Automatic dispensing equipment and methods for small packages of traditional Chinese medicine

Abstract

This invention discloses an automated dispensing device and method for small packages of traditional Chinese medicine (TCM). The automated dispensing device includes a base, a container, a feeding device, a processing device, a box-dispensing device, a medicine-dispensing device, and a transfer device. The base defines a transfer area and a circulation area. The circulation area includes a feeding station, a box-dispensing station, and multiple processing stations. The feeding device transfers an external medicine storage container to the feeding station. The processing device pulls and cuts the material strip in the medicine storage container to obtain medicine packets. The box-dispensing device moves the empty container at the box-dispensing station outward. The medicine-dispensing device moves the medicine packets at the processing stations outward. The transfer device moves the medicine storage container between the feeding station and each processing station, and moves the empty container between each processing station and the box-dispensing station. This invention helps to make the entire processing of small packages of TCM more orderly, efficient, accurate, and productive.

Description

Technical Field

[0001] This invention relates to the field of pharmaceutical processing technology, specifically to an automatic dispensing device and method for small packages of traditional Chinese medicine. Background Technology

[0002] To better facilitate medication administration and improve accuracy and safety, a new method for packaging small-sized Chinese herbal medicine slices is developed. The required Chinese herbal medicine slices are packaged in batches into small packages. Before cutting, these small packages are sequentially connected to form a wound material strip. This strip is typically stored in an empty container, forming a storage container for easy storage and transportation. The storage container is then transferred to processing devices such as a feeding device or a cutting device to separate the individual small packages on the strip as needed. This process involves at least the transfer of storage containers, the transfer of empty containers, feeding and cutting of the material strip, and the unloading of the medicine packages. To ensure production volume, the number and arrangement of feeding and cutting devices are variable, which can easily lead to inconsistent placement of the storage / empty containers. Whether relying on manual operation or simple robotic arm automation, this increases the probability of transfer errors. Summary of the Invention

[0003] The main objective of this invention is to provide an automated dispensing device and method for small packages of traditional Chinese medicine, aiming to ensure that the entire processing of the medicine package is carried out in an orderly, accurate and high-yield manner.

[0004] To achieve the above objectives, the present invention proposes an automatic dispensing device for small packages of traditional Chinese medicine, comprising:

[0005] The base defines a transfer area and a circulation area. The circulation area includes a feeding station, a box-out station, and multiple processing stations, wherein the multiple processing stations are distributed along the left-right, front-back, and up-down directions, respectively.

[0006] Containers used to roll up and store small packages of Chinese herbal medicine slices;

[0007] A feeding device is provided on the base and is used to transfer the external medicine storage container to the feeding station;

[0008] Multiple processing devices are arranged one-to-one at each of the processing stations. The processing devices are at least used to pull and cut the material strip in the container storing the medicine to obtain medicine packets.

[0009] A box ejection device is provided on the base and is used to move the empty container at the box ejection station outward;

[0010] A dispensing device, disposed on the base, is used to move the medicine packet from the processing station outward; and,

[0011] A transfer device is provided in the transfer area. The transfer device includes a picking mechanism that is movably arranged relative to the base. The picking mechanism is translatably arranged in the vertical, horizontal, and forward / backward and left / right directions, and is rotatably arranged about the vertical axis, so as to be able to move the container storing medicine between the feeding station and each of the processing stations, and to move the empty container between each of the processing stations and the boxing station.

[0012] Optionally, the transfer area is provided on the left and right sides of the transfer area, and one of the two transfer areas defines the feeding station and the box exiting station, while the other defines each of the processing stations.

[0013] Optionally, each of the processing stations is arranged in rows along the front-to-back direction and in columns along the top-to-bottom direction, with a dispensing station defined between each two adjacent columns of processing stations;

[0014] The drug dispensing device includes a drug dispensing channel corresponding to each of the drug dispensing stations, and a drug dispensing mechanism. The drug dispensing mechanism includes a drug dispensing support member that is movably arranged in the front-back direction, and the drug dispensing support member is movably arranged below each of the drug dispensing channels.

[0015] Optionally, the drug dispensing channel includes a main channel section extending vertically and multiple branch channel sections, each of which extends upward from the side of the main channel section and inclined toward the corresponding processing station.

[0016] Optionally, the transfer device includes:

[0017] A transfer assembly includes a mounting base, a platform, and at least two picking mechanisms. The mounting base is movably mounted on the base in both vertical and longitudinal directions. The platform is rotatably mounted on the mounting base about an axis extending vertically. The platform surface has a first direction and a second direction arranged at an angle. Both picking mechanisms are movably mounted on the platform along the first direction and are spaced apart along the second direction. The picking mechanisms are used to pick up materials.

[0018] A first driving mechanism is disposed on the base and connected to the mounting seat to drive the mounting seat to move in a vertical direction;

[0019] The second drive mechanism is located on the base and connected to the mounting base to drive the mounting base to move in a forward and backward direction.

[0020] A third drive mechanism, disposed on the mounting base and connected to the platform, drives the platform to rotate; and,

[0021] A fourth driving mechanism is provided on the platform and connected to the picking mechanism to drive each of the picking mechanisms to translate along the first direction.

[0022] Optionally, the processing apparatus includes a feeding device, the feeding device comprising:

[0023] The gripping assembly includes a movable seat, a connecting shaft, two gripping rods, and a fifth drive mechanism. The movable seat is movably mounted on the base along a preset direction. The connecting shaft is located on the movable seat. The two gripping rods are connected in a scissor-like manner via the connecting shaft, such that each gripping rod includes a drive rod segment and a movable rod segment respectively located on both sides of the connecting shaft. The fifth drive mechanism is located on the movable seat and is drivenly connected to at least one of the drive rod segments, such that the two drive rod segments have relative movement strokes of approaching and moving away from each other. The two movable rod segments are driven to approach each other to grip the material belt and to move away from each other to allow the material belt to disengage.

[0024] The sixth drive mechanism is located on the base and is drivenly connected to the movable seat.

[0025] Optionally, the base includes a cutting platform defining a cutting station, the cutting platform having a recessed clearance portion at the cutting station, and the processing device including a cutting device comprising:

[0026] A cutting assembly includes a knife holder, a pressing member, and a cutting tool, all vertically above and movably disposed in the cutting station. The cutting tool is fixedly connected to the knife holder. The pressing member is movably disposed in the vertical direction relative to the cutting tool. When the knife holder moves closer to the cutting station, the pressing member is driven to press the material strip at the cutting station, and the cutting tool is driven to continue moving closer to the recessed area to cut the material strip at the recessed area.

[0027] The seventh driving mechanism is located on the base and is drivenly connected to the tool holder.

[0028] Optionally, the container includes:

[0029] The storage body has an internal storage cavity for storing small packages of traditional Chinese medicine decoction pieces. One radial side wall of the storage cavity penetrates the outer wall of the storage body to form a channel. The channel has a first channel wall and a second channel wall arranged opposite to each other.

[0030] An adjustment component is disposed within the channel, the adjustment component being positioned close to the first channel wall and defining a material passage gap between the adjustment component and the second channel wall;

[0031] The discharge section of the small package of Chinese herbal medicine slices is movably inserted through the material passage gap, and has a discharge stroke that moves radially outward toward the storage cavity under external force, and a retraction stroke that moves radially inward toward the storage cavity when the external force is removed. The adjustment component is provided with an interference part located in the material passage gap. The interference part interferes with and abuts against the discharge section that moves through it, and the amount of interference generated between the two is adjusted to decrease when the discharge section is performing the discharge stroke, and adjusted to increase when the discharge section is performing the retraction stroke.

[0032] Optionally, the automatic dispensing equipment for small packages of traditional Chinese medicine further includes:

[0033] Multiple sensors are correspondingly disposed at each of the aforementioned processing stations, and a sensing signal is triggered when the material strip at the processing station is detected to not meet a preset condition; and,

[0034] A control device is electrically connected to a plurality of the sensors and the transfer device respectively, so as to control the first drive mechanism, the second drive mechanism, the third drive mechanism and the fourth drive mechanism to operate respectively when the sensing signal is received.

[0035] Furthermore, to achieve the above objectives, the present invention also provides a dispensing method for the automatic dispensing equipment for small packages of traditional Chinese medicine as described above, comprising:

[0036] Upon receiving a sensing signal, first information of the sensor that emitted the sensing signal is acquired, the first information including first position information of the sensor.

[0037] Acquire second information about the transfer device, the second information including second position information of the pickup mechanism;

[0038] The activity path of the picking mechanism is determined based on the first location information and the second location information;

[0039] According to the activity path, control the operation of at least one of the first drive mechanism, the second drive mechanism, the third drive mechanism, and the fourth drive mechanism.

[0040] The technical solution provided by this invention, by dividing the transfer area and circulation area into zones and combining them with the arrangement of multiple processing stations, helps to make full and reasonable use of the limited space on the base, greatly increasing the number of processing stations and thus significantly improving processing output. Simultaneously, it helps to minimize the complexity of the movement path of the picking mechanism in the transfer device, thereby improving the efficiency and accuracy of the transfer device. Furthermore, the container arrangement helps to ensure the storage capacity and safety of the material strip. The feeding device, boxing device, and discharging device facilitate coordinated transfer by the transfer device, making the entire processing of small-packaged traditional Chinese medicine more orderly, efficient, accurate, and productive. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0042] Figure 1 A top view schematic diagram of an embodiment of the automatic dispensing equipment for small packages of traditional Chinese medicine provided by the present invention;

[0043] Figure 2 for Figure 1 Right view schematic diagram of an automated dispensing equipment for small packages of traditional Chinese medicine;

[0044] Figure 3 for Figure 1 Assembly diagram of the medicine extraction device and processing device;

[0045] Figure 4 for Figure 1 Assembly diagram of the container and processing unit;

[0046] Figure 5 for Figure 4 A three-dimensional schematic diagram of the container;

[0047] Figure 6 for Figure 4 Exploded view of the main structure of the container;

[0048] Figure 7 for Figure 4 A three-dimensional schematic diagram of the central adjustment component;

[0049] Figure 8 for Figure 4 An enlarged schematic diagram of the adjustment component in the longitudinal section of the middle container;

[0050] Figure 9for Figure 4 A three-dimensional schematic diagram of the intermediate material pulling device from a first-person perspective;

[0051] Figure 10 for Figure 4 A three-dimensional schematic diagram of the intermediate material pulling device from a second perspective;

[0052] Figure 11 for Figure 4 Exploded view of the main structure of the intermediate material pulling device;

[0053] Figure 12 for Figure 4 A three-dimensional schematic diagram of the cutting device;

[0054] Figure 13 for Figure 4 A three-dimensional schematic diagram of the central base at the cutting device;

[0055] Figure 14 for Figure 12 A schematic diagram of the structure of the cutting component;

[0056] Figure 15 for Figure 14 Exploded view of the main structure of the cutting component;

[0057] Figure 16 for Figure 1 A three-dimensional schematic diagram of the transfer device;

[0058] Figure 17 for Figure 16 A three-dimensional schematic diagram of the transfer component from a third-person perspective;

[0059] Figure 18 for Figure 16 A stereoscopic diagram of the transfer component from a fourth-person perspective;

[0060] Figure 19 for Figure 16 Schematic diagram of the structure at the intermediate stage;

[0061] Figure 20 for Figure 16 A three-dimensional schematic diagram of the pickup mechanism;

[0062] Figure 21 This is a schematic flowchart of an embodiment of the dispensing method of the automatic dispensing equipment for small packages of traditional Chinese medicine provided by the present invention.

