Intelligent dispensing system and method thereof

Abstract

The application discloses an intelligent dispensing system and a method thereof. The system comprises: a plurality of dispensing cabinets, one side of the dispensing cabinet is provided with a plurality of independent discharge ports, and a corresponding replenishment port is arranged on the opposite side of the dispensing cabinet corresponding to each discharge port; the discharge surface of each dispensing cabinet is the same, a material taking path is formed along the discharge surface, and a material replenishment path is formed along the replenishment surface; a plurality of material taking vehicles, each of which carries at least one material taking hopper, generates different material taking paths to different discharge ports according to different material taking sequences, so that the plurality of material taking vehicles can simultaneously take and real-time weigh and quantify the material; and at least one material replenishment vehicle replenishes the material to the dispensing module in need of material replenishment. The application also provides a method based on the above dispensing system, the discharge direction of the dispensing cabinet is adjusted, and the dispensing cabinet is reasonably arranged, so that the plurality of material taking vehicles can synchronously take the material, and the problem that the current dispensing system can only sequentially take the medicine in sequence and influences the dispensing efficiency is solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automatic dispensing of traditional Chinese medicine decoction pieces, and particularly relates to an intelligent dispensing system 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 of traditional Chinese medicine can be used to automatically weigh and pack various medicinal materials according to a prescription, thereby completing automatic dispensing of traditional Chinese medicine decoction pieces.

[0003] However, the automatic dispensing system of traditional Chinese medicine decoction pieces at present is mostly composed of multiple three-dimensional dispensing cabinets and conveying lines located inside or between the dispensing cabinets (such as patents 202110820844.0, 202111296680.2 and 201910805513.2), and the working process is roughly as follows: the medicine receiving baskets are conveyed along the conveying lines, pass through each dispensing cabinet, the dispensing modules automatically weigh and discharge the medicine into the medicine receiving baskets according to the dispensing formula, the medicine receiving baskets are sequentially conveyed forward to complete the dispensing of the formula, and when the dispensing discharge module is insufficient in materials, an alarm is automatically sent, and the materials are manually supplemented from the rear of the dispensing cabinet or automatically supplemented by a mechanical hand.

[0004] When using the above dispensing system, each medicine receiving basket needs to be sequentially conveyed forward to complete the dispensing of the formula, and the medicine receiving basket can only dispense the medicine corresponding to one formula at a time. When multiple formulas are dispensed collectively, the medicine needs to be taken from the conveying line in sequence, which takes a long time and has low dispensing efficiency. Moreover, the weighing module in the current dispensing module is mostly arranged at the medicine discharge port, and the weighing module is installed close to the discharge mechanism, so that the discharge vibration affects the weighing precision and causes inaccurate discharge. SUMMARY

[0005] The present application provides an intelligent dispensing system and a method thereof, which adjusts the discharge direction of the dispensing cabinet, reasonably arranges the dispensing cabinet, and enables multiple material taking vehicles to take materials synchronously, so as to solve the problem that the material receiving frame in the current dispensing system can only take materials in sequence, thereby affecting the dispensing efficiency.

[0006] In a first aspect of the present application, an intelligent dispensing system is provided, which comprises:

[0007] The dispensing cabinet is provided with multiple independent discharge ports on one side, each discharge port (18) stores different materials, and a material supplementing port is arranged on the opposite side corresponding to each discharge port. The discharge faces of each row of dispensing cabinets are the same, a material taking path is formed along the discharge face, the opposite side of the discharge face is a material supplementing face, and a material supplementing path is formed along the material supplementing face.

[0008] A plurality of material taking vehicles, each carrying at least one material taking hopper, the plurality of material taking vehicles synchronously walking along different material taking paths generated according to different orders of material taking, so that the plurality of material taking vehicles can simultaneously take and weigh a certain amount of material in real time;

[0009] At least one material supplementing vehicle, each carrying at least one material supplementing box, moving to a material supplementing port of a dispensing module in need of material supplementing to supplement the dispensing module with material.

[0010] Further, a plurality of rows of the dispensing cabinets are arranged longitudinally and / or transversely, and a path channel is formed between adjacent rows of the dispensing cabinets, the width of which is at least sufficient to accommodate two material vehicles passing side by side.

[0011] Further, the material outlet surfaces of adjacent rows of the dispensing cabinets are adjacent to each other, surrounding an inner surrounding material outlet space, and the material supplementing surfaces are peripheral spaces of the dispensing cabinets, which separate the material outlet paths and the material supplementing paths.

[0012] Further, the number of the material supplementing vehicles is a plurality, each carrying at least one material supplementing box, and moving along different material supplementing paths generated according to different orders of material supplementing to simultaneously supplement a plurality of dispensing modules in need of material supplementing with material.

