assembly drives the rack 104 to adjust the spatial position so that the medicine outlet of the medicine delivery channel 800 is aligned with the medicine receiving port of the next device (for example, the medicine adding channel of the medicine delivery machine);

[0139] The seventh driving assembly drives the medicine blocking plate 815 to descend, so that the medicine box 102 enters the medicine receiving port of the next device (for example, the medicine adding channel of the medicine delivery machine) from the medicine outlet of the medicine delivery channel 800. During the medicine adding process, when the number of the medicine box 102 is counted or the medicine box 102 is stuck in the excessive position between the medicine outlet of the medicine delivery channel 800 and the medicine receiving port of the next device (for example, the medicine adding channel of the medicine delivery machine), the fifth detection sensor 823 detects that the medicine box 102 is stuck in the position, at this time, the second moving assembly drives the second vacuum suction nozzle 901 to move, and the second vacuum suction nozzle 901 sucks and lifts the medicine box 102 back to the medicine delivery channel 800, and the abnormality is excluded.

[0140] The medicine adding system provided by the application greatly improves the medicine adding efficiency, automatically recovers the medicine basket 101 and arranges the medicine box 102, reduces the manual workload, effectively reduces the medicine adding error rate, guarantees the safety of the patient's medicine taking, deeply enhances the management level of the pharmacy, realizes the full-automatic integration of the medicine adding, and is suitable for the existing medicine adding machine of the pharmacy.

[0141] A medicine adding method based on the above-mentioned medicine adding system, wherein:

[0142] The medicine basket lifting device 200 comprises a first driving assembly and two groups of oppositely arranged lifting mechanisms, the lifting mechanism comprises a chain 205 and a plurality of layers of basket feeding plates 206 arranged at equal intervals on the chain 205, and the first driving assembly drives the chain 205 to rotate and drives the basket feeding plate 206 to ascend and descend;

[0143] The steps of the medicine adding method are as follows:

[0144] S1. The required medicine box 102 is placed in the medicine basket 101 in advance, the medicine basket 101 is inserted into the two uppermost basket feeding plates 206 of the lifting mechanism, and every time a layer of medicine basket 101 is added, the first driving assembly drives the basket feeding plate 206 to move downward by one layer, and the cycle is repeated until every layer of the basket feeding plate 206 is full of medicine basket 101 or all the medicine basket 101 is added, and then the adding of the medicine basket 101 is stopped;

[0145] S2. The uppermost medicine basket 101 is then delivered by the medicine basket pushing device 300 into the medicine loading module, and the first driving assembly is reversed to drive the basket feeding plate 206 to move up by one layer;

[0146] S3. The medicine basket 101 enters the medicine basket carrying device 400, and the medicine box transferring device 600 sequentially places the medicine boxes 102 on the corresponding medicine box conveying device 700;

[0147] S4. When all the medicine boxes 102 in the medicine basket 101 are transferred, the empty medicine basket 101 is recycled by the medicine basket recycling device 500;

[0148] S5. The medicine box 102 enters the medicine feeding channel 800 from the medicine box conveying device 700 and slides to the medicine outlet, and the medicine box 102 is blocked by the medicine blocking assembly before sliding out of the medicine feeding channel 800;

[0149] S6. When the medicine feeding channel 800 is full of medicine boxes 102, the medicine blocking assembly releases the medicine box 102 to slide out of the medicine outlet;

[0150] S7. When the medicine box 102 is stuck at the medicine outlet of the medicine feeding channel 800, the medicine box transferring device 600 operates to eliminate the medicine sticking fault.

[0151] It should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be combined appropriately to form other embodiments that those skilled in the art can understand.

[0152] The above series of detailed descriptions are only specific descriptions of the feasible embodiments of the present application, and are not intended to limit the protection scope of the present application, and any equivalent embodiments or changes made without departing from the spirit of the present application should be included in the protection scope of the present application.