[0063] Explanation of icon numbers:

[0064] 100 Base; 110 Transfer area; 120 Flow area; 121 Feeding station; 122 Box ejection station; 123 Processing station; 130 Seat body; 140 Cutting platform; 141 Cutting station; 142 Recess; 150 Base frame; 160 Top frame; 170 Support; 200 Container; 210 Storage body; 210a Storage cavity; 211 First shell; 211a Storage slot; 211b Material passage; 211c Material passage gap; 211d Slot; 211e Recess hole; 211f Stop structure; 212 Second shell; 213 Shaft; 213a Concave-convex structure; 220 Adjustment assembly; 221 Roller; 222 First interference protrusion; 22 3. Support base; 224. Mounting part; 224a. Operating section; 224b. Connecting section; 225. Connecting part; 225a. Rigid section; 225b. Elastic section; 300. Pulling device; 310. Movable seat; 320. Connecting shaft; 330. Grip bar; 331. Drive rod section; 332. Grip bar section; 340. Fifth drive mechanism; 341. Cam; 341a. Outer protrusion; 341b. Inner recess; 342. Fifth actuator; 343. First elastic element; 344. Abutment element; 344a. Second interference protrusion; 345. Floating structure; 350. Sixth drive mechanism; 351. First rack; 352. First gear; 353. Sixth actuator; 361. First detection device; 362. Second detection device. Devices; 400 Cutting device; 410 Cutting assembly; 411 Tool holder; 411a First support; 411b Guide hole; 411c Adjustment hole; 412 Pressing member; 412a Second support; 412b Support surface; 412c First through hole; 413 Tool; 413a Cutting edge; 414 First guide rod; 415 Second elastic member; 416 First stop member; 420 Seventh drive mechanism; 421 Seventh driver; 421a Power output shaft; 422 Swing rod; 422a Connecting end; 422b Movable end; 431 Third detection device; 432 Fourth detection device; 510 Dispensing channel; 511 Main channel section; 512 Branch channel section; 600 610 Transfer device; 611 Mounting base; 612 Platform; 613 Pick-up mechanism; 613a Connecting seat; 613b Swing arm; 613c Rotary actuator; 613d Support plate; 613e Second guide rod; 613f Third elastic element; 614 Base plate; 614a Receiving cavity; 614b Second through hole; 615 Separator; 616 Second stop; 620 First drive mechanism; 630 Second drive mechanism; 640 Third drive mechanism; 650 Fourth drive mechanism; 651 Pulley; 652 Conveyor belt; 653 Fourth actuator; 653a Sensing unit; 641 Fifth detection device; 642 Identification mechanism; 643 Sixth detection device.

[0065] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0066] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0067] Please see Figures 1 to 20 This invention provides an automatic dispensing device for small packages of traditional Chinese medicine, specifically including a base 100, a container 200, a feeding device, multiple processing devices, a box dispensing device, a medicine dispensing device, and a transfer device 600. The base 100 defines a transfer area 110 and a circulation area 120. The circulation area 120 includes a feeding station 121, a box dispensing station 122, and multiple processing stations 123, which are distributed along the left-right, front-back, and up-down directions, respectively. The container 200 is used to store the small package of traditional Chinese medicine slices. The feeding device is located on the base 100 and is used to transfer the external medicine-storing container 200 to the feeding station 121. The multiple processing devices are correspondingly located at each of the processing stations 123, and each processing device is used to feed the medicine-storing slices in the medicine-storing container 200. The process involves feeding and cutting materials to obtain medicine packets. A box-ejection device is located on the base 100 and is used to move the empty container 200 at the box-ejection station 122 outwards. A medicine-ejection device is located on the base 100 and is used to move the medicine packet at the processing station 123 outwards. A transfer device 600 is located in the transfer area 110. The transfer device 600 includes a picking mechanism 613 movably disposed relative to the base 100. The picking mechanism 613 is translatably disposed in the vertical, horizontal, and longitudinal directions, and rotatably disposed about the vertical axis, so as to move the medicine-containing container 200 between the feeding station 121 and each of the processing stations 123, and to move the empty container 200 between each of the processing stations 123 and the box-ejection station 122.

[0068] In the technical solution provided by this invention, by dividing the transfer area 110 and the circulation area 120 into zones and combining them with the arrangement of multiple processing stations 123, it helps to make full and reasonable use of the limited space on the base 100, greatly increasing the number of processing stations 123 and thus significantly improving processing output. At the same time, it also helps to reduce the complexity of the activity path of the picking mechanism 613 in the transfer device 600, thereby helping to improve the efficiency and accuracy of the transfer device 600. In addition, the container 200 helps to ensure the storage capacity and storage safety of the material strip. The feeding device, the boxing device, and the discharging device help to coordinate the transfer of the transfer device 600, making the entire processing process of small packages of traditional Chinese medicine more orderly, efficient, accurate, and productive.

[0069] In this design, the automated dispensing equipment for small packages of traditional Chinese medicine has vertical, horizontal, and front-back orientations arranged in pairs in an intersecting pattern. It should be understood that these orientations do not constitute absolute directional limitations on the environment in which the automated dispensing equipment for small packages of traditional Chinese medicine is used.

[0070] The specific form of the base 100 is not limited, and it can be set as one or more of the following structural forms, such as box-shaped, block-shaped, plate-shaped, and frame-shaped, according to actual needs. Among them, when the base 100 is composed of at least two structural forms, each structural form can be obtained by integral molding; or it can be obtained by detachable or non-detachable connection after separate molding.

[0071] Please combine Figures 1 to 4 In one embodiment, the flow area 120 is provided on the left and right sides of the transfer area 110, and one of the two flow areas 120 defines the feeding station 121 and the box-outing station 122, while the other defines each of the processing stations 123. Thus, by concentrating the processing stations 123 on the same side of the transfer area 110, and concentrating the feeding station 121 and the box-outing station 122 on the other side of the transfer area 110, the movement scheme of the transfer device 600 is simplified, avoiding an overly complex movement path for the transfer device 600 and thus preventing an increase in the error rate during the transfer of the container 200.

[0072] In view of the above, in one embodiment, the processing stations 123 are arranged in rows along the front-back direction and columns along the top-bottom direction, with a dispensing station defined between each pair of adjacent processing stations 123. The dispensing device includes a dispensing channel 510 corresponding to each dispensing station and a dispensing mechanism. The dispensing mechanism includes a dispensing support member movably arranged along the front-back direction, which is movably disposed below each dispensing channel 510. In this way, processing devices in each pair of adjacent columns can share the same dispensing channel 510, and all processing devices can share the same dispensing mechanism, which helps to simplify the overall structure of the machine.

[0073] Specifically, the dispensing channel 510 includes a main channel section 511 extending vertically and multiple branch channel sections 512. Each branch channel section 512 extends upward from the side of the main channel section 511 and inclined towards the corresponding processing station 123. The vertical extension of the main channel section 511 allows the medicine pack to automatically fall to the dispensing mechanism using gravity. The branch channel sections 512 and the main channel section 511 can be integrally formed or separately formed and then detachably or non-detachably connected. The branch channel sections 512 can be specifically positioned according to actual needs, i.e., the orientation of the corresponding processing station 123 relative to the main channel section 511.

[0074] It should be noted that there are no restrictions on the specific design of the dispensing mechanism, feeding device, and box dispensing device. Any mechanical equipment capable of transferring the medicine package, the medicine storage container 200, and the empty container 200 is acceptable, such as a conveyor assembly, a linear module, or a robotic arm.

[0075] Specific details regarding container 200:

[0076] Please see Figures 5 to 8 The container 200 of this invention is used to store small packages of Chinese herbal medicine slices. These small packages of Chinese herbal medicine slices are packaged in multiple herbal medicine packets, which are sequentially connected to form a strip before being cut. The strip is wound into a roll (hereinafter referred to as a roll for ease of understanding) manually or using mechanical equipment.

[0077] The container 200 includes a storage body 210 and an adjustment assembly 220. The storage body 210 has a storage cavity 210a for storing a feeding tape. A radial side wall of the storage cavity 210a penetrates the outer wall of the storage body 210 to form a feed channel 211b. The feed channel 211b has a first channel wall and a second channel wall arranged opposite to each other. The adjustment assembly 220 is disposed within the feed channel 211b, positioned close to the first channel wall, and defines a feed gap 211c between itself and the second channel wall. The discharge section of the feeding tape movably passes through the feed gap 211c and, under external force, extends radially outward from the storage cavity 210a (for ease of understanding, this is referred to as...). Figure 8 (Taking the X1 direction as an example) the active discharge stroke, and the radially inward side towards the storage cavity 210a when the external force is removed (for ease of understanding, taking...) Figure 8 Taking the X2 direction as an example, the retraction stroke of the active component 220 is provided with an interference part located in the material passage gap 211c. The interference part interferes with and abuts against the material discharge section that the active component passes through. The amount of interference generated between the two is adjusted to decrease when the material discharge section is performing the material discharge stroke and to increase when the material discharge section is performing the retraction stroke.