[0013] Further, a plurality of dispensing modules are arranged vertically and obliquely through the dispensing cabinet on each of the dispensing cabinets, each material outlet and the opposite material supplementing port correspond to an independent dispensing module, the material outlet is obliquely directed towards the ground, and the material supplementing port is obliquely directed upwards, so that the material outlet path and the material supplementing path are separated from each other.

[0014] The dispensing head of the dispensing module is connected to the material outlet through an obliquely installed screw rod to control material outlet.

[0015] Further, the material taking hopper is installed on a material taking mechanism of the material taking vehicle, the material taking mechanism is slidably connected in the middle of a lifting mechanism through a sliding support to be lifted up and down in the vertical direction, so that the material taking hopper reaches the height of the material outlet, a first walking chassis is arranged at the bottom of the lifting mechanism, and a photographing module is arranged at the top of the lifting mechanism to record the material taking process of the material taking mechanism.

[0016] Further, a telescopic module is fixed above the sliding support to be telescoped left and right relative to the sliding support to extend the material taking hopper, a first rotating module and a weighing jacking module are fixed on the telescopic module, and the material taking hopper is above the first rotating module.

[0017] Wherein the number of said material taking hopper can be multiple, and the first rotating module can replace the material taking hopper which has taken material when taking material, and each material taking hopper can be lifted a certain distance by the weighing lifting module to take material and weigh quantitatively.

[0018] Further, the refilling trolley is provided with a single-column lifting mechanism fixed on the second traveling chassis, the second traveling chassis is also fixed with a refilling box carrying module, and a clamping jaw mechanism is slidingly connected to the single-column lifting mechanism through a lifting support to clamp at least one refilling box and place the refilling box into the refilling box carrying module, when the refilling trolley moves to the refilling opening, the clamping jaw mechanism clamps the refilling box and places the refilling box into the refilling opening of the dispensing module which needs to be refilled.

[0019] Further, the clamping jaw of the clamping jaw mechanism is installed on the lifting support through a second rotating module, so that the clamping jaw rotates relative to the lifting support.

[0020] In the second aspect of the present application, a method based on the intelligent dispensing system is further provided, and the method comprises:

[0021] Step 1: the dispensing system receives a dispensing combination instruction to generate an optimal material taking path with the shortest distance;

[0022] Step 2: the material taking trolley receiving the dispensing combination requirement travels to the position of the material taking machine, carries a group of material taking hoppers, and travels along the optimal material taking path to below the discharge opening of the dispensing module of the first material;

[0023] Step 3: the material taking mechanism is lifted to the height of the discharge opening, the telescopic module drives the material taking hopper to extend below the discharge opening, and the first rotating module rotates to rotate the first material taking hopper to be opposite below the discharge opening;

[0024] Step 4: the weighing lifting module lifts the material taking hopper to be close to the discharge opening, the dispensing head of the dispensing module discharges material into the material taking hopper, the weighing lifting module below the material taking hopper weighs in real time during the discharging process, and feedback data is fed back to the dispensing module, when the required weight data is reached, the dispensing head stops discharging, and the weighing lifting module descends;

[0025] Step 5: the first rotating module rotates to replace the material taking hopper, the second material taking hopper is rotated to be opposite below the discharge opening, and the contents of steps 4-5 are repeated until the group of material taking hoppers are all filled with the first material;

[0026] Step 6: the material taking mechanism is reset, the material taking trolley continues to travel to below the discharge openings of the dispensing modules of the second to nth materials, the material taking process of the first material in steps 3-5 is repeated, and the dispensing and material taking of the n kinds of materials are completed according to the dispensing combination requirement;

[0027] Step 7, the taking trolley walks to the replenishment station, and a group of taking hoppers is conveyed to the replenishment station, special material is added, and then rechecked and packaged, the material in one dispensing combination is dispensed, the empty taking hopper is conveyed to the empty hopper conveying line, and then conveyed to the empty hopper conveying line to complete foreign matter cleaning, and then conveyed to the empty hopper conveying line to complete foreign matter cleaning.

[0028] Further, if multiple taking trolleys need to take materials synchronously, the dispensing system generates different taking paths according to different taking sequences after receiving a dispensing combination instruction, and each taking trolley walks along a taking path to take materials.

[0029] Further, the method further comprises a replenishment process.

[0030] Step 8, the dispensing system receives a material shortage alarm of the dispensing cabinet, and generates an optimal replenishment path with the shortest distance.

[0031] Step 9, the replenishment trolley receiving the replenishment instruction walks to the replenishment station, receives at least one full material replenishment box, and then walks along the optimal replenishment path.

[0032] Step 10, when reaching the first dispensing module needing replenishment, the bottom rotating module rotates one of the replenishment boxes to below the claw mechanism, the claw mechanism moves downward to clamp the replenishment box below, and then moves upward, when reaching the height of the replenishment port of the dispensing module, the claw mechanism rotates to align the outlet of the replenishment box with the replenishment port of the dispensing module, pours the material into the hopper of the dispensing module, and after the pouring is completed, the taking mechanism is reset to place the replenishment box back to the original position.

