A traditional Chinese medicine granule dispensing system

Abstract

The application discloses a traditional Chinese medicine granule dispensing system, which comprises an enclosed medicine cabinet and a dispensing device enclosed by the medicine cabinet; the dispensing device comprises a bearing box rotating mechanism, a dispensing workbench, a medicine bottle taking and placing manipulator and a medicine bottle transferring device; the dispensing workbench comprises a dispensing panel, which is located above the bearing box rotating mechanism and is provided with a plurality of dispensing stations distributed in a ring shape, and a weighing station is arranged on the inner side of the dispensing station; the medicine bottle taking and placing manipulator is used for taking and placing medicine bottles between the enclosed medicine cabinet and the dispensing station or the weighing station; the medicine bottle transferring device is used for transferring medicine bottles between the dispensing station and the weighing station; wherein, when the bearing box rotating mechanism drives a plurality of bearing boxes to rotate, any bearing box can stop below any dispensing station. The application can not only automatically dispense traditional Chinese medicine granules, but also automatically take and place medicine bottles from the medicine cabinet, so that the whole process automation of taking and placing medicine and dispensing is realized.

Description

Technical Field

[0001] This invention relates to the field of automatic dispensing technology for traditional Chinese medicine granules, and in particular to a traditional Chinese medicine granule dispensing system. Background Technology

[0002] While automated Chinese medicine granule dispensing equipment can replace manual preparation of Chinese medicine, manual operation is still required in the process of handling and placing medicine bottles. For example, when dispensing Chinese medicine, staff need to remove the medicine bottle from the medicine cabinet, move it to the vicinity of the dispensing equipment, weigh the bottle, and place it at the dispensing station. The dispensing equipment then automatically completes the dispensing and packaging processes. After completion, staff need to remove the medicine bottle from the dispensing station, move it back to the medicine cabinet, and return it to its original storage location. The structure of the aforementioned medicine cabinet can be found in Chinese Patent Publication No. CN109567429A, which describes a planar array layout. The dispensing equipment can be found in Chinese Patent Publication No. CN117302608A.

[0003] It is evident that, although the dispensing and packaging processes are automated, the process of picking up and placing medicine bottles is not automated and still requires manual labor.

[0004] In response, the applicant believes it is necessary to increase the automation level of the entire operation process, enabling the retrieval and placement of medicine bottles to also be automated, thereby further saving manpower and improving work efficiency. Therefore, the applicant designed a dispensing system that automates the entire process. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a Chinese medicine granule dispensing system that can not only automate dispensing actions, but also automate the process of picking up and putting in medicine bottles, thereby achieving full automation of the Chinese medicine granule dispensing process.

[0006] The technical solution adopted by the present invention to solve its technical problem is: to provide a traditional Chinese medicine granule dispensing system, which includes an enclosed medicine cabinet and a dispensing device, wherein the center line of the dispensing device is the axis (z);

[0007] The enclosed medicine cabinets are distributed around the axis and located on the periphery of the dispensing equipment, and the enclosed medicine cabinets are provided with several storage compartments for storing medicine bottles;

[0008] The dispensing equipment includes a carrier box rotation mechanism, a dispensing worktable, and a medicine bottle picking and placing robot arm;

[0009] The carrier box rotation mechanism includes a plurality of spaced carrier boxes. When the carrier box rotation mechanism is in operation, it can drive the plurality of carrier boxes to rotate around the axis.

[0010] The dispensing workbench includes a dispensing panel and several dispensing stations; the dispensing panel is located above the rotating mechanism of the carrier box, and the height of the dispensing panel is lower than the height of the medicine storage compartment; the several dispensing stations are arranged sequentially at intervals and around the axis on the dispensing panel;

[0011] The medicine bottle picking and placing robot is used to perform medicine bottle picking and placing actions, which include: removing the medicine bottle from the medicine storage compartment and placing it in the dispensing station, or placing the medicine bottle in the dispensing station back into the medicine storage compartment.

[0012] When the carrier box rotation mechanism drives the plurality of carrier boxes to rotate around the axis, any one of the carrier boxes can stop directly below any one of the adjustment stations.

[0013] Preferably, the dispensing workbench further includes at least one weighing station, which is arranged on the dispensing panel on the inner or outer side of the ring formed by the plurality of dispensing stations.

[0014] The action of taking and placing medicine bottles also includes: removing the medicine bottle from the medicine storage compartment and placing it on the weighing station, or putting the medicine bottle on the weighing station back into the medicine storage compartment.

[0015] Preferably, the dispensing equipment further includes a medicine bottle transfer device, which is used to perform a medicine bottle transfer action, including: transferring the medicine bottle from the dispensing station to the weighing station, or transferring the medicine bottle from the weighing station to the dispensing station.

