An automatic dispensing system for traditional Chinese medicine decoction pieces and a method thereof

Abstract

The application discloses a traditional Chinese medicine decoction piece automatic dispensing system and method thereof, the system comprises a plurality of dispensing units, which are fixed to the ground and fall medicine towards the ground, a plurality of dispensing robots are arranged at the bottom of all the dispensing units to carry medicine receiving boxes to walk along different medicine receiving paths to receive medicine; the dispensing robots send the medicine receiving boxes after receiving the decoction pieces to a medicine box conveying line, and pack the received decoction pieces in the medicine receiving boxes during the conveying process. The application also provides a method based on the traditional Chinese medicine decoction piece automatic dispensing system, and the falling medicine port is arranged below the dispensing unit, so that the plurality of dispensing robots can walk along different paths in the sufficient space below the dispensing unit and receive medicine in parallel, thereby solving the problem that the current dispensing system can only receive medicine in sequence and affects the dispensing efficiency.

Description

TECHNICAL FIELD

[0001] The application belongs to the direction of dispensing of traditional Chinese medicine decoction pieces, and particularly relates to an automatic dispensing system for traditional Chinese medicine decoction pieces and a method thereof. BACKGROUND

[0002] The traditional Chinese medicine decoction pieces need to be mixed according to a prescription. At present, an automatic dispensing system for traditional Chinese medicine can be used to automatically weigh various medicinal materials according to a prescription, package, and complete automatic dispensing of the traditional Chinese medicine decoction pieces.

[0003] However, the current automatic dispensing system for traditional Chinese medicine decoction pieces is composed of a three-dimensional dispensing cabinet and a conveying line located inside or between the dispensing cabinets. Some are fixed at a distance from the ground, and a conveying line is arranged at the bottom of the dispensing cabinet. Therefore, the current automatic dispensing system mainly relies on the conveying line to convey different types of traditional Chinese medicine decoction pieces according to the prescription instructions. The medicine basket needs to be conveyed forward in sequence to complete the prescription dispensing. The dispensing module automatically weighs and drops the medicine into the medicine basket according to the dispensing prescription, and the medicine basket is conveyed forward in sequence to complete the dispensing of the prescription.

[0004] In the above type of dispensing system, the medicine basket needs to be conveyed forward in sequence to complete the prescription dispensing. When multiple prescriptions are dispensed at the same time, the dispensing efficiency is low, and the waiting time is long. SUMMARY

[0005] The application provides an automatic dispensing system for traditional Chinese medicine decoction pieces and a method thereof to solve the problem that the current dispensing system can only dispense in sequence, which affects the dispensing efficiency.

[0006] In a first aspect of the application, an automatic dispensing system for traditional Chinese medicine decoction pieces is provided, comprising:

[0007] A plurality of dispensing units are fixed at a distance from the ground and drop medicine towards the ground. A plurality of dispensing robots are arranged at the bottom of all the dispensing units to carry a medicine receiving box to walk along different medicine receiving paths at the bottom of the medicine receiving box to receive medicine.

[0008] The dispensing robot sends the medicine receiving box after receiving the decoction pieces to a medicine box conveying line, and packs the received decoction pieces in the medicine receiving box during the conveying process.

[0009] Further, the dispensing system generates different medicine receiving paths according to different sequences of receiving medicine, so that any number of dispensing robots walk along different paths and receive medicine in parallel.

[0010] Further, at the bottom of all the dispensing systems, one end is the import end of the dispensing robot, and the other end is the export end. The end of the medicine box conveying line near the export end is provided with a medicine box unloading station.

[0011] The dispensing robot walks along different medicine receiving paths from the inlet end to the outlet end, and along different medicine sending paths to the medicine unloading box station to unload the medicine receiving box that has received medicine, and a channel is left between the medicine box conveying line and the dispensing unit as a medicine taking path, so that the dispensing robot can walk along the medicine taking path to another end of the medicine box conveying line after unloading the medicine receiving box.