[0033] Step 11, the replenishment trolley walks to the next dispensing module needing replenishment, and repeats the actions of steps 10-11 to replenish the remaining replenishment boxes to the dispensing module.

[0034] Further, if multiple replenishment trolleys need to replenish materials synchronously, the dispensing system generates different replenishment paths according to different replenishment sequences after receiving a material shortage alarm, and each replenishment trolley walks along a replenishment path to replenish materials, so as to simultaneously complete replenishment of multiple dispensing modules.

[0035] Compared with the prior art, the present application has the following beneficial effects:

[0036] 1. The intelligent dispensing system provided by the present application is configured with multiple taking trolleys, the multiple taking trolleys can take materials along different paths simultaneously, so that multiple dispensing combination instructions can be dispensed simultaneously, the trolleys can realize autonomous avoidance and overtaking, and when dispensing combination demands are concentrated or one dispensing combination demand needs to be completed urgently, the dispensing efficiency can be greatly improved.

[0037] 2. The weighing mechanism of the present application is integrated on the trolley, is not affected by the vibration of the dispensing module discharge mechanism, and can improve the dispensing accuracy; meanwhile, each material corresponding to each discharge port is independent, avoiding cross contamination of shared discharge ports.

[0038] 3. The system is configured with at least one replenishment trolley, simulates manual replenishment, can reduce the walking labor intensity of manual replenishment, improve the replenishment accuracy, and avoid the problem that the required replenishment variety is inconsistent with the actual replenishment. Multiple replenishment trolleys can also be used in parallel to improve the replenishment efficiency.

[0039] 4. The dispensing system of the present application is modularly designed, can simultaneously dispense different dispensing requirements of traditional Chinese medicine decoction pieces, seeds and granular products, is suitable for different pharmacy and factory layouts, has strong expandability, the trolley is not limited by the site, the dispensing system is configured with redundant trolleys, even if one trolley fails, other trolleys can be quickly switched, the carrying capacity of other trolleys is improved, and the operation of the entire dispensing system remains stable. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed 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 those skilled in the art can also obtain other implementation drawings according to the provided drawings without creative labor.

[0041] Figure 1 It is a structural schematic diagram of the intelligent dispensing system in the embodiment of the present application;

[0042] Figure 2 It is a top view (without dispensing cabinet and replenishment trolley near the dispensing cabinet) in Figure 1

[0043] Figure 3 It is a schematic diagram of the dispensing cabinet in the embodiment of the present application;

[0044] Figure 4 It is a schematic diagram of the dispensing cabinet in the embodiment of the present application;

[0045] Figure 5 It is a schematic diagram of the dispensing module in the embodiment of the present application;

[0046] Figure 6 It is a schematic diagram of the dispensing module in the embodiment of the present application;

[0047] Figure 7 It is a front view of Figure 6

[0048] Figure 8 ​​is a schematic view of a material taking mechanism in an embodiment of the present application;

[0049] Figure 9 is a front view of Figure 8 ;

[0050] Figure 10 is a schematic view of a material replenishing vehicle in an embodiment of the present application;

[0051] Figure 11 is a front view of Figure 10 ;

[0052] Figure 12 is a schematic view of a clamping jaw mechanism in an embodiment of the present application;

[0053] Figure 13 is a front view of Figure 12 ;

[0054] Figure 14 is a schematic view of a material replenishing box carrying module in an embodiment of the present application;

[0055] Figure 15 is a front view of Figure 14 ;

[0056] Figure 16 is a network topology diagram of an intelligent dispensing system in an embodiment of the present application;

[0057] Figure 17 is a schematic view of material taking in an embodiment of the present application;

[0058] Figure 18 is a schematic view of material replenishing in an embodiment of the present application;

[0059] Reference numerals in the drawings:

[0060] 1 - material replenishing table, 2 - empty hopper conveying line, 3 - packing conveying line, 4 - material replenishing table, 5 - packing table, 6 - hopper cleaning machine, 7 - review table, 8 - hopper delivery machine, 9 - material taking vehicle, 10 - material replenishing vehicle, 11 - dispensing cabinet;

[0061] 12 - dispensing module, 13 - hopper, 14 - screw rod, 15 - dispensing head, 16 - motor, 17 - material replenishing port, 18 - material outlet, 19 - first traveling chassis, 20 - lifting mechanism, 21 - material taking mechanism, 22 - photographing module, 23 - sliding support, 24 - material taking hopper, 25 - weighing and jacking module, 26 - first rotating module, 27 - telescopic module, 28 - single-column lifting mechanism, 29 - second traveling chassis, 30 - clamping jaw mechanism, 31 - material replenishing box carrying module, 32 - lifting support, 33 - clamping jaw, 34 - second rotating module, 35 - bottom rotating module, 36 - carrier turntable, 37 - material replenishing box, 38 - material taking path, 39 - material replenishing path. DETAILED DESCRIPTION