Claims

1. A dosing system comprising a frame (103), characterized in that, The frame (103) is provided with: The medicine adding buffer includes a medicine basket lifting device (200) and a medicine basket pushing device (300) arranged on the top of the medicine basket lifting device (200), the medicine basket lifting device (200) is used for buffering and lifting the medicine basket (101) carrying the medicine box (102), and the medicine basket pushing device (300) is used for conveying the medicine basket (101); The medicine adding module includes a medicine basket bearing device (400), a medicine basket recycling device (500), a medicine box transferring device (600) and a medicine box conveying device (700), the medicine basket bearing device (400) is used for receiving the medicine basket (101) from the medicine basket pushing device (300), the medicine basket bearing device (400) includes a medicine basket buffering assembly, the medicine basket buffering assembly includes a third driving assembly and a second medicine basket buffering track, the second medicine basket buffering track includes two oppositely arranged second roller strips, the third driving assembly includes a third motor (404), a second belt pulley set and a first screw rod transmission mechanism, the third motor (404) transmits driving force to the first screw rod transmission mechanism through the second belt pulley set, the first screw rod transmission mechanism includes a screw rod and two first screw rod nuts (405) oppositely arranged at two ends of the screw rod, one first moving plate (406) is fixed on each first screw rod nut (405), and the second roller strips are fixed on the first moving plates (406); a plurality of limiting grooves (4061) are arranged on the first moving plates (406), and a rotatable limiting strip (4062) is arranged in each limiting groove (4061), the limiting groove (4061) is used for limiting the rotation range of the limiting strip (4062), the limiting strip (4062) is used for limiting the position of the medicine basket (101), and a reset spring for resetting the limiting strip (4062) to an initial position is arranged on the limiting strip (4062); the medicine basket recycling device (500) is used for recycling the empty medicine basket (101), the medicine box transferring device (600) is used for transferring the medicine box (102) from the medicine basket (101) to the medicine box conveying device (700), and the medicine box conveying device (700) is used for conveying the medicine box (102); The medicine adding module includes a medicine feeding flow channel (800), the medicine feeding flow channel (800) is used for conveying the medicine box (102) from the medicine box conveying device (700), a liftable medicine blocking assembly is arranged at the medicine outlet of the medicine feeding flow channel (800), the medicine blocking assembly is used for blocking or releasing the medicine box (102) by lifting, and a medicine box adjusting device (900) for eliminating the medicine blocking failure is arranged above the medicine outlet of the medicine feeding flow channel (800).

2. The medicine adding system according to claim 1, characterized in that: The medicine basket lifting device (200) comprises a first driving assembly and two sets of oppositely arranged lifting mechanisms driven by the first driving assembly, the lifting mechanisms comprise a first rotating shaft (201) arranged at the bottom of the frame (103) and a second rotating shaft (202) arranged at the top of the frame (103), a sprocket set is arranged between the first rotating shaft (201) and the second rotating shaft (202), the sprocket set comprises a first sprocket (203) arranged on the first rotating shaft (201), a second sprocket (204) arranged on the second rotating shaft (202), and a chain (205) engagedly connected between the first sprocket (203) and the second sprocket (204), a plurality of basket conveying plates (206) for carrying the medicine baskets (101) are arranged on the chain (205), and the first driving assembly is used for driving the sprocket set to rotate.

3. The medicine adding system according to claim 2, characterized in that: The medicine basket pushing device (300) comprises a second driving assembly and a pushing rod (301) driven by the second driving assembly, the second driving assembly comprises a second motor (302), a first belt pulley set driven by the second motor (302), the first belt pulley set comprises a first driving belt pulley (303), a first driven belt pulley (304) and a first synchronous belt (305), a pushing frame (306) is arranged on the first synchronous belt (305), the pushing rod (301) is arranged on the pushing frame (306), and the pushing rod (301) is used for pushing the medicine baskets (101). A first medicine basket buffer track is further arranged in the movement direction of the pushing rod (301), and the first medicine basket buffer track is used for buffering the medicine baskets (101).

4. The medicine adding system according to claim 1, characterized in that: The medicine basket buffer assembly further comprises a clamping assembly, the clamping assembly comprises two clamping arms (415) arranged oppositely, the clamping arms (415) are connected with a fourth driving assembly, the fourth driving assembly comprises a first mounting seat (416) fixed on the frame (103), a fourth motor (417) arranged on the first mounting seat (416) and a first gear-rack transmission mechanism driven by the fourth motor (417), the first gear-rack transmission mechanism comprises a first gear (418) arranged on the output shaft of the fourth motor (417), the first gear (418) is engaged with a first rack (419), the first rack (419) is connected with the clamping arms (415), and the clamping arms (415) move towards or away from the medicine baskets (101) under the driving of the fourth driving assembly.

5. The medicine adding system according to claim 4, characterized in that: The medicine basket recovery device (500) comprises a fifth driving assembly and a basket collecting plate (501), the fifth driving assembly comprises a second mounting seat (502), a fifth motor (503) arranged on the second mounting seat (502) and a second gear and rack transmission mechanism driven by the fifth motor (503), the second gear and rack transmission mechanism comprises a second gear (504) arranged on an output shaft of the fifth motor (503), and a second rack (505) extending vertically is engaged with the second gear (504), and the second rack (505) is fixed on the frame (103).