[0016] Preferably, the enclosed medicine cabinet includes several medicine storage layers, each of which includes several medicine storage compartments, and the medicine storage compartments in each medicine storage layer are arranged sequentially at intervals around the axis in a circumferential direction; the side of the medicine storage compartment closest to the axis is defined as the inner operating surface, and the side away from the axis is defined as the outer operating surface; wherein, the medicine storage compartment allows medicine bottles to be stored in the medicine storage compartment from both the inner and outer operating surfaces; wherein, the medicine bottles stored in the medicine storage compartment can be removed from either the inner or outer operating surface.

[0017] Preferably, the carrier box rotation mechanism further includes a first synchronous belt, a first driving pulley, a first motor, and a plurality of first driven pulleys;

[0018] The first synchronous belt is arranged in a ring; a plurality of the carrier boxes are fixed at equal intervals on the outer side of the first synchronous belt;

[0019] The first drive pulley is used to drive the first synchronous belt to rotate.

[0020] The first motor is used to drive the first drive wheel to rotate around its own axis;

[0021] A plurality of first driven wheels are arranged sequentially along a circular path on the inner side of the first synchronous belt to support the first synchronous belt and maintain its circular arrangement. The first driven wheels can rotate around their own axis as the first synchronous belt moves.

[0022] Preferably, the medicine bottle transfer device includes a first gripping device for gripping the medicine bottle, the first gripping device having at least three degrees of freedom, the three degrees of freedom being: rotational motion about the axis, linear reciprocating motion perpendicular to the axis, and linear reciprocating motion parallel to the axis.

[0023] Preferably, the medicine bottle transfer device further includes a first rotary mechanism, a first linear motion mechanism, and a second linear motion mechanism;

[0024] The rotation center line of the first rotary mechanism is collinear with the axis.

[0025] The first linear motion mechanism is mounted on the first rotary mechanism and can perform rotary motion around the axis based on the first rotary mechanism;

[0026] The second linear motion mechanism is mounted on the first linear motion mechanism and can perform linear reciprocating movement perpendicular to the axis based on the first linear motion mechanism;

[0027] The first gripping device is mounted on the second linear motion mechanism and can perform linear reciprocating movement parallel to the axis based on the second linear motion mechanism;

[0028] The first gripping device can perform the transfer action of the medicine bottle based on the coordinated movement of the second linear motion mechanism, the first linear motion mechanism and the first rotary mechanism.

[0029] Preferably, the first linear motion mechanism is a first synchronous belt module, which includes two sets of first pulley assemblies and a third motor. The two sets of first pulley assemblies are arranged side by side and driven by the third motor to run synchronously. The second linear motion mechanism is connected to the synchronous belts in the two sets of first pulley assemblies simultaneously through a first mounting base.

[0030] Preferably, the second linear motion mechanism is a gear and rack mechanism, which includes a first rack, a first gear, and a fourth motor; the first rack is fixed to the first gripping device, and the extension direction of the first rack is parallel to the axis; the first gear meshes with the first rack; the output shaft of the fourth motor is connected to the first gear to drive the first gear to rotate, and the fourth motor is relatively fixed to the moving part of the first linear motion mechanism.

[0031] Preferably, the medicine bottle handling robot includes a second gripping device for grasping medicine bottles. The second gripping device has at least four degrees of freedom, including: rotational motion about the axis, linear reciprocating motion parallel to the axis, linear reciprocating motion perpendicular to the axis, and rotational motion about an axis perpendicular to the axis.

[0032] Preferably, the medicine bottle handling robot further includes a second rotary mechanism, a third linear motion mechanism, a fourth linear motion mechanism, and a rotation mechanism;

[0033] The rotation center line of the second rotary mechanism is collinear with the axis.

[0034] The third linear motion mechanism is mounted on the second rotary mechanism and can perform rotary motion around the axis based on the second rotary mechanism;

[0035] The fourth linear motion mechanism is mounted on the third linear motion mechanism and can perform linear reciprocating movement parallel to the axis based on the third linear motion mechanism;

[0036] The rotating mechanism is mounted on the fourth linear motion mechanism and can perform linear reciprocating movement perpendicular to the axis based on the fourth linear motion mechanism;

[0037] The second gripping device is mounted on the rotating mechanism and can rotate around an axis perpendicular to the axis based on the rotating mechanism. During the rotation, the second gripping device can rotate to a position perpendicular to the axis or a position parallel to the axis.

[0038] The second gripping device can perform the medicine bottle picking and placing action based on the coordinated movement of the rotating mechanism, the fourth linear motion mechanism, the third linear motion mechanism, and the second rotary mechanism.

[0039] Preferably, the second rotary mechanism includes a fifth motor and a second mounting base; the fifth motor is arranged below the second mounting base to drive the second mounting base to perform a rotary motion around the axis;

[0040] The third linear motion mechanism is a lead screw module, which is mounted on the top of the second mounting base; the lead screw module includes a slide block, which can reciprocate linearly in a direction parallel to the axis.