[0012] Further, each dispensing unit is provided with a plurality of dispensing modules, the upper part of each dispensing module is an independent hopper, a dispensing head is arranged below the hopper, the top of the hopper is a medicine supplementing port, and the bottom of the dispensing head is a medicine dropping port.

[0013] Further, the dispensing robot comprises a walking chassis, and the medicine receiving box is mounted on the walking chassis through a rotating mechanism.

[0014] The number of the medicine receiving box is one or more, and a weighing mechanism is arranged on the rotating mechanism to weigh in real time and feed back the weighing information to the dispensing module.

[0015] Further, at least one medicine supplementing mechanical arm is arranged at the top of all the dispensing units, slides along guide rails arranged at both side edges of all the dispensing units, and is provided with a medicine supplementing conveying line connected with the guide rails at the end thereof.

[0016] Further, the medicine box conveying line gradually decreases in height from the medicine unloading box station to the medicine receiving box station, and the part of the medicine box conveying line close to the medicine unloading box station is the highest part.

[0017] Further, along the direction from the outlet end to the inlet end of all the dispensing units, a prescription table, a rechecking table, an empty box conveying line and a box sending machine are sequentially arranged between the medicine unloading box station and the medicine receiving box station of the medicine box conveying line.

[0018] In the second aspect of the present application, a method based on the automatic dispensing system of traditional Chinese medicine decoction pieces is also provided, and the method comprises the following steps:

[0019] Step 1: The dispensing system receives a dispensing prescription instruction, generates different medicine receiving paths according to different medicine receiving sequences, and sends a prescription dispensing requirement to corresponding dispensing modules, a box sending machine and a dispensing robot.

[0020] Step 2: The dispensing robot walks to the medicine receiving box station in sequence, carries a group of medicine receiving boxes along different medicine receiving paths into the dispensing unit below, and reaches the position below the medicine dropping port of the first dispensing module.

[0021] Step 3, the rotation mechanism of the dispensing robot rotates one of the medicine receiving boxes to align with the medicine falling port, and the dispensing head of the dispensing module starts to fall medicine. During the falling process, the weighing mechanism feeds back the falling weight in real time, and when the required weight data is reached, the dispensing head stops discharging, and the rotation mechanism rotates to replace the empty medicine receiving box;

[0022] Step 4, repeat step 3 until all the medicine receiving boxes in a group complete the medicine receiving of the first kind of decoction pieces;

[0023] Step 5, the dispensing robot continues to walk to the second to nth dispensing module medicine falling port in turn, and repeats steps 3-4 until the dispensing of n kinds of decoction pieces according to the prescription dispensing requirement is completed;

[0024] Step 6, the dispensing robot walks to the medicine unloading box station according to the medicine delivery path, and transfers the medicine receiving box to the medicine box conveying line. During the conveying process on the conveying line, special medicinal materials are added, rechecked and weighed, and the empty medicine receiving box is conveyed to the box releasing machine for temporary storage through the empty box conveying line;

[0025] Step 7, the dispensing robot walks along the medicine taking path and continues to execute the next dispensing requirement.

[0026] Further, the method further comprises an independent medicine supplementing process:

[0027] Step 8, the dispensing system receives the medicine shortage information of the dispensing module and sends the medicine supplementing requirement to the medicine loading robot;

[0028] Step 9, the medicine supplementing box is transferred to the medicine supplementing conveying line through the front conveying line, the medicine loading robot grabs the medicine supplementing box, moves to above the dispensing module to be supplemented by combining the movement support rod and the guide rail, and pours the decoction pieces into the dispensing module through the medicine supplementing port;

[0029] Step 10, after the medicine supplementing is completed, the medicine loading robot puts the medicine supplementing box back to the medicine supplementing conveying line, grabs another medicine supplementing box and repeats the medicine supplementing movement process in step 9 until the medicine supplementing requirement of all dispensing modules is completed.