[0078] The storage unit 210 provides a relatively stable and well-protected storage space for the material strip. When an external force drives the discharge section of the material strip to perform the discharge stroke, the interference amount applied by the interference part to the discharge section is reduced, allowing the discharge section to discharge smoothly with minimal external force. Conversely, when the external force is removed and there is no need to perform the discharge stroke of the material strip, the discharge section of the material strip will tend to retract under the combined influence of its own gravity and other factors. At this time, the interference amount applied by the interference part to the discharge section is increased, causing the discharge section to delay or even completely stop retracting under greater interference resistance. This ensures that the discharge section is limited to the required position, facilitating the convenient and efficient application of external force during the next discharge stroke, ultimately improving the discharge efficiency.

[0079] It should be noted that, for ease of understanding, in the following embodiments, the axial, radial, circumferential and tangential directions of the storage body 210 / storage cavity 210a correspond one-to-one with the axial, radial, circumferential and tangential directions of the material roll, so that the reference directions of each component in the container 200 are unified.

[0080] The material passage 211b is located on the radial side of the storage cavity 210a and extends approximately along the tangential or circumferential direction of the storage cavity 210a. This allows the discharge section of the material roll stored in the storage cavity 210a to extend radially outward when it passes through the material passage 211b, minimizing bending deformation at large angles. This would prevent the discharge section from requiring a large external force and easily breaking.

[0081] Further, in one embodiment, the storage body 210 includes a first housing 211, a second housing 212, and a shaft 213. The first housing 211 forms a storage groove 211a and a material passage 211b communicating with the storage groove 211a; the second housing 212 is detachably connected to the first housing 211, and when connected, covers the opening of the storage groove 211a to jointly enclose and define the storage cavity 210a; the shaft 213 protrudes from the surface of the second housing 212 facing the first housing 211, and the shaft 213 is used for winding the medicine pack into a roll.

[0082] It is understood that the storage cavity 210a is configured to be jointly enclosed by the first housing 211 and the second housing 212, so that the storage cavity 210a can be closed and opened when the first housing 211 and the second housing 212 are installed and disassembled, thereby making it easier to operate the material roll moving in and out of the storage cavity 210a. At least a portion of the shell wall of the first housing 211 and / or the second housing 212 can be hollowed out, which helps to reduce the material consumption of the first housing 211 and / or the second housing 212 and reduce the overall weight; on the other hand, it provides sufficient convenience for the user to visually observe the storage and discharging status of the material roll in the storage cavity 210a.

[0083] The shaft 213 is connected to the second housing 212, so that when the second housing 212 is removed from the first housing 211, the shaft 213 can be directly exposed, facilitating the loading and unloading of the material roll onto the shaft 213. It should be noted that the shaft 213 can be used to directly install and fix a pre-wound material roll. Alternatively, the shaft 213 can be used to directly wind the material strip of the medicine package to obtain a material roll.

[0084] Accordingly, in one embodiment, the shaft 213 may penetrate the second housing 212 and includes a first shaft segment received within the storage cavity 210a and a second shaft segment extending outside the storage cavity 210a. The shaft 213 is rotatably disposed relative to the second housing 212, such that the first shaft segment located within the storage cavity 210a can be rotated by manually or automatically operating the second shaft segment via a mechanical mechanism. During rotation, the first shaft segment can wind the material strip into a coil.

[0085] Furthermore, in one embodiment, the outer peripheral sidewall of the shaft 213 may be provided with a concave-convex structure 213a. The concave-convex structure 213a can increase the overall roughness of the outer peripheral sidewall of the shaft 213, thereby increasing the friction between the shaft 213 and the material roll / material strip when the material roll is directly mounted on the shaft 213 or the material strip is wound on the shaft 213, thus preventing the material roll / material strip from slipping off.

[0086] In one embodiment, the shaft 213 is unidirectionally rotatable so that it is driven to rotate during the discharge stroke of the discharge section. Thus, when an external force drives the discharge section to discharge material in the X1 direction, the shaft 213 and the material roll are driven to rotate in the same or opposite directions, facilitating smooth discharge. Conversely, when the external force is removed and the material roll and / or discharge section tend to move in the X2 direction, the shaft 213 will not be driven to rotate in the same or opposite directions, thereby helping to prevent the shaft 213 from continuously driving the material roll and / or discharge section to retract during the retraction stroke.

[0087] Based on any of the above embodiments, further, in one embodiment, the adjusting component 220 includes a roller 221 and a first interference protrusion 222. The roller 221 is rotatably mounted within the material passage 211b about an axis extending axially along the storage cavity 210a; the first interference protrusion 222 protrudes radially from the roller 221 onto its surface; wherein the first interference protrusion 222 interferes with and abuts against the discharging section that it passes through, forming the interference portion, and the roller 221 is driven to rotate by the discharging section.

[0088] The roller 221 is configured to provide sufficient surface area for the first interference protrusions 222 to be distributed, and to provide radial support for the material roll's discharge section as it passes through. The first interference protrusions 222 interfere with the material roll's discharge section. Specifically, when the discharge section discharges material along the X1 direction, the intensity of this interference is relatively small, resulting in less interference. This minimizes interference with the discharge section's flow and is sufficient to rotate the roller 221, thus facilitating smoother material discharge. Conversely, when the discharge section tends to retract in the X2 direction, the intensity of this interference is greater, resulting in more interference. This is sufficient to prevent further retraction of the discharge section and effectively confines it between the first interference protrusions 222 and the second channel wall, facilitating the application of external forces and aiding in material pulling.

[0089] There are several ways to achieve the goal of adjusting the magnitude of the interference:

[0090] In one embodiment, the roller 221 is movably disposed in the direction of approaching and moving away from the second channel wall, so that the amount of interference between the interference portion and the discharge section is adjustable during its movement. When the roller 221 moves closer to the second channel wall, it causes the distance between the first interference protrusion 222 and the second channel wall to be closer, forming a relatively large amount of interference, which can achieve the purpose of pressing the discharge section onto the second channel wall; conversely, when the roller 221 moves away from the second channel wall, it causes the distance between the first interference protrusion 222 and the second channel wall to gradually increase, forming a gradually decreasing or even completely eliminated amount of interference, which helps the discharge section to discharge smoothly.

[0091] Based on this, specifically, in one embodiment, the adjustment assembly 220 further includes a support base 223, a mounting member 224, and a connector 225. The support base 223 is disposed near the first channel wall; the mounting member 224 includes an operating section 224a exposed outside the material passage 211b, and a connecting section 224b extending into the material passage 211b and connecting the support base 223 and the storage body 210; the connector 225 connects the roller 221 and the support base 223.

[0092] It is understandable that the support base 223 is designed to flexibly adapt to the installation space between the roller 221 and the storage body 210, making the installation between the roller 221 and the storage body 210 more stable and reliable. The connecting section 224b in the connector 225 mainly serves to fix the support base 223 on the storage body 210, or to movably and adjustably install the support base 223 on the storage body 210. The operating section 224a in the connector 225 is exposed outside the storage cavity 210a, allowing the user to directly operate the connecting section 224b.

[0093] Based on this, in one embodiment, the connector 225 includes a rigid segment 225a and an elastic segment 225b connected together. The rigid segment 225a is a segment made of rigid material, and the elastic segment 225b is a segment made of elastic material. The rigid segment 225a primarily provides sufficient strength support for the connector 225, making the connection between the roller 221 and the support base 223 more stable and reliable. The elastic segment 225b allows for floating adjustment between the roller 221 and the support base 223, thereby enabling adaptive adjustment of the distance or contact tightness between the roller 221 / first interference protrusion 222 and the second channel wall.

[0094] In one embodiment, the support 223 is movably adjustable in the direction of approaching and moving away from the second channel wall. Thus, when the support 223 moves closer to the second channel wall, it can reduce the distance between the roller 221 / first interference protrusion 222 and the second channel wall, or increase the contact tightness, thereby increasing the amount of interference. Conversely, when the support 223 moves away from the second channel wall, it can increase the distance between the roller 221 / first interference protrusion 222 and the second channel wall, or decrease the contact tightness, thereby reducing the amount of interference. This achieves the purpose of adjusting the amount of interference.

[0095] And / or in one embodiment, when the connector 225 as described above includes a rigid segment 225a and an elastic segment 225b connected together, the rigid segment 225a is telescopically adjustable in the direction of approaching and moving away from the second channel wall. Similarly, when the rigid segment 225a extends, it can cause the distance between the roller 221 / first interference protrusion 222 and the second channel wall to decrease or the contact tightness to increase, thereby increasing the amount of interference between them; conversely, when the rigid segment 225a shortens, it can cause the distance between the roller 221 / first interference protrusion 222 and the second channel wall to increase or the contact tightness to decrease, thereby reducing the amount of interference between them. In this way, the purpose of adjusting the amount of interference can be achieved. The scheme for implementing the telescopic adjustment of the rigid segment 225a is not limited; for example, the rigid segment 225a can be configured to be composed of multiple telescopic joints that are sequentially and movably connected.

[0096] In one embodiment, the roller 221 is unidirectionally rotatable; wherein, the roller 221, with its wheel surface within the material passage gap 211c, is driven by the discharge section to rotate radially outward from the storage cavity 210a. Thus, when an external force drives the discharge section to discharge material along the X1 direction, the roller 221 is driven to rotate, facilitating smooth material discharge. Conversely, when the external force is removed, and the roll and / or discharge section tends to move along the X2 direction, the roller 221 will not be driven to rotate in the opposite direction, thereby helping to prevent the roll and / or discharge section from continuously retracting.

[0097] In one embodiment, the first interference protrusion 222 protrudes from the surface of the roller 221 at a gradually increasing height in the direction radially outward from the storage cavity 210a within the material passage gap 211c. It can be understood that the first interference protrusion 222 includes a first protrusion with a relatively small protrusion height from the surface of the roller 221, and a second protrusion with a relatively large protrusion height from the surface of the roller 221. Thus, when the roller 221 rotates, causing the second protrusion to rotate to the material passage gap 211c, the distance between it and the second channel wall decreases or the contact tightness increases; when the roller 221 rotates, causing the first protrusion to rotate to the material passage gap 211c, the distance between it and the second channel wall increases or the contact tightness decreases. This achieves the purpose of adjusting the amount of interference.