[0062] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0063] In order to improve the dispensing efficiency of the traditional Chinese medicine decoction piece dispensing system, the present application provides an intelligent dispensing system from the perspective of synchronous walking of multiple material taking vehicles, as shown in the figure, which comprises: Figures 1-2

[0064] Multiple dispensing cabinets 11, a side of the dispensing cabinet 11 is provided with multiple independent discharge ports 18, different materials are stored in each discharge port 18, and a material supplementing port 17 is arranged on the opposite side corresponding to each discharge port 18, the discharge surface of each row of dispensing cabinets 11 is the same, a material taking path is formed along the discharge surface, and the opposite side of the discharge surface is a material supplementing surface, and a material supplementing path is formed along the material supplementing surface;

[0065] Multiple material taking vehicles 9, each material taking vehicle 9 carries at least one material taking hopper, and the multiple material taking vehicles 9 synchronously walk along different material taking paths generated according to different material taking sequences to simultaneously take and real-time quantitatively weigh the materials;

[0066] At least one material supplementing vehicle 10, each material supplementing vehicle 10 carries at least one material supplementing box 37, and moves to the material supplementing port 17 of the dispensing module 12 to be supplemented to supplement the materials of the dispensing module 12 to be supplemented.

[0067] In the present application, the discharge port 18 is arranged on the side of the dispensing cabinet 11 instead of the bottom, the material supplementing port 17 is on the opposite side of the surface where the discharge port 18 is located, that is, the discharge surface formed by the discharge port 18 of the dispensing cabinet 11 and the material supplementing surface formed by the material supplementing port 17 are respectively located on the opposite sides of the dispensing cabinet, so that the discharge path and the material supplementing path can be isolated by means of the dispensing cabinet 11 to reduce the mutual influence of the overlapping discharge path and material supplementing path. The influence of the collision of the material supplementing vehicle 10 is reduced, the material taking vehicle 9 is facilitated to walk, and the space in front of the discharge surface which is the side of the dispensing cabinet 11 can be used as the space of the discharge path, thereby providing operation space for the synchronous and parallel movement of the multiple material taking vehicles 9. In order to further standardize the discharge path, different material taking sequences can be generated according to the number of material taking hoppers and the number of dispensing combination instructions, so that different material taking paths are generated according to different material taking sequences, and the multiple material taking vehicles 9 can synchronously and in parallel move along different paths to different discharge ports to simultaneously take materials, so as to improve the dispensing efficiency.

[0068] ​The above dispensing system, in the front area of the dispensing cabinet 11 is placed a prescription table 4, the prescription table 4 is provided with a review table 7 in front of it, the review table 7 is provided with a packing table 5 and a hopper machine 8 on the left and right sides, the prescription table 4 is provided with a cleaning hopper machine 6 in front of it, the packing table 5 is provided with a packing conveying line 3 on the side away from the review table 7, the empty hopper conveying line 2 passes through the packing conveying line 3, and then is connected to the hopper machine 8 through the cleaning hopper machine 6, and the prescription table 1 is provided on the side of the packing conveying line 3 away from the packing table 5.

[0069] The material taking hopper of the material taking trolley 9 takes all the materials, then walks to the prescription table 4 to add special materials, and after review, packing and conveying along the packing conveying line, the empty material taking hopper is driven to the cleaning hopper machine 6 to complete foreign matter cleaning, and then is transmitted to the hopper machine 8 for temporary storage.

[0070] In the above dispensing system, multiple rows of dispensing cabinets 11 are arranged longitudinally and / or transversely, and a path channel is formed between adjacent rows of dispensing cabinets 11, the width of which is at least sufficient to accommodate two trolleys passing through in parallel. The arrangement of the dispensing cabinets 11 can be designed according to the size of the space, which can be longitudinal arrangement, transverse arrangement or longitudinal and transverse arrangement of multiple rows of dispensing cabinets 11, and a channel is formed between adjacent dispensing cabinets 11 for the trolley to walk. Although the current trolley has automatic avoidance and overspeed functions, attention should still be paid to the width of the channel.

[0071] The arrangement of multiple rows of dispensing cabinets 11 is preferably that the discharge surfaces of adjacent rows of dispensing cabinets 11 are adjacent to each other to form an inner surrounding discharge space, and the material supplementing surface is the peripheral space of the dispensing cabinet 11, and the dispensing cabinet 11 completely separates the material supplementing path and the discharge path.