[0030] Compared with the prior art, the present application has the following beneficial effects:

[0031] 1. The traditional Chinese medicine decoction piece automatic dispensing system provided by the present application is fixed by distance from the ground, the medicine receiving path is located below the dispensing unit, and a plurality of dispensing robots are configured. The plurality of dispensing robots can walk along different paths to take medicine at the same time, so that multiple prescriptions can be dispensed at the same time, and the dispensing efficiency can be greatly improved when the dispensing prescription requirements are concentrated.

[0032] 2. The weighing mechanism of the present application is integrated on the dispensing robot and is not affected by the vibration of the dispensing module discharge port, so that the dispensing weighing precision can be improved; meanwhile, each medicine falling port corresponding to each kind of medicine is independent, avoiding cross contamination of shared medicine discharge ports. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required to be used in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only exemplary, and other drawings can be derived from the provided drawings without creative labor for those skilled in the art.

[0034] Figure 1 It is a schematic diagram of the automatic dispensing system of traditional Chinese medicine decoction pieces in the embodiment of the present application.

[0035] Figure 2 It is a schematic diagram of the automatic dispensing system of traditional Chinese medicine decoction pieces in the embodiment of the present application. Figure 1 It is a schematic diagram of the automatic dispensing system of traditional Chinese medicine decoction pieces in the embodiment of the present application.

[0036] Figure 3 It is a schematic diagram of the automatic dispensing system of traditional Chinese medicine decoction pieces in the embodiment of the present application.

[0037] Figure 4 It is a schematic diagram of the automatic dispensing system of traditional Chinese medicine decoction pieces in the embodiment of the present application.

[0038] Figure 5 It is a schematic diagram of the automatic dispensing system of traditional Chinese medicine decoction pieces in the embodiment of the present application.

[0039] Figure 6 It is a schematic diagram of the automatic dispensing system of traditional Chinese medicine decoction pieces in the embodiment of the present application.

[0040] Figure 7 It is a schematic diagram of the automatic dispensing system of traditional Chinese medicine decoction pieces in the embodiment of the present application. Figure 6 It is a schematic diagram of the automatic dispensing system of traditional Chinese medicine decoction pieces in the embodiment of the present application.

[0041] Figure 8 It is a schematic diagram of the automatic dispensing system of traditional Chinese medicine decoction pieces in the embodiment of the present application.

[0042] Figure 9 It is a schematic diagram of the automatic dispensing system of traditional Chinese medicine decoction pieces in the embodiment of the present application.

[0043] Figure 10 It is a schematic diagram of the automatic dispensing system of traditional Chinese medicine decoction pieces in the embodiment of the present application.

[0044] Reference numerals in the drawings:

[0045] 1-dispensing unit, 2-medicine feeding mechanical hand, 3-medicine box conveying line, 4-dispensing robot, 5-box cleaning machine, 6-box feeding machine, 7-medicine box receiving station, 8-medicine box unloading station, 9-empty box conveying line, 10-dispensing module, 11-medicine dropping port, 12-medicine supplementing port, 13-hopper, 14-dispensing head, 15-valve, 16-motor, 21-medicine box, 22-traveling chassis, 23-weighing mechanism, 24-rotary mechanism, 25-photographing module, 30-charging pile, 31-medicine supplementing conveying line. DETAILED DESCRIPTION

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] like Figures 1-2 As shown, the present invention provides an automatic dispensing system for traditional Chinese medicine decoction pieces, comprising:

[0048] Multiple dispensing units are fixed at a distance from the ground and face the ground to dispense medicine. At the bottom of all dispensing units are multiple dispensing robots that carry medicine boxes and walk along different medicine dispensing paths to collect medicine.

[0049] The dispensing robot sends the medicine receiving box after receiving the medicinal slices to the medicine box conveyor line, and packages the medicinal slices received in the medicine receiving box along the conveyor line.