[0041] Preferably, the fourth linear motion mechanism is a second synchronous belt module, which is mounted on the slide block; the second synchronous belt module includes a seventh motor, a second pulley assembly, and a second moving block, wherein the seventh motor is connected to the second pulley assembly to drive the second moving block mounted on the second pulley assembly to perform linear reciprocating movement perpendicular to the axis.

[0042] The rotating mechanism is mounted on the second moving block; the rotating mechanism includes a second rotary table and an eighth motor, the second gripping device is mounted on the rotating part of the second rotary table, and the eighth motor is used to drive the rotating part of the second rotary table to rotate.

[0043] The beneficial effects of this invention are as follows:

[0044] The medicine bottle picking and placing robot in this invention can perform medicine bottle picking and placing actions, that is, it can take the medicine bottle out of the medicine storage compartment of the enclosed medicine cabinet and place it on the dispensing station or weighing station, or it can put the medicine bottle on the dispensing station or weighing station back into the medicine storage compartment.

[0045] The medicine bottle transfer device of the present invention can perform medicine bottle transfer action, that is, it can transfer medicine bottles from the dispensing station to the weighing station, or it can transfer medicine bottles from the weighing station to the dispensing station;

[0046] During the dispensing process, the medicine bottle pick-and-place robot can first remove the medicine bottle from the designated storage compartment and place it on the dispensing station or weighing station to perform the dispensing or weighing actions. After the dispensing action is completed, if the medicine bottle needs to be transferred to the weighing station, it can be transferred by the medicine bottle transfer device. After the weighing action is completed, if the medicine bottle needs to be transferred to the dispensing station, it can also be transferred by the medicine bottle transfer device. After all actions are completed, the medicine bottle pick-and-place robot will put the medicine bottle back into the original storage compartment from the dispensing station or weighing station.

[0047] Therefore, it can be seen that the Chinese medicine granule dispensing system of the present invention can not only automate the dispensing and weighing actions, but also automate the process of taking medicine bottles from the medicine cabinet to the dispensing station or weighing station and putting the medicine bottles from the dispensing station or weighing station back to the medicine cabinet, thereby achieving full automation of the Chinese medicine granule dispensing process.

[0048] Furthermore, because the storage compartments of the enclosed medicine cabinet in this invention allow for the placement and removal of medicine bottles from both the inner and outer operating surfaces, when the medicine bottle handling robot and medicine bottle transfer device on the inner side of the enclosed medicine cabinet are in operation, staff can simultaneously deposit medicine bottles into the storage compartments from the outer side of the enclosed medicine cabinet or remove medicine bottles from the storage compartments for dispensing. In other words, the characteristics of the storage compartments in the enclosed medicine cabinet of this invention enable simultaneous interaction between the inner and outer sides of the enclosed medicine cabinet. While the medicine bottle handling robot and medicine bottle transfer device on the inner side are performing dispensing-related actions, staff on the outer side can remove medicine bottles from the storage compartments for dispensing as needed, ensuring that the entire dispensing system can operate continuously without interruption due to a lack of medicine bottles. Attached Figure Description

[0049] Figure 1 This is a structural diagram of the traditional Chinese medicine granule dispensing system provided in an embodiment of the present invention;

[0050] Figure 2 yes Figure 1 Exploded view;

[0051] Figure 3 yes Figure 1 The internal structure of a traditional Chinese medicine granule dispensing system after removing some components;

[0052] Figure 4 This is a structural diagram showing the carrier box rotation mechanism and the dispensing workbench after they are separated in an embodiment of the present invention;

[0053] Figure 5 This is an independent view of the sub-cabinet in an embodiment of the present invention;

[0054] Figure 6 It is Figure 5 A schematic diagram of the structure of the sub-cabinet after horizontal sectioning, wherein the diagram is in Figure 5 The medicine bottle was omitted from the basic design.

[0055] Figure 7 This is a diagram illustrating the medicine storage compartment, card sleeve, and medicine bottle in an embodiment of the present invention;

[0056] Figure 8 This is a diagram showing the weighing scale, weighing pan, and medicine bottle at the weighing station in an embodiment of the present invention;

[0057] Figure 9 This is an independent view of the medicine bottle transfer device in an embodiment of the present invention;

[0058] Figure 10 yes Figure 9 Exploded view;

[0059] Figure 11 yes Figure 10 Independent views of the intermediate gear and rack mechanism and the first gripping device;

[0060] Figure 12 yes Figure 11 Independent view of the first gripping device in the middle;

[0061] Figure 13 It is Figure 12 A cross-sectional view of the internal structure of the first gripping device.