[0072] The optimal arrangement of multiple rows of dispensing cabinets 11 is that the discharge surfaces of three rows of dispensing cabinets 11 form an open rectangle, as shown in Figure 3 The middle empty area inside the open rectangle is a discharge path space, and the periphery of the dispensing cabinet 11 is a material supplementing path space, and the dispensing cabinet 11 completely separates the material supplementing path and the discharge path. The prescription table 4 and other structures are located at the open part of the rectangle to form a flow line. In this arrangement, the repeated part of the route of the material taking trolley 9 and the material supplementing trolley 10 is only the open part of the rectangle, and the material supplementing path and the discharge path are not adjacent, do not intersect and do not overlap in the remaining part, which greatly reduces the possibility of collision between the material taking trolley 9 and the material supplementing trolley 10. Moreover, in a separate space, multiple trolleys can take and supplement materials in parallel and synchronously, which improves the efficiency and reduces the rate of collision accidents.

[0073] In the present application, the number of replenishment vehicles 10 can also be multiple, each carrying at least one replenishment box 37, along different replenishment paths generated according to different replenishment orders, to different replenishment outlets 17 of different dispensing modules 12 that need to be replenished, to simultaneously replenish multiple dispensing modules 12 that need to be replenished. The dispensing system can generate different replenishment orders according to the type and quantity of replenishment required (the number of replenishment boxes 37 that each replenishment vehicle 10 can carry is limited, and in the case of multiple dispensing modules 12 needing to be replenished simultaneously, multiple replenishment vehicles 10 can be synchronized to walk), and then generate different replenishment paths according to the different replenishment orders.

[0074] As shown in Figure 4 Each dispensing cabinet 11 is provided with multiple dispensing modules 12 arranged vertically and inclined through the dispensing cabinet 11, each outlet 18 and the opposite replenishment port 17 corresponding to an independent dispensing module 12, with the outlet 18 inclined towards the ground and the replenishment port 17 inclined upwards, so that the material taking path formed by the outlet 18 and the replenishment path formed by the replenishment port 17 are separated from each other; wherein the dispensing head of the dispensing module 12 is connected to the outlet 18 by an inclined screw rod to control the discharge.

[0075] As shown in Figure 5 Each dispensing module 12 includes a hopper 13 and a dispensing head 15, the bottom of the hopper 13 is inclined towards the ground, and the end of the upward end is the replenishment port 17, the dispensing head 15 is located at the end of the downward end, and the outlet 18 is connected by an inclined screw rod 14, the upward end of the screw rod 14 is provided with a motor 16, the rotation speed of the screw rod 14 is controlled by the motor 16, thereby realizing the gradual discharge and discharge speed control of the outlet 18, and a large amount of material is not poured at once. At the same time, the dispensing module 12 has simple structure and low cost, and can realize quick disassembly and assembly for convenient maintenance.

[0076] The above-mentioned material taking vehicle 9 is an automatic material taking trolley, as shown in Figures 6-7 The material taking vehicle 9 includes a first walking chassis 19, a lifting mechanism 20, a material taking mechanism 21 and a photographing module 22, a material taking hopper 24 is installed on the material taking mechanism 21, the material taking mechanism 21 is slidingly connected in the middle of the lifting mechanism 20 by a sliding support 23 to lift up and down in the vertical direction, so that the material taking hopper reaches the height of the outlet 18, the first walking chassis 19 is arranged at the bottom of the lifting mechanism 20, and the photographing module 22 is arranged at the top of the lifting mechanism 20 to record the material taking process of the material taking mechanism 21.

[0077] As shown in Figures 8-9As shown, the material handling mechanism 21 includes a sliding support 23, a telescopic module 27, a first rotary module 26, a weighing and lifting module 25, and a material handling hopper 24. The telescopic module 27 is fixed above the sliding support 23 for extending and retracting relative to the sliding support 23 to extend the material handling hopper 24. The first rotary module 26 and the weighing and lifting module 25 are fixed on the telescopic module 27, and the material handling hopper is located above the first rotary module 26.

[0078] The number of feeding hoppers 24 can be a group of multiple. When feeding, the feeding hopper that has received the material can be replaced by the first rotary module 26. Each feeding hopper can be lifted a certain distance by the weighing and lifting module 25 to receive the material and weigh it quantitatively.

[0079] The material handling vehicle 9 provided by this invention, through the setting of the material handling mechanism 21, can carry a group of multiple independent material handling hoppers at one time. During material handling, one of the material handling hoppers is lifted up to directly below the discharge port 18. The weighing structure is set below the material handling hopper, and the weighing is completed by sending real-time weighing feedback information to the adjustment module 12. This avoids the problem of the discharge vibration affecting the weighing accuracy caused by weighing while discharging. While improving the weighing accuracy, the first rotary module can rotate to replace the material handling hopper that has already received the material, so that multiple batches of material can be received at one time, improving the single-trip working efficiency.

[0080] The replenishment cart 10 in this invention is an automatic replenishment cart, such as... Figures 10-11 As shown, the system includes a second traveling chassis 29, a single-column lifting mechanism 28, a gripper mechanism 30, and a replenishment box carrying module 31. The single-column lifting mechanism 28 and the replenishment box carrying module 31 are fixed on the traveling chassis. The gripper mechanism 30 is slidably connected to the single-column lifting mechanism 28 through a lifting support 32 to grip at least one replenishment box 37 and place it into the replenishment box carrying module 31. When the replenishment cart 10 moves to the replenishment port 17, the gripper mechanism 30 grips the replenishment box 37 and places it into the replenishment port 17 of the adjustment module 12 that needs replenishment.