[0098] Specifically, in one embodiment, the first interference protrusion 222 is an elastic rib that protrudes radially from the surface of the roller 221 and bends towards one circumferential side of the roller 221. This ensures that, as described above, the first interference protrusion 222 includes a first protrusion and a second protrusion, and that the second protrusion does not directly contact the surface of the roller 221 at the corresponding position, thus allowing sufficient deformation space. The elastic design of the first interference protrusion 222 helps to endow it with elastic properties, thereby enhancing the effective adjustment of the interference magnitude through elastic restoring force. Furthermore, it allows the first interference protrusion 222 to form an elastic contact with the discharge section and the second channel wall, preventing structural damage to the first interference protrusion 222, the discharge section, and the second channel wall.

[0099] Furthermore, in one embodiment, multiple first interference protrusions 222 are distributed dispersedly on the surface of the roller 221; wherein at least a portion of the first interference protrusions 222 are staggered in the circumferential direction of the roller 221; and / or at least a portion of the first interference protrusions 222 are staggered in the axial direction of the roller 221. This helps to increase the comprehensiveness and anisotropy of the arrangement of each first interference protrusion 222 on the entire circumferential surface of the roller 221, thereby contributing to improving the overall effectiveness of the interference contact between the first interference protrusions 222 and the discharge section, and ensuring that each point in the discharge section corresponds to a first interference protrusion 222 forming an interference effect, which helps to balance and stabilize the force at each point in the discharge section.

[0100] Specific details regarding the 300 material pulling device:

[0101] Please see Figures 9 to 11 The material pulling device 300 includes a gripping assembly and a sixth drive mechanism 350. The gripping assembly includes a movable seat 310, a connecting shaft 320, two gripping rods 330, and a fifth drive mechanism 340. The movable seat 310 is positioned along a preset direction (e.g., Figures 9 to 11The L direction shown is also applicable to, for example, Figures 1 to 4 The machine (as shown in the left-right orientation) is movably mounted on the base 100. The connecting shaft 320 is located on the movable seat 310. The two gripping rods 330 are connected in a scissor-like manner through the connecting shaft 320, such that each gripping rod 330 includes a drive rod segment 331 and a movable rod segment respectively disposed on both sides of the connecting shaft 320. The fifth drive mechanism 340 is located on the movable seat 310 and is drivenly connected to at least one of the drive rod segments 331, such that the two drive rod segments 331 can move closer to each other and further away from each other (e.g., ...). Figures 9 to 11 The H direction shown is also applicable to, for example, Figures 1 to 4 The relative movement stroke (up and down direction) of the whole machine shown is such that the two movable rod segments are driven to move closer to each other to grab the material belt and to move further apart to allow the material belt to disengage; the sixth drive mechanism 350 is located on the base 100 and is drivenly connected to the movable seat 310.

[0102] Driven by the fifth drive mechanism 340, the two gripping rod segments 332 can grip the material strip when they move close to each other, which helps to increase the gripping strength of the material strip and thus effectively prevent the material strip from slipping. Moreover, the gripping area of ​​the gripping rod segment 332 is relatively small, making it more suitable for gripping material strips with relatively small dimensions. Driven by the sixth drive mechanism 350, the gripping assembly moves along a preset direction, which allows the material strip to be transferred in a relatively accurate directional direction, helping to prevent the material strip from deviating and ultimately helping to improve the quality and reliability of the material strip during the pulling process.

[0103] The shape and size of the base 100 at the material pulling device 300 can be adapted to the movement of the movable seat 310 along a preset direction L. Depending on actual needs, the preset direction L can be a straight line and / or an arc. That is, the movable seat 310 can perform linear translational movement relative to the base 100, or rotational movement relative to the base 100. Specifically... Figures 9 to 11 In the embodiment shown, the base 100 extends in a long shape along a preset direction L, and the movable seat 310 moves in a straight line relative to the base 100.

[0104] Based on this, in one embodiment, the sixth drive mechanism 350 includes a first rack 351, a first gear 352, and a sixth driver 353. The first rack 351 extends along the preset direction and is disposed on the base 100; the first gear 352 is movably mounted on the base 100 along the preset direction and meshes with the first rack 351; the sixth driver 353 is movably mounted on the base 100 along the preset direction, and is fixedly mounted on the movable seat 310 and drivenly connected to the first rack 351. The first rack 351 is fixed relative to the base 100, while the first gear 352 and the sixth driver 353 are both movable relative to the base 100 along the preset direction L. Thus, when the sixth driver 353 operates and drives the first gear 352 to rotate, the first gear 352 is driven to move along the first rack 351, and the sixth driver 353 and the movable seat 310 translate in the same direction, realizing the translational drive of the movable seat 310, and has the characteristics of simple structure.

[0105] Furthermore, based on any of the above embodiments, in a further embodiment, the fifth drive mechanism 340 includes a cam 341 and a fifth driver 342. The cam 341 is rotatably mounted on the movable seat 310 about an axis extending axially along the connecting shaft 320, and is located on the side of at least one drive rod segment 331 that is close to or far from another drive rod segment 331. The cam 341 has a longer-radius outward protrusion 341a and a shorter-radius inward concave portion 341b. During the rotation of the cam 341, the outward protrusion 341a and the inward concave portion 341b slide against the drive rod segment 331 respectively. The fifth driver 342 is drivenly connected to the cam 341. The fifth actuator 342 drives the cam 341 to rotate, thereby causing the outer convex part 341a and the inner concave part 341b of the cam 341 to slide against the drive rod segment 331 respectively. Since the outer periphery of the outer convex part 341a is relatively far from the rotation axis of the cam 341, and the outer periphery of the inner concave part 341b is relatively close to the rotation axis of the cam 341, the distance between the slidingly abutting drive rod segment 331 and the rotation axis of the cam 341 can be adjusted, and finally the distance between the two drive rod segments 331 can be adjusted.

[0106] Further, in one embodiment, the cam 341 is located between the two drive rod segments 331 and has a first radial direction and a second radial direction that are perpendicular to each other; two protruding portions 341a are provided, and the two protruding portions 341a are symmetrically arranged on opposite sides of the cam 341 in the first radial direction; two concave portions 341b are provided, and the two concave portions 341b are symmetrically arranged on opposite sides of the cam 341 in the second radial direction. Thus, when the cam 341 rotates to the point where the two protruding portions 341a slide against the two drive rod segments 331, it can simultaneously drive the two drive rod segments 331 to move away from each other, thereby driving the two gripping rod segments 332 to move closer to each other, achieving a stable and balanced gripping of the material strip.

[0107] Furthermore, in one embodiment, the fifth drive mechanism 340 further includes a first elastic element 343; the first elastic element 343 connects the two drive rod segments 331, and / or the first elastic element 343 connects the two gripping rod segments 332. Thus, when the cam 341 rotates to the point where the two outward protrusions 341a slide against the two drive rod segments 331, the first elastic element 343 is stretched and deformed, generating an elastic restoring force; while when the cam 341 rotates to the point where the two inward concave portions 341b slide against the two drive rod segments 331, driven by the elastic restoring force of the first elastic element 343, the two drive rod segments 331 can be synchronously driven to move closer to each other, thereby driving the two gripping rod segments 332 to synchronously move away from each other, achieving complete detachment of the material strip.

[0108] In one embodiment, the gripping assembly further includes two abutment members 344, which are respectively disposed on the sides of the two gripping rod segments 332 that are close to each other; wherein, the abutment members 344 have a second interference protrusion 344a on at least one side that is close to each other. The specific form of the second interference protrusion 344a is not limited, and it can be any suitable shape, size, number, and material. The provision of the second interference protrusion 344a can increase the friction between the abutment members 344 and the material strip, thereby preventing the material strip from slipping off the abutment members 344 during the gripping process of the two gripping rod segments 332.

[0109] Furthermore, in one embodiment, the abutment member 344 and the corresponding gripping rod segment 332 are floatingly connected via a floating structure 345. The floating structure 345 can be any structure capable of adjusting its movement in the H direction (where the two gripping rod segments 332 move closer to or further away from each other), such as a spring, rubber band, metal spring, or bladder. The floating structure 345 ensures a flexible contact between the abutment member 344 and the material strip, which also helps prevent structural damage to the material strip during gripping.

[0110] Based on any of the above embodiments, in a further embodiment, the material pulling device 300 further includes a first detection device 361. The first detection device 361 is disposed in a preset area of ​​the base 100 and has a first detection part facing the movable seat 310. The first detection part is used to detect the position of the movable seat 310 relative to the preset area. It can be understood that the preset area can refer to the material output area of ​​the strip. When the first detection part senses that the movable seat 310 has moved to the preset area, that is, it indicates that the gripper 330 is in position, the control device controls the fifth drive mechanism 340 to operate, which can operate the two grippers 330 to grip the output strip. Then, it controls the sixth drive mechanism 350 to operate, driving the gripping assembly to move out of the preset area, thereby realizing the pulling action of the strip. When the first detection unit senses that the movable seat 310 has moved to another designated area outside the preset area, that is, it indicates that the gripper 330 has pulled the material strip into place. At this time, the control device stops the sixth drive mechanism 350 and controls the fifth drive mechanism 340 to drive the two grippers 330 to release the material strip, thus completing the entire material pulling mode of the material strip.

[0111] In a further embodiment, the feeding device 300 further includes a second detection device 362 disposed on the movable seat 310 and having a second detection section facing at least one of the gripping rods 330. The second detection section is used to detect the relative travel of the two gripping rod segments 332. The second detection device 362 can directly confirm the active position of the two gripping rod segments 332 (especially the position during gripping), or indirectly confirm the active position of the two gripping rod segments 332 by detecting the active position of the two drive rod segments 331. This helps in pre-calibrating or synchronously monitoring whether the gripping of the current material strip by the two gripping rod segments 332 is stable and appropriate. When the detection data of the second detection device 362 exceeds a preset threshold, it indicates that the active position of the two gripping rod segments 332 is abnormal, which helps to promptly alert the user or automatically adjust the active position of the two gripping rod segments 332.