[0062] Figure 14 This is an independent view of the medicine bottle handling robot in an embodiment of the present invention;

[0063] Figure 15 yes Figure 14 A view from a low angle;

[0064] Figure 16 yes Figure 15 Independent view of the central rotating mechanism and the second gripping device when they are separated;

[0065] Figure 17 yes Figure 16 Independent view of the second gripping device;

[0066] Figure 18 It is Figure 17 A diagram showing the internal structure of the second gripping device after it has been cut open.

[0067] Figure 19 yes Figure 17 A schematic diagram showing the fourth sensor detecting whether a medicine bottle is present at the target location when the second gripping device is preparing to grip the medicine bottle. Detailed Implementation

[0068] The present invention will be further described in detail below with reference to specific embodiments, but the implementation of the present invention is not limited thereto.

[0069] See Figures 1 to 4 This invention provides a traditional Chinese medicine granule dispensing system, which includes an enclosed medicine cabinet and a dispensing device, wherein the center line of the dispensing device is axis z. The axis z is virtual and not physically real.

[0070] The enclosed medicine cabinet is arranged in a ring around the axis z and is located on the periphery of the dispensing equipment. The enclosed medicine cabinet is provided with several medicine storage compartments a11 for storing medicine bottles.

[0071] The dispensing equipment includes a carrier box rotation mechanism (c), a dispensing worktable (d), and a medicine bottle handling robot (f).

[0072] The carrier box rotation mechanism c includes a plurality of carrier boxes c2 spaced apart. When the carrier box rotation mechanism c is running, it can drive the plurality of carrier boxes c2 to rotate around the axis z.

[0073] The dispensing workbench d includes a dispensing panel d1 and several dispensing stations d2. The dispensing panel d1 is positioned above the rotating carrier box mechanism c, and the height of the dispensing panel d1 is lower than the height of any one of the medicine storage compartments a11. The several dispensing stations d2 are arranged sequentially at intervals around the axis z on the dispensing panel d1.

[0074] The medicine bottle picking and placing robot f is used to perform medicine bottle picking and placing actions, which include: removing the medicine bottle from the medicine storage compartment a11 and placing it on the dispensing station d2, or placing the medicine bottle on the dispensing station d2 back into the medicine storage compartment a11.

[0075] When the carrier box rotation mechanism c drives the plurality of carrier boxes c2 to rotate around the axis z, any one of the carrier boxes c2 can stop directly below any one of the adjustment stations d2.

[0076] Preferably, see Figure 3 and Figure 4 The dispensing workbench d further includes multiple weighing stations d3, which are arranged on the dispensing panel d1 on the inner side of the ring formed by the plurality of dispensing stations d2. The medicine bottle handling action further includes: removing the medicine bottle from the medicine storage compartment a11 and placing it on the weighing station d3, or placing the medicine bottle on the weighing station d3 back into the medicine storage compartment a11.

[0077] Preferably, see Figures 2 to 4 The dispensing equipment also includes a medicine bottle transfer device e, which is used to perform a medicine bottle transfer action. The medicine bottle transfer action includes: transferring the medicine bottle from the dispensing station d2 to the weighing station d3, or transferring the medicine bottle from the weighing station d3 to the dispensing station d2.

[0078] In some embodiments, the enclosed medicine cabinet includes several medicine storage layers, each layer including several medicine storage compartments a11, and the medicine storage compartments a11 in each layer are arranged sequentially at intervals around the axis z in a circumferential direction. The side of the medicine storage compartment a11 closest to the axis z is defined as the inner operating surface, and the side facing away from the axis z is defined as the outer operating surface. Medicine bottles can be stored in the medicine storage compartment a11 from either the inner or outer operating surface. Medicine bottles stored in the medicine storage compartment a11 can be removed from either the inner or outer operating surface.

[0079] Furthermore, the specifications of each of the aforementioned medicine storage compartments a11 are consistent, and each medicine storage compartment a11 can only hold one medicine bottle.

[0080] The more specific structure of the enclosed medicine cabinet is as follows.

[0081] join Figure 2 The enclosed medicine cabinet is composed of multiple independent sub-cabinets a. Any sub-cabinet a can be connected to or separated from other adjacent sub-cabinets a.

[0082] Designed as multiple sub-cabinets a, it is easier to transport and assemble. At the same time, it is also easier to clean, maintain or repair the internal parts. That is, when it is necessary to clean, maintain or repair the parts within the area enclosed by the medicine cabinet, the corresponding sub-cabinet a can be separated from the other sub-cabinets a, and then the sub-cabinet a can be pushed open so that the staff can clean, maintain or repair the internal dispensing equipment.