[0081] like Figures 12-13 As shown, the gripper mechanism 30 includes a lifting support 32, a second rotary module 34, and a gripper 33. The gripper 33 of the gripper mechanism 30 is mounted on the lifting support 32 through the second rotary module 34, so that the gripper 33 rotates relative to the lifting support 32, so that the feeding cart pours the material in the feeding box into the feeding port.

[0082] like Figures 14-15 As shown, the replenishment box carrying module 31 includes a bottom rotating module 35, a carrier turntable 36, and a replenishment box 37. The bottom rotating module 35 is fixed on the second traveling chassis 29. The carrier turntable 36 is connected to the chassis rotating module and can rotate relative to the traveling chassis. The replenishment box 37 is placed inside the carrier turntable 36 to enable the replenishment vehicle to carry multiple replenishment boxes at one time.

[0083] Based on the above intelligent dispensing system, the application also provides a dispensing method of the dispensing system. The running of the dispensing instruction can be installed and used by the management system of the user. The dispensing cabinet is controlled through the material dispensing system, and the dispensing demand is sent to the car scheduling system to schedule the material taking car and the material supplementing car. Figures 16-17 As shown in the figure, the method specifically comprises:

[0084] Step 1: The dispensing system receives the dispensing combination instruction, and generates the optimal material taking path with the shortest distance.

[0085] Generally, the dispensing system receives the dispensing combination instruction issued by the management system, communicates with the car scheduling system, sends the dispensing combination demand, and schedules the material taking car. The material taking car stops at the position of the material taking machine.

[0086] Among them, if only one material taking car is needed, the scheduling system can generate the optimal material taking path with the shortest distance.

[0087] If multiple dispensing combination demands need to be processed at the same time or a combination needs multiple materials urgently, multiple material taking cars are needed to take materials at the same time. After receiving the dispensing combination instruction, the dispensing system can generate different optimal material taking paths according to different taking sequences, and each material taking car walks along an optimal material taking path to take materials.

[0088] Step 2: The material taking car receiving the combination dispensing demand walks to the position of the material taking machine, the material taking machine sends a group of material taking buckets, and the material taking car carries a group of material taking buckets along the optimal material taking path to the discharge port below the dispensing module of the first material of the dispensing cabinet.

[0089] Step 3: The material taking mechanism rises to the height of the discharge port, the telescopic module drives the material taking bucket to extend below the discharge port, and the first rotary module rotates to rotate the first material taking bucket to face the discharge port below.

[0090] Step 4: The weighing and lifting module lifts the material taking bucket to approach the discharge port, the dispensing head of the dispensing module discharges materials into the material taking bucket, and the weighing and lifting module below the material taking bucket weighs in real time and feeds back data to the dispensing module. When the required weight data is reached, the dispensing head stops discharging, and the weighing and lifting module descends.

[0091] Step 5: The weighing and lifting module and the material taking bucket that has taken materials are reset, the first rotary module rotates to replace the material taking bucket, the second material taking bucket is rotated to face the discharge port below, and the contents of steps 4-5 are repeated until a group of material taking buckets are fully filled with the first material.

[0092] Generally, the number of the group of material taking hoppers can be set according to the size and area of the material taking mechanism. In the embodiment, the number of the group of material taking hoppers is 7, so that the material taking vehicle can take 7 different material dispensing combinations in one trip.

[0093] Step 6, the material taking mechanism is reset, the material taking vehicle continues to travel to the second to the nth material dispensing module below the discharge port, and the material taking process of the first material in steps 3-5 is repeated to complete the dispensing of n materials according to the dispensing combination requirements.

[0094] Step 7, after completing the dispensing and taking of materials, the material taking vehicle travels to the prescription table, transfers a group of material taking hoppers to the prescription table, adds special materials, and after review and packaging, the material dispensing in one dispensing combination instruction is completed. The empty material taking hopper is driven to the hopper cleaning machine through the empty hopper conveying line to complete foreign matter cleaning, and then is conveyed to the hopper delivery machine for temporary storage.

[0095] A plurality of material taking vehicles can complete the automatic dispensing of a plurality of dispensing combination requirements in parallel according to the above method under the coordination of the scheduling system.

[0096] The above method also includes an independent material supplementing process, as shown in Figure 18

[0097] Step 8, the dispensing system receives a material shortage alarm of the dispensing cabinet and generates an optimal material supplementing path with the shortest distance.

[0098] When the dispensing system receives a material shortage alarm of the automatic dispensing cabinet, it sends a material supplementing requirement information to the vehicle scheduling system, and the scheduling system sends a material supplementing instruction to the material supplementing vehicle.