[0112] Specific details regarding the cutting device 400:

[0113] Please see Figures 12 to 15The base 100 includes a cutting platform 140, which defines a cutting station 141. The cutting platform 140 is recessed at the cutting station 141 and has a clearance recess 142. The processing device includes a cutting device 400, which includes a cutting component 410 and a seventh drive mechanism 420. The cutting assembly 410 includes a knife holder 411, a pressing member 412, and a cutting tool 413, which are vertically positioned above the cutting station 141 and movably arranged in the vertical direction. The cutting tool 413 is fixedly connected to the knife holder 411. The pressing member 412 is movably arranged in the vertical direction relative to the cutting tool 413. When the knife holder 411 moves closer to the cutting station 141, the pressing member 412 is driven to press the strip of the small packaged Chinese medicine slices at the cutting station 141. The cutting tool 413 is driven to continue moving closer to the relief recess 142 to cut the strip at the relief recess 142. The seventh driving mechanism 420 is located on the base 100 and is drivenly connected to the knife holder 411.

[0114] It is understandable that the upward orientation of the cutting station 141 provides relatively stable upward support for the strip to be cut, whether manually or automatically placed at the cutting station 141. Driven by the seventh drive mechanism 420, the cutter holder 411 first moves the pressing component 412 and the cutting tool 413 synchronously closer to the cutting station 141, until the pressing component 412 moves closer to the cutting station 141 and presses the strip to be cut onto the cutting station 141. At this point, the pressing component 412 is... The cutting station 141 stops moving downwards due to a limit; the cutter holder 411 drives the cutter 413 to continue moving downwards and approaching the relief recess 142. During this process, the cutter 413 cuts the part of the strip to be cut that is vertically above the relief recess 142, thereby realizing the sequential cutting and separation of each small package of Chinese medicine on the strip. This also helps to prevent the strip to be cut from shifting relative to the relief recess 142 or bending and slipping off the placement area during the cutting process, thus greatly improving cutting efficiency and cutting quality.

[0115] Specifically, the base 100 includes a base body 130 and a cutting platform 140. The base body 130 is fixed relative to the carrier to be mounted. The carrier can be a pre-defined platform, ground, wall, etc. The cutting platform 140 is mounted on the base body 130. The cutting platform 140 has an upward-facing operating surface, and the entire area or a portion of the operating surface constitutes a cutting station 141. A recess 142 is formed within the cutting station 141 on the operating surface. The recess 142 can be a groove-like structure or a hole-like structure. The size and shape of the recess 142 can be adapted to at least the cutting edge 413a of the tool 413, or at least the size of the recess 142 can be larger than the corresponding size of the cutting edge 413a of the tool 413, so that at least a portion of the cutting edge 413a of the tool 413 can extend into the recess 142 to complete the cutting of the material strip.

[0116] In a further embodiment, the cutting platform 140 at least defines a portion of the cutting station 141 that is vibrating relative to the base 130 in a vertical direction and / or in any horizontal direction. Specifically, the cutting platform 140 includes a vibrating plate and a vibration generator. The vibrating plate is movably positioned vertically above the vibration generator and defines the aforementioned cutting station 141 and the clearance recess 142. Depending on actual needs, driven by the vibration generator, the vibrating plate can reciprocate relative to the base 130 in a vertical direction and / or at least one horizontal direction. When vibration is assisted while the cutter 413 is cutting the portion of the strip, it helps increase the relative travel between the cutter 413 and the portion of the strip to be cut, creating a certain degree of mutual tension between them, which aids in the cutting and shaping of the portion of the strip to be cut. When the cutter 413 completes the cutting operation on the part of the material strip to be cut, the vibrating plate assists in the vibration activity, which helps to accelerate the separation between the cutter 413 and the material strip and avoid the material strip and the cutter 413 sticking to each other; and helps to separate the cutting debris on the cutter 413 and / or the vibrating plate and collect it uniformly in the clearance recess 142 or other set areas, thereby helping to make the next cutting operation more efficient and of higher quality.

[0117] In addition, in one embodiment, the cutting device 400 further includes a detection device located at the cutting station 141, which triggers a detection signal when it detects the part of the strip to be cut, so that the control device electrically connected to the detection device and the seventh drive mechanism 420 respectively controls the seventh drive mechanism 420 to work when it receives the detection signal.

[0118] It should be noted that when the material strip moves from one side of the relief recess 142 toward the other side of the relief recess 142 (e.g.) Figures 12 to 15(The arrows shown indicate the direction). For ease of understanding, the recess 142 is defined to have a feed side and a discharge side.

[0119] Based on this, in one embodiment, the detection device includes a third detection device 431 disposed on the feeding side of the relief recess 142. Specifically, the third detection device 431 can be, for example, a photoelectric sensor, a weight sensor, or an image recognition device, to sense a first preset position on the feeding side of the relief recess 142. It confirms whether the portion of the strip to be cut has moved to the first preset position through methods such as distance changes, weight changes, or image changes. When the portion of the strip to be cut has moved to the first preset position, the control device can control the seventh drive mechanism 420 to start operation immediately or with a delay, driving the cutter holder 411, the pressing member 412, and the cutter 413 to move closer to the cutting station 141. Conversely, when the portion of the strip to be cut has not moved to the first preset position, the control device can control the seventh drive mechanism 420 to pause operation, ensuring that the cutter holder 411, the pressing member 412, and the cutter 413 are vertically above the cutting station 141.

[0120] And / or based on this, in one embodiment, the detection device includes a fourth detection device 432 disposed on the discharge side of the relief recess 142. Specifically, the fourth detection device 432 can be, for example, a photoelectric sensor, an image recognition device, etc., to sense a second preset position on the discharge side of the relief recess 142, and confirm whether the position of the part of the strip to be cut has shifted through methods such as distance change or image change. When the position of the part of the strip to be cut has not shifted, the control device can control the seventh drive mechanism 420 to start operation immediately or with a delay, driving the cutter holder 411, the pressing member 412, and the cutter 413 to move closer to the cutting station 141. Conversely, when the position of the part of the strip to be cut shifts, the control device can control the seventh drive mechanism 420 to stop running, ensuring that the cutter holder 411, pressing part 412 and cutter 413 are vertically above the cutting station 141. At this time, the position of the part of the strip to be cut can be adjusted manually by issuing a prompt, or the position of the part of the strip to be cut can be automatically adjusted by a mechanism such as a robot.

[0121] Of course, the above-mentioned third detection device 431 and fourth detection device 432 do not constitute a limitation on the detection device scheme. In other embodiments, the positions of the third detection device 431 and the fourth detection device 432 can be interchanged, or the detection devices may include more or fewer quantities and types, etc.

[0122] Based on any of the above embodiments, the blade holder 411 and the pressing member 412 each include two support portions arranged vertically opposite each other at intervals. One of the two support portions has a guide hole 411b extending vertically, and the other has a support surface 412b facing the guide hole 411b. The cutting assembly 410 also includes a first guide rod 414 and a second elastic member 415. The first guide rod 414 extends vertically between the two support portions, with one end fixedly connected to the support surface 412b and the other end movably passing through the guide hole 411b. The second elastic member 415 connects the two support portions.

[0123] The tool holder 411 and the pressing member 412 can be stacked vertically as a whole. Alternatively, the overall arrangement of the tool holder 411 and the pressing member 412 is not limited, but parts of the tool holder 411 and the pressing member 412 are arranged opposite each other vertically. These parts respectively constitute the support portion of the tool holder 411 (hereinafter referred to as the first support portion 411a) and the support portion of the pressing member 412 (hereinafter referred to as the second support portion 412a). Specifically, the first support portion 411a has a guide hole 411b, and the second support portion 412a has an upward-facing support surface 412b. The support surface 412b is not limited to a plane that completely abuts the end of the first guide rod 414, but can be any suitable surface structure that can provide upward support to the end of the first guide rod 414.

[0124] The first guide rod 414 and the guide hole 411b are connected and engaged, which not only does not hinder the relative movement of the pressing part 412 relative to the tool holder 411 / tool ​​413, but also accurately guides the relative movement of the pressing part 412 relative to the tool holder 411 / tool ​​413, thus preventing the relative movement of the pressing part 412 relative to the tool holder 411 / tool ​​413 from deviating.

[0125] The second elastic element 415 can realize the floating connection between the pressing element 412 and the knife holder 411 / tool ​​413, and helps to ensure that the pressing element 412 presses the strip elastically, avoiding rigid collision between the pressing element 412 and the plane of the cutting station 141, which would cause structural damage to the pressing element 412, the base 100 or the strip.

[0126] Furthermore, in one embodiment, the cutting assembly 410 further includes a first stop 416, which is vertically adjustable and mounted on the section of the first guide rod 414 that extends out of the guide hole 411b, and the size of the first stop 416 is not smaller than the diameter of the guide hole 411b. When the seventh drive mechanism 420 does not drive the cutter holder 411, the pressing member 412, and the cutter 413 to move close to the cutting station 141, the pressing member 412 and the cutter 413 are spaced apart by a certain distance, specifically, the first support portion 411a and the second support portion 412a are spaced apart by a certain distance. At this time, the setting of the first stop 416 can prevent the distance between the first support portion 411a and the second support portion 412a from being too large, which would cause the first guide rod 414 to disengage from the guide hole 411b.

[0127] By setting the first stop 416 to be movable and adjustable in the vertical direction, the limit distance between the first stop 416 and the guide hole 411b, that is, between the first stop 416 and the first support part 411a, can be movable and adjusted to adapt to different application requirements.

[0128] In one embodiment, the pressing member 412 has a first through hole 412c extending vertically, and the cutting tool 413 is movably inserted through the first through hole 412c. The width of the first through hole 412c is adapted to the width of the cutting edge 413a of the cutting tool 413. Thus, the cutting edge 413a of the cutting tool 413 can be approximately limited in width direction based on the first through hole 412c, thereby preventing excessive offset between the cutting edge 413a of the cutting tool 413 and the strip material, which would result in uneven cutting positions at the cutting portion of the strip and poor cutting. The length of the first through hole 412c is greater than the length of the cutting edge 413a of the cutting tool 413, and the cutting edge 413a of the cutting tool 413 is movably and adjustably mounted on the tool holder 411 along its own length direction. In this way, on the one hand, the first through hole 412c can be adapted to the cutting edge 413a of the tool 413 of different lengths; on the other hand, the relative position of the cutting edge 413a of the tool 413 in the first through hole 412c can be adjusted according to actual needs, so as to meet the needs of different cutting specifications and different cutting positions of different strips.