[0083] Further, see Figure 1 and Figure 2 The number of sub-cabinets a is five, and the arc spanned by each sub-cabinet a around the axis z is approximately π / 3. When the five sub-cabinets a are joined together, they form a non-closed enclosed structure with an arc spanning approximately 5π / 3 around the axis z. The remaining area with an arc spanning approximately π / 3 that is not enclosed by the sub-cabinets a is used to install supporting equipment doors, electrical components, and bag-making, sealing, and discharging mechanisms for traditional Chinese medicine granule packaging bags.

[0084] Further, see Figure 5 and Figure 6 The sub-cabinet a has a medicine storage area a1, and all medicine storage compartments a11 are arranged within the medicine storage area a1. Multiple vertically extending mounting plates a12 are evenly spaced within the medicine storage area a1, with a row of medicine storage compartments a11 between every two adjacent mounting plates a12. Figure 5 and Figure 6The shown sub-cabinet a has 11 mounting plates a12, allowing for the placement of 10 rows of medicine storage compartments a11, with each row containing 10 medicine storage compartments a11. That is, the sub-cabinet a in the figure can hold a maximum of 100 medicine bottles p. In other words, the five sub-cabinets a enclosed together can hold a total of 500 medicine bottles p. It can be seen that by utilizing the advantages of the enclosed layout, a large enough storage space can be provided within a small footprint to store a sufficient number of medicine bottles p.

[0085] Among them, see Figure 6 and Figure 7 The medicine storage compartment a11 includes a base a111 and two side plates a112. The upper surface of the base a111 is generally arc-shaped, matching the outer surface of the medicine bottle p. The two side plates a112 are respectively connected to both sides of the base a111, and the outer walls of the two side plates a112 are respectively engaged with two adjacent mounting plates a12.

[0086] Furthermore, each of the aforementioned medicine storage compartments a11 is equipped with an indicator light a13 to indicate the physical state of the medicine bottle p stored in the corresponding compartment a11. See also Figure 5 The enlarged view shows that the indicator light a13 is disposed on the mounting plate a12, and a plurality of indicator lights a13 are disposed on a mounting plate a12, each indicator light a13 corresponding to a medicine storage compartment a11 in the same column.

[0087] The indicator light a13 indicates the physical state of the medicine bottle p, including at least the amount of medicine in the medicine bottle p. For example, when the indicator light a13 is green, it means that there is enough medicine in the medicine bottle p and no medicine needs to be added. When the indicator light a13 is red, it means that there is not enough medicine in the medicine bottle p and medicine needs to be added.

[0088] The indicator light a13 can also be used in conjunction with a corresponding sound-emitting device (such as a horn, buzzer, etc.) to alert staff in a clear manner that the medicine bottle p needs to be refilled. Since there are a large number of medicine bottles p, staff may not be able to quickly locate which medicine bottle p in which storage compartment a11 needs refilling when the sound-emitting device emits a sound. Therefore, the indicator light a13 can also be used in conjunction with a display screen to more intuitively show which medicine bottle p in which storage compartment a11 needs refilling.

[0089] The advantages of the enclosed medicine cabinet are as follows: In the dispensing equipment designed by the applicant, the carrier box c2 carries the packaging bag and moves along a circular path to perform dispensing and packaging actions. Therefore, setting the medicine cabinet in an enclosed structure can better match the movement path of the carrier box c2. The enclosed medicine cabinet is arranged around the dispensing equipment, and the medicine bottle picking and placing robot f is located in the center of the dispensing equipment. During operation, the medicine bottle picking and placing robot f only needs to rotate around the axis z to correspond to any column of medicine storage cells a11. Then, the medicine bottle picking and placing robot f moves up and down to correspond to any medicine storage cell a11 in the same column. Subsequently, the medicine bottle picking and placing robot f moves back and forth to grab the medicine bottle p stored in the designated medicine storage cell a11. Therefore, it can be seen that the enclosed medicine cabinet provides convenience for the automated picking and placing of medicine bottles by the medicine bottle picking and placing robot f, and makes the picking and placing process and actions of the medicine bottle picking and placing robot f more reasonable.

[0090] Furthermore, the aforementioned medicine storage compartment a11 and the card sleeve b together constitute a medicine storage unit.

[0091] Among them, see Figure 7 The sleeve b is used to hold the medicine bottle p. The sleeve b can be engaged with the medicine storage compartment a11 from the outside of the sub-cabinet a, and can also be separated from the medicine storage compartment a11 from the outside of the sub-cabinet a. When the sleeve b is engaged with the medicine storage compartment a11, the medicine bottle p held by the sleeve b can be detached from the sleeve b from the inside of the sub-cabinet a. After detachment, the sleeve b can also be engaged from the inside of the sub-cabinet a.