[0050] The dispensing system provided by this invention arranges multiple dispensing units horizontally and / or vertically and fixes them above the ground. The bottom of each unit serves as a dispensing port, and the top as a replenishment port. A support frame for fixing the dispensing units has adjacent gaps sufficient to allow at least one dispensing robot to pass through (e.g., ...). Figure 1 As shown, two dispensing robots can pass side-by-side through the gap in the support frame, allowing the dispensing robots to move and be arranged arbitrarily on the ground and around the perimeter. Furthermore, the spacious walking area at the bottom provides room for multiple dispensing robots to move and dispense medication simultaneously. This allows for the generation of different dispensing paths based on the number of dispensing robots and the quantity of dispensing formulas, enabling multiple dispensing robots to simultaneously dispense medication along different paths, thus improving both space utilization and dispensing efficiency.

[0051] The dispensing system can generate different dispensing paths based on the different order of drug dispensing, allowing any number of dispensing robots to walk synchronously along different paths and dispense drugs in parallel. For example, when a prescription urgently needs to be dispensed in multiple doses or multiple prescriptions need to be dispensed at the same time, different dispensing paths can be generated based on the different order of drug dispensing. Each dispensing robot follows one path, and multiple robots simultaneously dispense drugs along different paths, improving dispensing efficiency.

[0052] Furthermore, the multiple dispatching robots set up in the dispatching system are redundant, so if a fault occurs, it is easy to replace them, and the robots can autonomously avoid each other and overtake each other.

[0053] To further standardize and adjust the robot's walking path, such as Figure 3As shown, the walking space at the bottom of the dispensing unit is further planned to facilitate path setting. At the bottom of all dispensing systems, one end is the inlet, and the corresponding other end is the outlet. A medication unloading station is located at the end of the medication box conveyor line near the outlet. The dispensing robot starts from the inlet and walks along different medication receiving paths to the outlet. Then, it follows different medication delivery paths to the medication unloading station to unload the received medication boxes. A passage is left between the medication box conveyor line and the dispensing unit as a medication retrieval path, allowing the dispensing robot to follow the retrieval path to the medication box receiving station at the other end of the medication box conveyor line after unloading the medication boxes.

[0054] In this invention, each dispensing unit is equipped with multiple dispensing modules, such as... Figures 4-5 As shown, each dispensing module has an independent hopper at the top, and a dispensing head connected to it at the bottom. The top of the hopper is the replenishment port, and the bottom of the dispensing head is the dispensing port. Each dispensing module, through its independent hopper and dispensing head, ensures that the dispensing port and replenishment port are both independent.

[0055] The dispensing head is equipped with a motor and a screw, and a valve is installed at the dispensing port. When dispensing medicine, the valve opens, the motor rotates to drive the screw downwards to dispense the medicine, and the valve closes after dispensing is complete, stopping the dispensing. Furthermore, the dispensing head also serves to buffer the medicinal slices.

[0056] like Figures 6-7 As shown, the dispensing robot includes a walking chassis, on which receiving boxes are mounted via a rotary mechanism. There are one or more receiving boxes, and a weighing mechanism is installed on the rotary mechanism for real-time weighing and feeding back the weighing information to the dispensing module. Multiple receiving boxes are assembled on top of the walking chassis and can be quickly assembled and disassembled automatically or manually, improving operational efficiency.

[0057] In use, the rotary mechanism rotates to align a medicine receiving box with the medicine dispensing port to receive the medicine. Simultaneously, it can weigh the medicine in real time and send the weighing data back to the dispensing module. The weighing function can also be set at the medicine dispensing port to control the amount of medicine dispensed through real-time weighing. However, it is preferable to set the weighing function on the dispensing robot itself, thus achieving weighing without contact with the medicine dispensing port and reducing the impact of vibration on weighing accuracy.