6. The medicine adding system according to claim 5, wherein: The medicine feeding flow channel (800) comprises a medicine inlet and a medicine outlet, the position of the medicine inlet is higher than the position of the medicine outlet, the medicine feeding flow channel (800) comprises a sliding plate (801), a plurality of third mounting seats (802) arranged in an array are arranged in the sliding plate (801), a plurality of rolling balls (803) are arranged in the third mounting seats (802), the point at which the rolling balls (803) contact the medicine box (102) is the top point of the rolling balls (803), and a medicine feeding surface is formed by the top points of the rolling balls (803); In the conveying direction of the medicine box (102), fourth and fifth baffle plates (804) and (805) are arranged on the two sides of the sliding plate (801) respectively, the fourth baffle plate (804) is fixed on the side of the sliding plate (801), and the fifth baffle plate (805) is provided with a sixth driving assembly, and the sixth driving assembly is used to drive the fifth baffle plate (805) to move towards or away from the fourth baffle plate (804); A fifth detection sensor (823) is arranged at the medicine outlet of the medicine feeding flow channel (800), and the fifth detection sensor (823) is used to detect the position of the medicine box (102) at the medicine outlet.

7. The medicine adding system according to claim 6, wherein: The medicine blocking assembly comprises a medicine blocking plate (815) and a seventh driving assembly used to drive the medicine blocking plate (815) to move up and down, a medicine blocking groove (822) is arranged on the sliding plate (801), the position of the medicine blocking groove (822) corresponds to the position of the medicine blocking plate, and the medicine blocking plate (815) extends out of the medicine blocking groove (822) when it moves up or withdraws from the medicine blocking groove (822) when it moves down.

8. The medicine adding system according to claim 7, wherein: The medicine box transfer device (600) comprises a first vacuum suction nozzle (601) and a first moving assembly used to drive the first vacuum suction nozzle (601) to move, a visual detection device (606) is further arranged above the medicine box transfer device (600), the visual detection device (606) is used to collect and identify the information of the medicine box (102) in the medicine basket, and the medicine box transfer device (600) transfers the medicine box (102) according to the information collected by the visual detection device (606). The medicine box adjusting device (900) comprises a second vacuum nozzle (901) and a second moving assembly for driving the second vacuum nozzle (901) to move, and the medicine box adjusting device (900) recycles the medicine box (102) according to the information detected by the fifth detection sensor (823).

9. A method of dosing, characterized in that The medicine adding system of claim 1, wherein: The medicine basket lifting device (200) comprises a first driving assembly and two sets of oppositely arranged lifting mechanisms, the lifting mechanism comprises a chain (205) and a plurality of layers of basket feeding plates (206) arranged equidistantly on the chain (205), and the first driving assembly drives the chain (205) to rotate so as to drive the basket feeding plates (206) to ascend and descend; The steps of the medicine adding method are as follows: S1. The required medicine boxes (102) are placed in the medicine baskets (101) in advance, the medicine baskets (101) are inserted into the two basket feeding plates (206) on the uppermost layer of the lifting mechanism, and every time a layer of the medicine baskets (101) is added, the first driving assembly drives the basket feeding plates (206) to move downward by one layer, and the cycle is repeated until the basket feeding plates (206) on each layer are filled with the medicine baskets (101) or all the medicine baskets (101) are added, and then the adding of the medicine baskets (101) is stopped; S2. Then, the medicine basket pushing device (300) transports the medicine basket (101) on the uppermost layer into the medicine adding module, and the first driving assembly reversely drives the basket feeding plates (206) to move upward by one layer; S3. The medicine basket (101) enters the medicine basket carrying device (400), the medicine box transferring device (600) places the medicine boxes (102) in order on the corresponding medicine box conveying device (700); S4. When all the medicine boxes (102) in the medicine basket (101) are transferred, the medicine basket recycling device (500) recycles the empty medicine basket (101); S5. The medicine boxes (102) enter the medicine feeding flow channel (800) from the medicine box conveying device (700) and slide to the medicine outlet, and the medicine boxes (102) are blocked by the medicine blocking assembly before sliding out of the medicine feeding flow channel (800); S6. When the medicine boxes (102) are arranged in the medicine feeding flow channel (800), the medicine blocking assembly releases the medicine boxes (102) to slide out of the medicine outlet; S7. When the medicine boxes (102) are stuck at the medicine outlet of the medicine feeding flow channel (800), the medicine box transferring device (600) operates to eliminate the medicine sticking fault.

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