[0092] More specifically, the sleeve b comprises upper and lower parts, which can be engaged together on the outside of the medicine storage compartment a11. The upper and lower parts elastically abut against each other to clamp the cap p2 of the medicine bottle p. When the upper and lower parts of the sleeve b clamp the cap p2 of the medicine bottle p, pulling the tail of the medicine bottle p will disengage the cap p2 from the upper and lower parts of the sleeve b. When it is necessary to insert the cap p2 of the medicine bottle p into the upper and lower parts of the sleeve b, align the cap p2 of the medicine bottle p with the circular hole in the middle of the sleeve b, and then push the medicine bottle p forcefully to insert the cap p2 into the upper and lower parts of the sleeve b. That is, the sleeve b allows the medicine bottle p to easily leave the sleeve b from the inside of the sub-cabinet a, and also allows the medicine bottle p to easily be inserted into the sleeve b from the inside of the sub-cabinet a. After being inserted, the medicine bottle p will be firmly clamped.

[0093] When placing the medicine bottle p from the outside of the cabinet a onto the medicine storage compartment a11, first insert the bottle cap p2 into the sleeve b, and then engage the sleeve b with the medicine storage compartment a11. When removing the medicine bottle p from the cabinet a for adding medicine, hold the sleeve b and then disengage it from the medicine storage compartment a11. Then, remove the sleeve b along with the medicine bottle p. After removal, without removing the sleeve b, simply unscrew the bottle cap p2 along with the sleeve b, and then add the herbal granules to the medicine bottle p.

[0094] During dispensing, the robotic arm f grips the tail of the medicine bottle p from the inside of the sub-cabinet a, and then pulls the medicine bottle p inward from the storage compartment a11 to remove it for dispensing Chinese medicine granules. After dispensing, when it is necessary to return the medicine bottle p to the storage compartment a11, the robotic arm f grips the tail of the medicine bottle p, and then pushes the top of the medicine bottle p straight into the ferrule b, aligning it with the storage compartment a11.

[0095] As can be seen, the medicine storage unit in this invention allows the enclosed medicine cabinet to easily retrieve or place medicine bottles p from both the inside and outside. Furthermore, the placed medicine bottle p is held securely by the retaining sleeve b, preventing any shaking. However, when retrieving or placing medicine bottle p from the outside of the medicine cabinet, the retaining sleeve b and medicine bottle p are removed or placed back together. When retrieving or placing medicine bottle p from the inside of the medicine cabinet, only medicine bottle p is removed or placed back separately, while the retaining sleeve b remains locked onto the medicine storage compartment a11 and remains stationary. In other words, in this invention, the inner and outer sides of the enclosed medicine cabinet can interact synchronously. The operation of the robotic arm on the inner side and the manual dispensing of medicine on the outer side do not affect each other. When the robotic arm on the inner side of the medicine cabinet is picking up and placing medicine bottles p to dispense traditional Chinese medicine granules, the staff on the outer side of the medicine cabinet can add medicine to the medicine bottles p on the medicine cabinet as needed. The interaction between the inner and outer sides of the medicine cabinet can be carried out synchronously without affecting each other. The dispensing of medicine will not occupy the working time of the robotic arm. The robotic arm does not need to stop and can continue to work normally, thus greatly improving the overall work efficiency.

[0096] The more specific structure of the carrier box rotation mechanism c is as follows.

[0097] See Figure 4 The carrier box rotation mechanism c also includes a first synchronous belt c1, a first driving wheel c3, a first motor c4, and several first driven wheels c5.

[0098] The first synchronization belt c1 is arranged in a ring around the axis z and is located below the adjustment panel d1. Several carrier boxes c2 are fixed at equal intervals to the outside of the first synchronization belt c1.

[0099] The first driving pulley c3 engages with the first synchronous belt c1 through the teeth on its outer surface, thereby driving the first synchronous belt c1 to rotate.

[0100] The first motor c4 is connected to the drive wheel c3 through a reducer, and is used to drive the first drive wheel c3 to rotate around its own axis.

[0101] A plurality of first driven wheels c5 are arranged sequentially along a circular path on the inner side of the first synchronous belt c1 to support the first synchronous belt c1 and maintain the circular arrangement. The first driven wheels c5 can rotate around their own axis as the first synchronous belt c1 moves.

[0102] Further, see Figure 4 The rotating mechanism c of the carrier box further includes several limiting baffles c6 and a rotating base c8. The rotating base c8 is arranged below the first synchronous belt c1, and the first driven wheel c5 and the first motor c4 are both mounted on the rotating base c8. The first driven wheel c5 is mounted on the rotating base c8 via bearings. Several limiting baffles c6 are arranged sequentially along the first synchronous belt c1 and fixed on the rotating base c8. A limiting baffle c6 is arranged between adjacent first driven wheels c5. Each limiting baffle c6 has a limiting slot (not shown in the figure) on its upper and lower sides. The upper and lower sides of the first synchronous belt c1 are respectively engaged in the limiting slots on the upper and lower sides of each limiting baffle c6, and can move smoothly within the limiting slots.