[0129] Furthermore, in one embodiment, the cutting edge 413a of the cutter 413 is serrated. The serrated cutting edge 413a of the cutter 413 can, when moving close to the material strip, first pierce the material strip with the tip of the serrations, and limit the material strip during the piercing process to prevent displacement; then, during continuous feeding, the piercing opening of the material strip gradually increases, ultimately completing the cutting of the portion of the material strip to be cut, which helps improve the cutting effect and ensures that the material strip remains stable relative to the base 100 during the cutting process.

[0130] In one embodiment, the tool holder 411 has a laterally extending adjustment hole 411c, which extends elongatedly in the horizontal direction. The seventh drive mechanism 420 includes a seventh driver 421 and a rocker arm 422. The seventh driver 421 is fixedly mounted on the base 100 and has a power output shaft 421a rotatably arranged about an axis extending in the horizontal direction. The power output shaft 421a and the adjustment hole 411c are spaced apart in the vertical direction. The rocker arm 422 is located between the power output shaft 421a and the adjustment hole 411c. The rocker arm 422 has a connecting end 422a and a movable end 422b. The connecting end 422a is fixedly connected to the power output shaft 421a, and the movable end 422b protrudes toward the side where the adjustment hole 411c is located and extends into the adjustment hole 411c, being driven to slide back and forth along the elongated direction of the adjustment hole 411c. It can be understood that the rotational motion of the power output shaft 421a has two component motions: one in the vertical direction and one in the horizontal direction. The adjustment hole 411c extends horizontally, so that when the movable end 422b moves along the adjustment hole 411c, the tool holder 411 is driven as a whole to perform a purely vertical motion, ultimately realizing the driving of the seventh drive mechanism 420 on the vertical movement of the tool holder 411, the pressing part 412, and the cutting tool 413.

[0131] Specific details regarding the transfer device 600:

[0132] Please see Figures 16 to 20The transfer device 600 includes a transfer assembly 610, a first drive mechanism 620, a second drive mechanism 630, a third drive mechanism 640, and a fourth drive mechanism 650. The transfer assembly 610 includes a mounting base 611, a platform 612, and at least two pickup mechanisms 613. The mounting base 611 is movably mounted on the base 100 along both vertical and horizontal directions. The platform 612 is rotatably mounted on the mounting base 611 about a vertically extending axis. The platform 612 has a first direction and a second direction arranged at an angle. Both pickup mechanisms 613 are movably mounted on the platform 612 along the first direction and are spaced apart along the second direction. The pickup mechanisms 613 are used to pick up the medicine storage container 200. The first drive mechanism 620 is disposed on the base 100 and connected to the mounting base 611 to drive the mounting base 611 to move vertically; the second drive mechanism 630 is disposed on the base 100 and connected to the mounting base 611 to drive the mounting base 611 to move forward and backward; the third drive mechanism 640 is disposed on the mounting base 611 and connected to the platform 612 to drive the platform 612 to rotate; and the fourth drive mechanism 650 is disposed on the platform 612 and connected to the picking mechanism 613 to drive each of the picking mechanisms 613 to move horizontally in the first direction.

[0133] The mounting base 611 drives the transfer assembly 610 to move forward and backward and up and down, which helps to move the medicine storage container 200 (e.g., medicine container 200 / empty container 200) on the platform 612 by a large amount of stroke. It is suitable for transferring the medicine storage container 200 to various processing devices arranged in the forward and backward and up and down directions. The rotation of the platform 612 helps to drive the medicine storage container 200 on the platform 612 to rotate in various directions on the horizontal plane. It is suitable for transferring the medicine storage container 200 to processing devices arranged in various directions on the horizontal plane. The picking mechanism 613 can stably pick up the medicine storage container 200 and can move along the first direction on the platform 612, which helps to drive the medicine storage container 200 to move by a small amount of stroke on the horizontal plane. In this invention, the transfer component 610 can realize the directional transfer of the medicine storage container 200, and is suitable for processing devices arranged in any way. The coordinated operation of the first drive mechanism 620, the second drive mechanism 630, the third drive mechanism 640 and the fourth drive mechanism 650 helps to realize the automatic and intelligent transfer of the medicine storage container 200, and ultimately improves the orderliness, accuracy and efficiency of the transfer of the medicine storage container 200.

[0134] In view of the above, the forward and backward translation of the picking mechanism 613 is mainly achieved in two ways: First, the mounting base 611 drives the picking mechanism 613 to have a forward and backward translation stroke. The range of this translation stroke can be set to be large enough according to actual needs, for example, covering the entire size range of the base 100 in the forward and backward direction; Second, when the platform 612 rotates to the first direction and is in the same direction as the forward and backward direction, the translation stroke of the picking mechanism 613 in the first direction is also the translation stroke in the forward and backward direction. The orientation of this translation stroke can be set according to actual needs, for example, covering the entire size range of the platform 612 in the first direction.

[0135] In a specific application, the travel distance of the mounting base 611 is not less than the travel distance of the picking mechanism 613. For example, the translational travel distance of the mounting base 611 relative to the base 100 in the front-back direction is set to be greater than the translational travel distance of the picking mechanism 613 relative to the platform 612 in the front-back direction, so that the mounting base 611 can achieve a larger coarse translation distance relative to the base 100, and the picking mechanism 613 can achieve a smaller fine translation distance relative to the platform 612.

[0136] The vertical translation of the picking mechanism 613 is mainly achieved by the mounting base 611. Based on this, the base 100 may further include a vertically extending bracket 170. One or more brackets 170 may be provided, and each bracket 170 is securely connected between the base frame 150 and the top frame 160. The length of the vertical extension of the bracket 170 determines the maximum vertical translation stroke of the transfer assembly 610.

[0137] When the stage 612 rotates to the second direction and is in the same direction as the front and back, the pickup mechanism 613 translates along the first direction, which is also the translational stroke along the left and right directions. The orientation of this translational stroke can be set according to actual needs, for example, covering the entire size range of the stage 612 along the second direction.

[0138] Of course, when the stage 612 rotates to a position where neither its first nor second direction is the same as the forward / backward direction, the pickup mechanism 613 has a translational travel along a direction different from the forward / backward and left / right directions. Furthermore, the rotation of the stage 612 allows the orientation of the pickup surface of the pickup mechanism 613 to be selectively set within a 360° range. Thus, the pickup mechanism 613 has more pickup orientations and can be used in various processing environments.

[0139] The first drive mechanism 620, the second drive mechanism 630, and the fourth drive mechanism 650 are all used to drive the translational movement of the mounting base 611 or the pickup mechanism 613. Their specific implementation is not limited; they may simply include a driver with linear output, such as a linear cylinder; or they may include a driver with linear output, such as a linear cylinder, and a linear transmission assembly; or they may include a driver with rotary output, such as a motor, and a rotary-to-linear transmission assembly. The linear transmission assembly may be, but is not limited to, rigid transmission components, flexible transmission components, etc. The rotary-to-linear transmission assembly may be, but is not limited to, gear and rack assemblies, lead screw and nut assemblies, etc., without limitation.

[0140] The third drive mechanism 640 is used to drive the rotation of the platform 612. Its specific implementation is not limited; it may simply include a driver with rotary output, such as a motor; or it may include a driver with linear output, such as a linear cylinder, and a linear-to-rotary transmission assembly; or it may include a driver with rotary output, such as a motor, and a rotary transmission assembly. The linear-to-rotary transmission assembly may be, but is not limited to, a rack and pinion assembly, a lead screw and nut assembly, etc. The rotary transmission assembly may be, but is not limited to, a gear assembly, a worm gear assembly, etc.

[0141] Two or more picking mechanisms 613 can be set on the same platform 612. The number of picking mechanisms 613 is related to the number of medicine storage containers 200 that the transfer component 610 can pick up at the same time. When there are more picking mechanisms 613, the transfer component 610 can pick up more medicine storage containers 200 at the same time, which helps the medicine storage containers 200 to circulate quickly, but it increases the structural complexity of the whole machine to a certain extent. Conversely, when there are fewer picking mechanisms 613, the transfer component 610 can pick up relatively fewer medicine storage containers 200 at the same time, which reduces the circulation efficiency of the medicine storage containers 200 to a certain extent, but simplifies the structure of the whole machine.

[0142] The pickup mechanism 613 can be specifically configured as two. In one embodiment, the fourth drive mechanism 650 can be configured as one, and driven connected to both pickup mechanisms 613 respectively, driving the two pickup mechanisms 613 to perform translation in the same direction and synchronously or asynchronously, or driving the two pickup mechanisms 613 to perform translation in opposite directions and synchronously or asynchronously. Alternatively, in one embodiment, the fourth drive mechanism 650 can be configured as two, and driven connected to both pickup mechanisms 613 respectively, independently driving the two pickup mechanisms 613 to perform translation in the same direction and synchronously or asynchronously, or driving the two pickup mechanisms 613 to perform translation in opposite directions and synchronously or asynchronously.

[0143] In a specific embodiment, the two fourth drive mechanisms 650 respectively drive the two pickup mechanisms 613 to perform reverse translational movements along the first direction. Thus, for example, when the first direction is specifically left-right, the two fourth drive mechanisms 650 can respectively drive the two pickup mechanisms 613 to perform alternating reciprocating movements along the left-right direction, which not only helps to increase the number of pickup stations of the entire machine (achieving a dual-station purpose), but also allows the medicine storage container 200 to be picked up and transferred sequentially and orderly.

[0144] Specifically, in one embodiment, the transfer assembly 610 further includes a base plate 614, a separator 615, and two second stops 616. The base plate 614 is spaced above the platform 612 to define a receiving cavity 614a between itself and the platform 612. The receiving cavity 614a houses at least a portion of the fourth drive mechanism 650. The base plate 614 has a second through hole 614b extending vertically through the receiving cavity 614a. The second through hole 614b extends longitudinally along the first direction. The picking mechanism 613 extends at least partially into the second through hole 614b and is connected to the fourth drive mechanism 650. The upper surface slides against the bottom surface of the medicine storage container 200; the separator 615 protrudes from the upper surface of the base plate 614 and is located between the two picking mechanisms 613. The separator 615 extends along the first direction and slides against the corresponding side surface of the medicine storage container 200; the two second stops 616 are respectively disposed on opposite sides of the base plate 614 in the second direction and extend along the first direction. The second stops 616 slide against the corresponding side surface of the medicine storage container 200.