[0058] To facilitate evidence collection and data traceability during the dispensing process, a photo display module integrating photo taking and display functions is installed on the side pillar of the walking chassis. The height of the photo display module is higher than the height of the medicine receiving box, allowing for photo recording and evidence collection of the dispensing process.

[0059] For the convenience of taking tonics, such as Figure 8 As shown, at least one drug-dispensing robot is provided at the top of all dispensing units, slides along guide rails located on both sides of all dispensing units, and has a drug delivery line connected to the guide rails at its end.

[0060] At least one movement support rod is connected between the guide rails, and an upper medicine mechanical hand is movably mounted on each movement support rod.

[0061] The system is configured with at least one upper medicine mechanical hand to simulate manual medicine supplementing, which can reduce the labor intensity of manual medicine supplementing, improve the accuracy of medicine supplementing, and avoid the problem that the required medicine variety is inconsistent with the actual medicine.

[0062] A medicine box conveying line parallel to the outer edges of all dispensing units is arranged near the side of the dispensing unit, and the medicine box conveying line gradually decreases in height from the medicine box unloading station to the medicine box receiving station.

[0063] Between the medicine box unloading station and the medicine box receiving station of the medicine box conveying line in the direction from the outlet end to the inlet end of all dispensing units, a prescription table, a review table, a medicine box conveying line, an empty box conveying line, and a box sending machine are sequentially arranged.

[0064] It should be noted that one end of the medicine box conveying line is raised to shorten the charging path of the dispensing robot, so that it can directly pass through the conveying line to the charging pile without detouring.

[0065] The automatic dispensing system of traditional Chinese medicine decoction pieces provided by the present application can be connected to the HIS prescription management system of the user, and unifiedly receive the instructions of the HIS prescription management system. Figures 9-10 As shown in the figure.

[0066] Based on the above-mentioned automatic dispensing system of traditional Chinese medicine decoction pieces, the present application further provides a corresponding method, which comprises:

[0067] Step 1: The dispensing system receives the dispensing prescription instruction, generates different medicine receiving paths according to different medicine receiving sequences, and sends the prescription dispensing demand to the corresponding dispensing module, box sending machine and dispensing robot.

[0068] After the dispensing system receives the dispensing prescription instruction issued by the HIS, the dispensing system sends the dispensing prescription demand to the robot scheduling system, and at the same time, the dispensing system sends the dispensing prescription demand to the dispensing module and the box sending machine, and prepares for the medicine dropping.

[0069] Step 2, the dispensing robot sequentially walks to the medicine receiving box station, the box sending machine sends a group of medicine receiving boxes to the dispensing robot, and the dispensing robot carries a group of medicine receiving boxes along different medicine receiving paths to the lower part of the dispensing unit, and reaches the lower part of the first dispensing module medicine dropping port.

[0070] Step 3, the rotation mechanism of the dispensing robot rotates one of the medicine receiving boxes to align with the medicine dropping port, and the dispensing head of the dispensing module starts to drop the medicine, and the weighing mechanism feeds back the medicine dropping weight in real time during the medicine dropping process, and when the required weight data is reached, the dispensing head stops discharging, and the rotation mechanism rotates to replace the empty medicine receiving box.

[0071] Among them, the dispensing head of the dispensing module starts to drop the medicine, and the dispensing head starts to drop the medicine in a progressive manner of fast, medium and slow speed, and by setting different dropping modes, the dropping speed is preferably adjusted in the order of fast, medium and slow, so as to shorten the dropping time.

[0072] Step 4, repeat step 3 until all the medicine receiving boxes of the group complete the medicine receiving of the first kind of decoction pieces, and reset.

[0073] Step 5, the dispensing robot sequentially continues to walk to the lower part of the second to the nth dispensing module medicine dropping port, and repeats steps 3-4 until the dispensing and dropping of n kinds of decoction pieces are completed according to the dispensing prescription demand.