[0103] The aforementioned first synchronous belt c1 is arranged in a ring shape, but this is not limited to a regular circular structure. It can also be partially straight, but generally ring-shaped overall. For example, the first synchronous belt c1 between two adjacent first driven wheels c5 may be straight, but the overall shape enclosed by the first synchronous belt c1 is roughly ring-shaped.

[0104] The purpose of adding the aforementioned limiting baffle c6 is to restrict the first synchronous belt c1 to remain vertical, so as to prevent the first synchronous belt c1 from shaking internally and externally during operation, and to prevent the first synchronous belt c1 from falling downward under the gravity of the carrier box c2.

[0105] Figure 4In the middle, the upper right limiting baffle c6 is set relatively long. Its purpose is to facilitate cooperation with the bag making mechanism and the bag sealing and dispensing mechanism. Specifically, the longer limiting baffle c6 on the right side allows the carrier box c2 to move linearly in this area. During the linear movement, the carrier box c2 first carries the prepared packaging bag to the bag sealing station. The bag sealing and dispensing mechanism (which is existing technology and has been published in a Chinese patent) first seals the top of the packaging bag, and then conveys the sealed packaging bag to the designated bag dispensing position. After that, the first synchronous belt c1 carries the empty carrier box c2 linearly to the bag making station. The bag making mechanism (which is existing technology and has been published in a Chinese patent) makes the packaging bag and places it in the carrier box c2. Subsequently, the first synchronous belt c1 carries the carrier box c2 carrying the packaging bag away from the limiting baffle c6, and then moves along a circular path to complete the subsequent dispensing and dispensing steps.

[0106] The working principle of the above-mentioned carrier box rotation mechanism c is as follows:

[0107] See Figure 4 When the first motor C4 starts, it drives the first drive wheel C3 to rotate. The rotation of the first drive wheel C3, in turn, drives the first synchronous belt C1 to rotate. Since each carrier box C2 is fixed to the outside of the first synchronous belt C1, each carrier box C2 will rotate together with the first synchronous belt C1. During the movement, since the carrier box C2 contains packaging bags, when the packaging bags move directly below the dispensing station D2, the first motor C4 can stop working, and then the corresponding control component (this control component is existing technology) will start. The device controls the dispensing of medicine bottles p, which are pre-placed on dispensing station d2, to dispense a quantitative amount of medicine granules into the packaging bag as needed. If multiple medicine granules need to be added to the packaging bag, the first motor c4 can control the packaging bag to stop sequentially at multiple designated dispensing stations d2. Then, the medicine bottles p containing different medicine granules are quantitatively dispensed into the packaging bag. Finally, the first motor c4 drives the packaged bag to the sealing station, where the sealing and dispensing mechanism completes the sealing and dispensing actions, ultimately producing packaged Chinese herbal medicine granules.

[0108] During the above process, when the first synchronous belt c1 rotates, each first driven wheel c5 plays a supporting role inside the first synchronous belt c1, so that the first synchronous belt c1 can be taut and maintain a circular state. At the same time, each first driven wheel c5 can also rotate around its own axis as the first synchronous belt c1 moves.

[0109] The more specific structure of the adjustment workbench d is as follows.

[0110] See Figure 4The dispensing panel d1 comprises multiple sub-panels d11, which are assembled together to form the dispensing panel d1. The left and right ends of the inner side of any sub-panel d11 are hinged to adjacent sub-panels d11 or corresponding fixing components, allowing any sub-panel d11 to be flipped upwards relative to adjacent sub-panels d11. After the sub-panel d11 is flipped upwards, it facilitates the inspection or maintenance of components below the sub-panel d11 by personnel.

[0111] The several adjustment stations d2 are distributed on each sub-panel d11, for example Figure 4 In the diagram, each dispensing station d2 is arranged sequentially around the axis z on each sub-panel d11. When dispensing Chinese medicine granules, multiple dispensing stations d2 can simultaneously place medicine bottles p, allowing medicine granules to be dispensed into multiple packaging bags at the same time, thereby improving dispensing efficiency.

[0112] The number of weighing stations d3 is no less than two and they are distributed on different sub-panels d11, for example Figure 4 The diagram shows that there are multiple weighing stations d3, and each weighing station d3 is arranged on a sub-panel d11.

[0113] Therefore, the dispensing workbench has multiple weighing stations d3, and since each weighing station d3 is distributed on a different sub-panel d11, the layout of the weighing stations d3 is relatively reasonable. It is convenient to transfer the medicine bottle p between the dispensing station d2 and the weighing station d3. For example, after taking the medicine bottle p from the medicine cabinet, it can be weighed at a weighing station d3 that is closer to the dispensing station d2 that will be used. After weighing, it can be transferred from that weighing station d3 to the aforementioned dispensing station d2. Compared to having only one weighing station d3, the medicine bottle p can choose the nearest weighing station d3 for weighing, thus shortening the transfer path of the medicine bottle p between the dispensing station d2 and the weighing station d3, thereby improving work efficiency. In addition, since there are many weighing stations d3, when multiple medicine bottles p need to be weighed, each weighing station d3 can weigh them simultaneously, which can reduce the weighing waiting time compared to having only one weighing station d3.