[0145] The base plate 614 can be raised and mounted on the platform 612 by additional features such as a support structure, or by partially flanging its own edges. This raised mounting of the base plate 614 maintains a certain distance from the platform 612 and defines a receiving cavity 614a. The receiving cavity 614a houses at least some components of the fourth drive mechanism 650, contributing to the compactness of the overall structure. The second through hole 614b is an elongated hole extending along the first direction, primarily serving a guiding and limiting purpose. The upper surface of the base plate 614 is slidably connected to the bottom surface of the medicine storage container 200. This allows for surface contact with the medicine storage container 200, increasing the stability of the container during translation by the picking mechanism 613; it also provides upward support for the container 200.

[0146] The separator 615 can be integrally formed with the base plate 614, or it can be obtained by separate forming and then detachable or non-detachable connection. Similarly, the side surface of the separator 615 is slidably connected to the side surface of the medicine storage container 200. On the one hand, it can make surface contact with the medicine storage container 200, increasing the stability of the medicine storage container 200 during the translation process driven by the picking mechanism 613; on the other hand, it can provide lateral support to the medicine storage container 200.

[0147] The second stop 616 can also be integrally formed with the base plate 614, or it can be obtained by separate forming and then detachable or non-detachable connection. Similarly, the side surface of the second stop 616 is slidably connected to the side surface of the medicine storage container 200. On the one hand, it can make surface contact with the medicine storage container 200, increasing the stability of the medicine storage container 200 during the translation process driven by the picking mechanism 613; on the other hand, it can provide lateral support for the medicine storage container 200. For the medicine storage container 200 picked up by the same picking mechanism 613, the second stop 616 and the separator 615 are respectively located on opposite sides of the medicine storage container 200 in the second direction, which helps to improve the guiding accuracy of the medicine storage container 200 during the translation process.

[0148] Furthermore, the fourth drive mechanism 650 includes two pulleys 651, a conveyor belt 652, and a fourth driver 653. The two pulleys 651 are spaced apart within the receiving cavity 614a along the first direction, and are rotatably mounted along their vertical axes. The conveyor belt 652 is wound in a closed loop around the two pulleys 651 and is fixedly connected to the picking mechanism 613. The fourth driver 653 is located on the platform 612 and is driven by at least one of the pulleys 651.

[0149] The pulley 651 is rotatably mounted on the platform 612. Depending on actual needs, the distance between the rotation axes of the two pulleys 651 can be set to be fixed or can be adjusted in the direction of moving closer to each other and further away from each other, so that the translational stroke of the picking mechanism 613 relative to the platform 612 in the first direction can be flexibly adjusted.

[0150] Two segments of the same conveyor belt 652 located in the second direction can be fixedly connected to a pickup mechanism 613, or only one segment can be fixedly connected to the pickup mechanism 613. The method of fixing the pickup mechanism 613 to the segments of the conveyor belt 652 is not limited. For example, the pickup mechanism 613 includes two clamping members, which are movably arranged in directions of approach and distance from each other. When they are close together, they can clamp and fix together on both sides of the segment, and when they are far apart, they can detach from the segment. An interference structure can be provided on the side of the two clamping members that is close to each other. Specifically, the interference structure can be an interference protrusion to increase the connection and fixing strength between the clamping members and the segment. The interference protrusion can be, for example, serrated. The fourth driver 653 can be, for example, a motor.

[0151] In one embodiment, the transfer device 600 further includes a fifth detection device 641, which is disposed adjacent to the pulley 651. When the pickup mechanism 613 moves closer, it triggers a first detection signal, allowing a control device electrically connected to both the fifth detection device 641 and the pickup mechanism 613 to control the pickup mechanism 613 to operate upon receiving the first detection signal. The fifth detection device 641 can be, for example, a photoelectric sensor, including a signal emitting part and a signal receiving part on both sides of the area to be measured. When there is an obstruction in the area to be measured, it blocks the signal reception between the signal emitting part and the signal receiving part, thereby generating a detection signal. Therefore, based on the fifth detection device 641, the pickup mechanism 613 can be accurately sensed when it moves to the area to be measured. Depending on actual needs, the fifth detection device 641 can be disposed at any position on the conveyor belt 652, and one or more devices can be configured as needed. When the control device receives the first detection signal, it can determine that the pickup mechanism 613 has moved to the location of the fifth detection device 641 that issued the first detection signal (that is, the set position), and can accurately know whether the pickup mechanism 613 has reached the set position.

[0152] In one embodiment, the transfer device 600 further includes an identification mechanism 642. The identification mechanism 642 has an identification section, and is movably adjustable relative to the platform 612 so that the orientation of the identification section is adjustable. The identification mechanism 642 can be, but is not limited to, a barcode scanner, an image recognition device, a weight sensor, etc., capable of identifying and confirming the setting information of the medicine storage container 200. The identification section of the identification mechanism 642 is the part that mainly performs the identification function, such as the signal emission section of a barcode scanner or the imaging section of an image recognition device. When the orientation of the identification section of the identification mechanism 642 is adjustable, on the one hand, the identification mechanism 642 can be accurately adjusted to a fixed orientation according to actual needs, adapting to different layout requirements of the pickup mechanism 613; on the other hand, it can be configured to enable the identification mechanism 642 to perform tracking identification of the same medicine storage container 200, obtaining at least two feature identification results of the same medicine storage container 200 as needed.

[0153] In one embodiment, the pickup mechanism 613 includes a connecting seat 613a, a swing arm 613b, and a rotary driver 613c. The connecting seat 613a is translatably mounted on the platform 612 along the first direction and is connected to the fourth drive mechanism 650. The swing arm 613b is located on one side of the connecting seat 613a in the first direction and is rotatably mounted on the connecting seat 613a about an axis extending along the first direction, so that during its rotation, it has a first position of rotating to a slot 211d extending into the medicine storage container 200 and a second position of rotating to a position extending out of the slot 211d of the medicine storage container 200. The rotary driver 613c is located on the connecting seat 613a and has a rotary output shaft, which is drivenly connected to the swing arm 613b.

[0154] The medicine storage container 200 has a recessed slot 211d on one side surface in the second direction and a clearance hole 211e penetrating one side wall of the slot 211d in the first direction. The medicine storage container 200 has a protruding stop structure 211f on one side of the clearance hole 211e to partially block it, so that the clearance hole 211e and the slot 211d extend in an approximately L-shape. Thus, when the swing arm 613b is inserted into the slot 211d, the connection between the swing arm 613b and the rotary output shaft can extend out from the clearance hole 211e. Furthermore, the swing arm 613b can be stopped and limited by the stop structure 211f, allowing for the necessary pushing and pulling operations on the medicine storage container 200.

[0155] Next, in one embodiment, a sensing portion 653a is radially protruded from the swing arm 613b and / or the rotary output shaft. Specifically, for example, a protruding structure can be provided radially on the rotary output shaft to form the sensing portion 653a. The pickup mechanism 613 further includes two sixth detection devices 643, which are respectively disposed on the connecting seat 613a at the first and second positions. When the sensing portion 653a moves closer, a second detection signal is triggered, so that the control device electrically connected to the sixth detection device 643 and the rotary driver 613c, respectively, controls the rotary driver 613c to operate upon receiving the second detection signal. The arrangement of the sixth detection device 643 is similar to that of the fifth detection device 641 described above, and will not be repeated. The two sixth detection devices 643 can be respectively disposed at the position of the sensing portion 653a when the rotary output shaft drives the swing arm 613b to the first position, and at the position of the sensing portion 653a when the rotary output shaft drives the swing arm 613b to the second position. Thus, when the swing arm 613b moves to the first or second position, it can be accurately sensed by the corresponding sixth detection device 643, which helps to accurately monitor the movement of the swing arm 613b. That is, it helps to accurately monitor the picking action of the swing arm 613b on the medicine storage container 200.

[0156] In one embodiment, the picking mechanism 613 further includes a support plate 613d, a second guide rod 613e, and a third elastic element 613f. The support plate 613d extends vertically and is positioned on the same side of the connecting seat 613a in the first direction as the swing arm 613b. Corresponding side surfaces of the support plate 613d and the connecting seat 613a are spaced apart, with one forming a support surface 412b and the other having a guide hole extending along the first direction. One end of the second guide rod 613e is fixedly connected to the support surface 412b, and the other end movably passes through the guide hole. The third elastic element 613f connects the support plate 613d and the corresponding side surfaces of the connecting seat 613a. The support plate 613d can stop and limit the movement of the medicine storage container 200 and provide support on its side during the insertion of the swing arm 613b into the slot 211d, preventing the medicine storage container 200 from shifting relative to the swing arm 613b in the first direction. Furthermore, when the swing arm 613b is inserted into the slot 211d, the swing arm 613b and the support plate 613d apply opposing forces in the first direction to the medicine storage container 200, which helps to stabilize the pickup mechanism 613 and the medicine storage container 200. The cooperation of the second guide rod 613e and the third elastic member 613f makes the contact between the support plate 613d and the medicine storage container 200 elastic, avoiding structural damage to the medicine storage container 200, and allowing the distance between the support plate 613d and the swing arm 613b to be floatingly adjustable, suitable for medicine storage containers 200 of various sizes.

[0157] In view of the above, in one embodiment, the automatic dispensing equipment for small packages of traditional Chinese medicine further includes multiple sensors and a control device. The multiple sensors are correspondingly disposed at each of the processing stations 123, and trigger a sensing signal when the material strip at the processing station 123 is detected to not meet preset conditions. The control device is electrically connected to the multiple sensors and the transfer device 600, respectively, so that upon receiving the sensing signal, it controls the first drive mechanism 620, the second drive mechanism 630, the third drive mechanism 640, and the fourth drive mechanism 650 to operate.