[0074] Step 6, the dispensing robot walks to the medicine unloading box station according to the medicine sending path, and transfers the medicine receiving box to the medicine box conveying line, and during the conveying process, special medicinal materials are added, rechecked and weighed, and the empty medicine receiving box is conveyed to the box sending machine for temporary storage through the empty box conveying line;

[0075] Step 7, the dispensing robot walks along the medicine taking path and continues to execute the next dispensing demand, or returns to the standby charging position according to the power.

[0076] Although multiple dispensing robots are configured in the present application, one dispensing robot can be controlled to execute a dispensing task of a few copies of a prescription according to the demand under the scheduling system, or multiple robots can be controlled to execute multiple dispensing tasks of multiple prescriptions or multiple copies of a prescription in parallel. When multiple dispensing robots execute dispensing tasks at the same time, each dispensing robot is equivalent to binding different prescription instructions according to different medicine receiving paths, and multiple prescriptions are dispensed at the same time.

[0077] The above method also includes an independent medicine supplementing process:

[0078] Step 8, the dispensing system receives the drug shortage information of the dispensing module, and sends a drug supplement demand to the upper drug mechanical arm.

[0079] Preferably, the dispensing system can send the drug supplement demand to the automatic drug supplement system, and the automatic drug supplement system sends a drug supplement instruction to the upper drug mechanical arm and to the drug supplement conveying line.

[0080] Step 9, the replenishment box is transferred to the drug supplement conveying line through the front conveying line, the upper drug mechanical arm grabs the replenishment box, moves to the top of the dispensing module that needs to be supplemented through the combination of the movement support rod and the guide rail, and pours the medicinal materials into the dispensing module through the supplement port.

[0081] Step 10, after the drug supplement is completed, the upper drug mechanical arm puts the replenishment box back to the drug supplement conveying line, grabs another replenishment box, and repeats the drug supplement movement process in step 9 until the drug supplement demand of all dispensing modules is completed.

[0082] The dispensing system and method provided by the application are modularized, can be adapted to different pharmacy and factory layouts, have strong expansibility, and are not limited by the site by the robot. Moreover, the robot configured by the dispensing system has redundancy, so that even if one robot fails, other robots can be quickly switched, the carrying capacity of the other robots is improved, and the operation of the entire dispensing system remains stable.

[0083] The above embodiments are only exemplary embodiments of the application and are not used to limit the application, and the protection scope of the application is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements to the application within the spirit and protection scope of the application, and such modifications or equivalent replacements are also regarded as falling within the protection scope of the application.

Claims

1. A traditional Chinese medicine decoction piece automatic dispensing system, characterized in that, Comprise: A plurality of dispensing units are fixed at a distance from the ground and fall medicine towards the ground, and a plurality of dispensing robots are arranged at the bottom of all the dispensing units to carry medicine boxes to walk along different medicine taking paths at the bottom of the medicine boxes; The dispensing robot sends the medicine box after taking medicine to the medicine box conveying line, and packs the medicine taken in the medicine box during the conveying process; The dispensing system generates different medicine taking paths according to different medicine taking sequences, so that any number of dispensing robots walk along different paths and take medicine in parallel; At the bottom of all the dispensing systems, one end is the dispensing robot import end, and the corresponding other end is the export end. The end of the medicine box conveying line near the export end is provided with a medicine box unloading station; Wherein, the dispensing robot starts from the import end and walks along different medicine taking paths to the export end, along different medicine taking paths to the medicine box unloading station to unload the medicine box that has taken medicine. A channel is left between the medicine box conveying line and the dispensing unit to form a medicine taking path, so that the dispensing robot can unload the medicine box along the medicine taking path to the other end of the medicine box conveying line after unloading the medicine box. The dispensing robot comprises a walking chassis, and the medicine box is installed on the walking chassis through a rotating mechanism; Each of the dispensing units is provided with a plurality of dispensing modules; Wherein, the number of medicine boxes is one or more, and a weighing mechanism is installed on the rotating mechanism to weigh in real time and feed back the weighing information to the dispensing module.