[0099] If the number of dispensing modules that need to be supplemented is not large, one material supplementing vehicle can be used to generate an optimal material supplementing path with the shortest distance.

[0100] If the number of dispensing modules that need to be supplemented is large, a plurality of material supplementing vehicles are needed to supplement in parallel. After receiving the material shortage alarm, the dispensing system can generate different material supplementing paths according to different supplementing sequences, and each material supplementing vehicle travels along a material supplementing path to supplement materials, so that multiple dispensing modules can be supplemented at the same time.

[0101] Step 9, the material supplementing vehicle receiving the material supplementing instruction travels to the material supplementing table and travels along the optimal material supplementing path after receiving at least one full material supplementing box.

[0102] In the embodiment, the material supplementing box carrying module of the material supplementing vehicle can place 4 material supplementing boxes, so that the material supplementing vehicle can receive any number of material supplementing boxes according to requirements.

[0103] ​Step 10, when reaching the first refilling module, the bottom rotating module rotates one of the refilling boxes to below the gripper mechanism, the gripper mechanism moves downward to grab the refilling box below, then lifts upward, when reaching the height of the refilling port of the refilling module, the gripper mechanism rotates to align the outlet of the refilling box with the refilling port of the refilling module, pours the material into the hopper of the refilling module, after completing the pouring, the gripper mechanism resets to put the refilling box back to the original position.

[0104] Step 11, the refilling vehicle walks to the next refilling module, repeats the actions of steps 10-11, and refills the remaining refilling boxes into the refilling module.

[0105] Multiple refilling vehicles can receive the instructions of the scheduling system in parallel, and can complete the refilling of multiple refilling modules according to the above method at the same time according to different refilling paths, so as to improve the refilling efficiency.

[0106] The above embodiments are only exemplary embodiments of the present application and are not used to limit the present application, the protection scope of the present application is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements to the present application within the spirit and protection scope of the present application, and such modifications or equivalent replacements shall also be considered to fall within the protection scope of the present application.

Claims

1. An intelligent dispensing system, characterized by, The system comprises: a plurality of dispensing cabinets (11), each of which has a plurality of independent discharge ports (18) on one side, each of which stores different materials, and a corresponding replenishment port (17) on the opposite side, the discharge surface of each row of dispensing cabinets (11) is the same, and a material taking path is formed along the discharge surface, and the opposite surface of the discharge surface is the replenishment surface, and a replenishment path is formed along the replenishment surface; a plurality of material taking carts (9), each of which carries at least one material taking hopper (24), and the plurality of material taking carts (9) synchronously walk along different material taking paths generated according to different orders to take materials, so that the plurality of material taking carts (9) can simultaneously take and weigh a certain amount of materials in real time; at least one material replenishment cart (10), each of which carries at least one material replenishment box (37), and moves to the replenishment port (17) of the dispensing module (12) that needs to be replenished to replenish the dispensing module (12) that needs to be replenished with materials; the plurality of dispensing cabinets (11) are arranged longitudinally and / or transversely, and a path channel is formed between adjacent rows of dispensing cabinets (11), the width of which is sufficient to accommodate two carts passing side by side; the discharge surfaces of adjacent rows of dispensing cabinets (11) are adjacent to each other to form an inner surrounding discharge space, and the replenishment surface is the peripheral space of the dispensing cabinet (11), and the dispensing cabinet (11) separates the discharge path and the replenishment path; the number of the material replenishment carts (10) is a plurality, each of which carries at least one material replenishment box (37), and moves along different replenishment paths generated according to different orders to replenish the dispensing modules (12) that need to be replenished with materials.

2. The intelligent dispensing system according to claim 1, wherein each of the dispensing cabinets (11) is provided with a plurality of dispensing modules (12) arranged vertically and obliquely through the dispensing cabinet (11), each discharge port (18) and the opposite replenishment port (17) correspond to an independent dispensing module (12), the discharge port (18) is obliquely directed towards the ground, and the replenishment port (17) is obliquely directed upwards, so that the material taking path formed by the discharge port (18) and the replenishment path formed by the replenishment port (17) are separated from each other; wherein the dispensing head of the dispensing module (12) is connected to the discharge port (18) through an obliquely installed screw rod to control the discharge.

3. The intelligent dispensing system according to claim 2, wherein the material taking hopper (24) is installed on the material taking mechanism (21) of the material taking cart (9), the material taking mechanism (21) is slidably connected in the middle of the lifting mechanism (20) through a sliding support (23) to lift up and down in the vertical direction, so that the material taking hopper (24) reaches the height of the discharge port (18), a first walking chassis (19) is arranged at the bottom of the lifting mechanism (20), and a photographing module (22) is arranged at the top of the lifting mechanism (20) to record the material taking process of the material taking mechanism (21).