[0158] The configuration of each sensor is not limited; it can directly utilize the aforementioned detection devices, or it can be a device independently set up, separate from the aforementioned detection devices. The sensor can detect the presence or absence of the material strip at processing station 123, which can be achieved through methods such as interval time measurement, weight sensing, image recognition, and photoelectric detection, without limitation. When the material strip at processing station 123 does not meet preset conditions, such as when there is no material strip available for further processing, the control device can control the transfer device 600 to operate as needed, moving the empty container 200 out of processing station 123 and replacing the medicine-containing container 200 into processing station 123, ensuring a high degree of continuity in the operation of the processing device at processing station 123.

[0159] Based on this, please combine Figure 21 The present invention also provides a dispensing method for the automatic dispensing equipment for small packages of traditional Chinese medicine as described above, comprising:

[0160] Step S100: Upon receiving a sensing signal, acquire first information of the sensor that emitted the sensing signal, wherein the first information includes first position information of the sensor.

[0161] In this embodiment, each normally operating processing unit can be equipped with a sensor, either individually or shared with adjacent processing units, as needed. When the sensor determines, as described above, that the material strip at the processing unit does not meet preset conditions through methods such as time interval calculation, weight sensing, image recognition, or photoelectric detection, it sends a sensing signal to the control device. This sensing signal can be associated with various required information to constitute the first information. The first information includes at least the first position information of the sensor. The first position information can be determined, for example, by a three-dimensional coordinate system established by the entire machine. In addition, the first information can also be associated with other information, such as the operating status of the sensor, the remaining amount of material strip, the amount of work completed and the amount of work to be completed within a set period at the processing station 123, etc.

[0162] Step S200: Obtain second information from the transfer device 600, the second information including second position information of the picking mechanism 613;

[0163] In this embodiment, the transfer device 600 continuously operates in the transfer area 110, which means that the relative position between the transfer device 600 and a certain processing station 123 is not uniquely determined at each time point. At this time, the control device can sense this information through other sensors installed on the transfer device 600, or calculate it by real-time monitoring data of the operating states of the first drive mechanism 620, the second drive mechanism 630, the third drive mechanism 640, and the fourth drive mechanism 650, to determine the current second information of the transfer device 600. Similarly, the second information includes the second position information of the pickup mechanism 613, and may also include other information, such as the operating state of the transfer device 600.

[0164] Step S300: Determine the activity path of the picking mechanism 613 based on the first location information and the second location information;

[0165] In this embodiment, once the first and second position information are determined, a feasible path between the flow area 120 and the transfer area 110 can be determined by combining their inherent structural designs. There may be one or at least two feasible paths. When only one feasible path is determined, this path is the active path; when at least two feasible paths are determined, one can be selected as the active path. There are various selection methods, such as considering factors like distance, the operational complexity of each drive mechanism in the transfer device 600, and the correlation with the active path during the previous transfer.

[0166] Step S400: According to the activity path, control at least one of the first drive mechanism 620, the second drive mechanism 630, the third drive mechanism 640 and the fourth drive mechanism 650 to operate.

[0167] In this embodiment, once the activity path is determined, the first drive mechanism 620, the second drive mechanism 630, the third drive mechanism 640, and the fourth drive mechanism 650 may all need to operate in concert, or only some of them may need to be activated. This makes the operation of the transfer device 600 more intelligent, efficient, and energy-saving. Furthermore, through the above-mentioned intelligent control of the transfer device 600, only one or a few transfer devices 600 can be flexibly applied to the entire automated dispensing equipment for small packages of traditional Chinese medicine for orderly dispensing, ultimately helping to improve overall operating efficiency and increase production.

[0168] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An automatic dispensing device for small packages of traditional Chinese medicine, characterized in that, include: The base defines a transfer area and a circulation area. The circulation area includes a feeding station, a box-out station, and multiple processing stations. The multiple processing stations are distributed along the left-right, front-back, and up-down directions, respectively. The base includes a cutting platform, which defines a cutting station. The cutting platform has a recessed clearance portion at the cutting station. A container for storing small packages of Chinese herbal medicine slices, the container comprising a storage body and an adjustment component, wherein the interior of the storage body forms a storage cavity for storing the small packages of Chinese herbal medicine slices, and a radial side wall of the storage cavity penetrates the outer wall of the storage body to form a channel, the channel having a first channel wall and a second channel wall arranged opposite to each other; the adjustment component is disposed within the channel, the adjustment component is disposed close to the first channel wall, and a material passage gap is defined between the adjustment component and the second channel wall; A feeding device is provided on the base and is used to transfer the external medicine storage container to the feeding station; Multiple processing devices are provided one-to-one at each of the processing stations. Each processing device includes a cutting device and a material pulling device provided on the cutting platform. The material pulling device is used to pull the material strip in the container storing the medicine, and the cutting device is used to cut the material strip in the container storing the medicine to obtain a medicine package. A box ejection device is provided on the base and is used to move the empty container at the box ejection station outward; A dispensing device, disposed on the base, is used to move the medicine packet from the processing station outward; and, A transfer device is provided in the transfer area. The transfer device includes a picking mechanism that is movably arranged relative to the base. The picking mechanism is translatably arranged in the vertical, horizontal, and forward / backward and left / right directions, and is rotatably arranged about the vertical axis, so as to be able to move the container storing medicine between the feeding station and each of the processing stations, and to move the empty container between each of the processing stations and the box-out station. The material pulling device is located on the side of the cutting device away from the transfer device. The discharge section of the small package of Chinese herbal medicine slices is movably inserted through the material passage gap. It has a discharge stroke that moves radially outward toward the storage cavity under the drive of the material pulling device, and a retraction stroke that moves radially inward toward the storage cavity when the external force is removed. The adjustment component is provided with an interference part located in the material passage gap. The interference part interferes with and abuts against the discharge section that moves through it. The amount of interference generated between the two is adjusted to decrease when the discharge section is performing the discharge stroke and to increase when the discharge section is performing the retraction stroke.

2. The automatic dispensing equipment for small packages of traditional Chinese medicine as described in claim 1, characterized in that, The transfer area is provided on the left and right sides of the transfer area, and one of the two transfer areas defines the feeding station and the box exiting station, while the other defines each of the processing stations.

3. The automatic dispensing equipment for small packages of traditional Chinese medicine as described in claim 2, characterized in that, Each of the processing stations is arranged in rows along the front-to-back direction and in columns along the top-to-bottom direction, with a dispensing station defined between each two adjacent columns of processing stations; The drug dispensing device includes a drug dispensing channel corresponding to each of the drug dispensing stations, and a drug dispensing mechanism. The drug dispensing mechanism includes a drug dispensing support member that is movably arranged in the front-back direction, and the drug dispensing support member is movably arranged below each of the drug dispensing channels.

4. The automatic dispensing equipment for small packages of traditional Chinese medicine as described in claim 3, characterized in that, The drug dispensing channel includes a main channel section extending vertically and multiple branch channel sections, each of which extends upward from the side of the main channel section and tilts towards the corresponding processing station.

5. The automatic dispensing equipment for small packages of traditional Chinese medicine as described in any one of claims 1 to 4, characterized in that, The transfer device includes: A transfer assembly includes a mounting base, a platform, and at least two picking mechanisms. The mounting base is movably mounted on the base in both vertical and longitudinal directions. The platform is rotatably mounted on the mounting base about an axis extending vertically. The platform surface has a first direction and a second direction arranged at an angle. Both picking mechanisms are movably mounted on the platform along the first direction and are spaced apart along the second direction. The picking mechanisms are used to pick up materials. A first driving mechanism is disposed on the base and connected to the mounting seat to drive the mounting seat to move in a vertical direction; The second drive mechanism is located on the base and connected to the mounting base to drive the mounting base to move in a forward and backward direction. A third drive mechanism, disposed on the mounting base and connected to the platform, drives the platform to rotate; and, A fourth driving mechanism is provided on the platform and connected to the picking mechanism to drive each of the picking mechanisms to translate along the first direction.

6. The automatic dispensing equipment for small packages of traditional Chinese medicine as described in any one of claims 1 to 4, characterized in that, The material pulling device includes: The gripping assembly includes a movable seat, a connecting shaft, two gripping rods, and a fifth drive mechanism. The movable seat is movably mounted on the base along a preset direction. The connecting shaft is located on the movable seat. The two gripping rods are connected in a scissor-like manner via the connecting shaft, such that each gripping rod includes a drive rod segment and a gripping rod segment respectively located on both sides of the connecting shaft. The fifth drive mechanism is located on the movable seat and is drivenly connected to at least one of the drive rod segments, such that the two drive rod segments have relative movement strokes of approaching and moving away from each other. The two gripping rod segments are driven to approach each other to grip the material belt and to move away from each other to allow the material belt to disengage. The sixth drive mechanism is located on the base and is drivenly connected to the movable seat.

7. The automatic dispensing equipment for small packages of traditional Chinese medicine as described in any one of claims 1 to 4, characterized in that, The cutting device includes: A cutting assembly includes a knife holder, a pressing member, and a cutting tool, all vertically above and movably disposed in the cutting station. The cutting tool is fixedly connected to the knife holder. The pressing member is movably disposed in the vertical direction relative to the cutting tool. When the knife holder moves closer to the cutting station, the pressing member is driven to press the material strip at the cutting station, and the cutting tool is driven to continue moving closer to the recessed area to cut the material strip at the recessed area. The seventh driving mechanism is located on the base and is drivenly connected to the tool holder.

8. The automatic dispensing equipment for small packages of traditional Chinese medicine as described in claim 5, characterized in that, The automated dispensing equipment for small packages of traditional Chinese medicine also includes: Multiple sensors are correspondingly disposed at each of the aforementioned processing stations, and a sensing signal is triggered when the material strip at the processing station is detected to not meet a preset condition; and, A control device is electrically connected to a plurality of the sensors and the transfer device respectively, so as to control the first drive mechanism, the second drive mechanism, the third drive mechanism and the fourth drive mechanism to operate respectively when the sensing signal is received.

9. A dispensing method for an automatic dispensing device for small packages of traditional Chinese medicine as described in claim 8, characterized in that, include: Upon receiving a sensing signal, first information of the sensor that emitted the sensing signal is acquired, the first information including first position information of the sensor. Acquire second information about the transfer device, the second information including second position information of the pickup mechanism; The activity path of the picking mechanism is determined based on the first location information and the second location information; According to the activity path, control the operation of at least one of the first drive mechanism, the second drive mechanism, the third drive mechanism, and the fourth drive mechanism.

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