2. The automatic dispensing system for traditional Chinese medicine decoction pieces according to claim 1, wherein: The upper part of each dispensing module is an independent hopper, and a dispensing head is arranged below the hopper. The top of the hopper is a medicine supplementing port, and the bottom of the dispensing head is a medicine falling port.

3. The automatic dispensing system for traditional Chinese medicine decoction pieces according to claim 1, wherein: At least one medicine feeding mechanical arm is arranged at the top of all the dispensing units, slides along the guide rail located at the two side edges of all the dispensing units, and a medicine supplementing conveying line is arranged at the end of the guide rail.

4. The automatic dispensing system for traditional Chinese medicine decoction pieces according to claim 1, wherein: The medicine box conveying line rises from the medicine box unloading station to the medicine box taking station, and the height gradually decreases. The part of the medicine box conveying line near the medicine box unloading station is the highest part.

5. The automatic dispensing system for traditional Chinese medicine decoction pieces according to claim 1, wherein: From the export end to the import end of all the dispensing units, a prescription table, a review table, a blank box conveying line and a box issuing machine are sequentially arranged between the medicine box unloading station and the medicine box taking station of the medicine box conveying line.

6. A method based on the traditional Chinese medicine decoction piece automatic dispensing system according to any one of claims 1-5, characterized in that, The method comprises: Step 1: The dispensing system receives dispensing prescription instructions, generates different medicine taking paths according to different medicine taking sequences, and sends prescription dispensing requirements to corresponding dispensing modules, box issuing machines and dispensing robots; Step 2: The dispensing robot walks to the medicine box taking station in sequence, carries a group of medicine boxes along different medicine taking paths into the dispensing units below, and reaches the bottom of the first dispensing module medicine falling port; Step 3, the rotation mechanism of the dispensing robot rotates one of the medicine receiving boxes to align with the medicine dropping port, and the dispensing head of the dispensing module starts to drop medicine. During the dropping process, the weighing mechanism provides real-time feedback on the weight of the dropped medicine. When the required weight data is reached, the dispensing head stops dispensing. The rotation mechanism rotates to replace the empty medicine receiving box. Step 4, repeat step 3 until all medicine receiving boxes in a group complete the reception of the first type of decoction pieces. Step 5, the dispensing robot continues to walk to the positions below the 2nd to nth dispensing modules in turn, and repeats steps 3 and 4 until the dispensing of n types of decoction pieces is completed according to the prescription dispensing requirements. Step 6, the dispensing robot walks to the medicine unloading box station according to the medicine delivery path, and transfers the medicine receiving box to the medicine box conveying line. During the conveying process on the conveying line, special medicinal materials are added, rechecked and weighed, and the empty medicine receiving box is transferred to the empty box conveying line and then to the box issuing machine for temporary storage. Step 7, the dispensing robot walks along the medicine taking path and continues to execute the next dispensing requirement.

7. The method of the automatic traditional Chinese medicine decoction piece dispensing system according to claim 6, characterized in that, The method further comprises an independent medicine supplementing process: Step 8, the dispensing system receives the medicine shortage information of the dispensing module and sends the medicine supplementing requirement to the medicine loading robot. Step 9, the medicine supplementing box is transferred to the medicine supplementing conveying line through the front conveying line, the medicine loading robot grabs the medicine supplementing box, moves to the position above the dispensing module that needs to be supplemented by combining with the guide rail, and then aligns with the medicine supplementing port to drop the decoction pieces. Step 10, after the medicine supplementing is completed, the medicine loading robot puts the medicine supplementing box back to the medicine supplementing conveying line, grabs another medicine supplementing box, and repeats the medicine supplementing movement process in step 9 until the medicine supplementing requirements of all dispensing modules are completed.

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