4. The intelligent dispensing system according to claim 3, characterized in that, a telescopic module (27) is fixed above the sliding support (23) and is telescopic left and right relative to the sliding support (23) to extend the material taking hopper (24), a first rotary module (26) and a weighing jacking module (25) are fixed on the telescopic module (27), and the material taking hopper (24) is above the first rotary module (26); wherein the number of the material taking hoppers (24) is multiple, when taking material, the first rotary module (26) can replace the material taking hopper (24) that has taken material, and each material taking hopper (24) can be jacked up by the weighing jacking module (25) to take material and weigh quantitatively.

5. The intelligent dispensing system according to claim 4, characterized in that, a single-column lifting mechanism (28) is arranged in the material supplementing vehicle (10) and is fixed on a second traveling chassis (29), a material supplementing box carrying module (31) is further fixed on the second traveling chassis (29), a clamping jaw mechanism (30) is slidably connected to the single-column lifting mechanism (28) through a lifting support (32) to clamp at least one material supplementing box (37) and place it into the material supplementing box carrying module (31), and when the material supplementing vehicle (10) moves to the material supplementing opening (17), the clamping jaw mechanism (30) clamps the material supplementing box (37) and places it into the material supplementing opening (17) of the dispensing module (12) that needs to be supplemented.

6. The intelligent dispensing system according to claim 5, characterized in that, a clamping jaw (33) of the clamping jaw mechanism (30) is installed on the lifting support (32) through a second rotary module (34) so that the clamping jaw (33) rotates relative to the lifting support (32).

7. A method based on the smart dosing system of claim 6, characterized in that, The method comprises: Step 1: The dispensing system receives a dispensing combination instruction and generates an optimal material taking path with the shortest distance; Step 2: A material taking vehicle receiving a combination dispensing requirement travels to the material taking machine position, carries a group of material taking hoppers, and travels along the optimal material taking path to below the material outlet of the dispensing module where the first kind of material is located; Step 3: The material taking mechanism is raised to the height of the material outlet, the telescopic module drives the material taking hopper to extend to below the material outlet, and the first rotary module rotates to rotate the first material taking hopper to below the material outlet; Step 4: The weighing jacking module jacks up the material taking hopper to approach the material outlet, the dispensing head of the dispensing module discharges material into the material taking hopper, the weighing jacking module below the material taking hopper weighs in real time during the discharging process and feeds back data to the dispensing module, and when the required weight data is reached, the dispensing head stops discharging and the weighing jacking module descends; Step 5: The first rotary module rotates to replace the material taking hopper, the second material taking hopper is rotated to below the material outlet, and the contents of steps 4-5 are repeated until all the material taking hoppers are filled with the first kind of material; Step 6: The material taking mechanism is reset, the material taking vehicle continues to travel to below the material outlets of the dispensing modules where the second to nth kinds of materials are located, the material taking process of the first kind of material in steps 3-5 is repeated, and the dispensing and material taking of the n kinds of materials are completed according to the dispensing combination requirement. Step 7, the taking vehicle walks to the replenishment station, and a group of taking hoppers is conveyed to the replenishment station to add special materials. After rechecking and packaging, the material dispensing of one dispensing combination is completed. The empty taking hopper is conveyed to the empty hopper conveying line, driven to the hopper cleaning machine to complete foreign matter cleaning, and then conveyed to the hopper feeding machine for temporary storage.

8. The method of claim 7, wherein, If multiple taking vehicles need to take materials synchronously, the dispensing system generates different taking paths according to different taking sequences after receiving a dispensing combination instruction. Each taking vehicle walks along a taking path to take materials.

9. The method of claim 8, wherein, The method further includes a replenishment process: Step 8, the dispensing system receives a material shortage alarm of the dispensing cabinet and generates an optimal replenishment path with the shortest distance; Step 9, the replenishment vehicle receiving the replenishment instruction walks to the replenishment station, receives at least one full material replenishment box, and then walks along the optimal replenishment path; Step 10, when reaching the first dispensing module needing replenishment, the bottom rotating module rotates one of the replenishment boxes to below the claw mechanism. The claw mechanism moves downward to clamp the replenishment box below, and then moves upward. When reaching the height of the replenishment port of the dispensing module, the claw mechanism rotates to align the outlet of the replenishment box with the replenishment port of the dispensing module, pours the material into the hopper of the dispensing module, and resets the taking mechanism to put the replenishment box back to the original position after completing the pouring. Step 11, the replenishment vehicle walks to the next dispensing module needing replenishment, and repeats the actions of steps 10-11 to replenish the remaining replenishment boxes to the dispensing module.

10. The method of claim 9, wherein, If multiple replenishment vehicles need to replenish materials synchronously, the dispensing system generates different replenishment paths according to different replenishment sequences after receiving a material shortage alarm. Each replenishment vehicle walks along a replenishment path to replenish materials to simultaneously complete replenishment of multiple dispensing modules.

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