[0114] See Figure 8 The weighing station d3 is equipped with a weighing scale d31 and a weighing pan d32. The weighing scale d31 is located below the dispensing panel d1. The weighing pan d32 is located in a pre-drilled mounting hole on the dispensing panel d1 and rests on the weighing scale d31. The weighing pan d32 has a weighing cavity d321 that allows the medicine bottle p to be placed inside.

[0115] Therefore, when the medicine bottle p is inserted into the weighing chamber d321 of the weighing pan d32, the weighing scale d31 can weigh the medicine bottle p. Preferably, the weighing scale d31 can also communicate with the back-end system to transmit the weighed weight information to the back-end system, so that the staff can know the weight of the medicine bottle p or the weight of the medicine inside the medicine bottle p from the back-end system.

[0116] The dispensing station d2 is equipped with a dispensing sleeve d21 and a control component (this control component is prior art and is not shown in the figure), see [reference]. Figure 4 When the medicine bottle p is inverted, the bottle cap p2 can be inserted downwards into the dispensing sleeve d21. The dispensing control component is located below the sub-panel d11. It engages with the drive protrusion p22 on the outer wall of the bottle cap p2 to rotate the bottle cap p2 and control the rotation angle of the bottle cap p2, thereby achieving the purpose of quantitative dispensing.

[0117] Since the medicine bottle p, the dispensing sleeve d21, and the dispensing control component are all existing technologies and are commonly used in existing Chinese medicine granule dispensing equipment, this invention will not elaborate on the specific structure and working principle of the medicine bottle p, the dispensing sleeve d21, and the dispensing control component d22.

[0118] The weighing station d3 in this invention serves to verify the weight of the medicine in the vial. Specifically, during the dispensing process, when adjusting the rotation angle of the vial p and the vial cap p2 by controlling the drive protrusion p22 to dispense the medicine, the actual amount of medicine dispensed may deviate from the expected amount. Therefore, the weighing station d3 is added to verify the amount of medicine dispensed and determine the amount of medicine remaining in the vial after dispensing. During weighing, depending on the situation, a weighing can be performed before dispensing, and then again after dispensing. Instead, the amount of medicine remaining in the vial p can be roughly calculated based on the dispensing amount controlled by the vial cap p2. Alternatively, a weighing can be performed before dispensing and again after dispensing to directly determine the amount of medicine remaining in the vial p after dispensing, and the actual amount of medicine dispensed can be indirectly determined by subtracting the two weighings.

[0119] As can be seen, the dispensing workbench d of this invention can weigh the medicine bottles as needed during the dispensing process, so that the back-end system can determine whether the amount of medicine dispensed is accurate and know the amount of medicine remaining in the medicine bottle after dispensing. The weighing station and the dispensing station are on the same plane and are both set on the dispensing panel d1, making it very convenient to transfer the medicine bottle p between the weighing station d3 and the dispensing station d2, as it is a plane-based transfer. Moreover, since there are many weighing stations d3, with one corresponding weighing station d3 for every few dispensing stations d2, the nearest weighing station d3 can be selected for weighing, ensuring that the movement path of the medicine bottle p when transferring between the weighing station d3 and the dispensing station d2 is not too long, thereby improving work efficiency. Furthermore, since there are multiple weighing stations d3, the waiting time for weighing the medicine bottle p can also be reduced. Meanwhile, since there are a relatively large number of dispensing stations d2, drug granules can be dispensed into multiple packaging bags at the same time, which helps to improve the efficiency of dispensing.

[0120] The specific structures of the medicine bottle transfer device e and the medicine bottle picking and placing robot f are as follows.

[0121] See Figure 3 The medicine bottle transfer device e includes a first gripping device ga for gripping medicine bottles. The first gripping device ga has at least three degrees of freedom, which include: rotational motion about the axis z, linear reciprocating motion perpendicular to the axis z, and linear reciprocating motion parallel to the axis z.

[0122] See Figure 3 The medicine bottle picking and placing robot f is installed in the center of the medicine bottle transfer device e. The medicine bottle picking and placing robot f includes a second gripping device gb for gripping medicine bottles. The second gripping device gb has four degrees of freedom of movement, including: rotational motion about the axis z, linear reciprocating motion parallel to the axis z, linear reciprocating motion perpendicular to the axis z, and rotational motion about an axis perpendicular to the axis z.

[0123] The specific structure of the medicine bottle transfer device e is as follows.

[0124] In addition to the first gripping device ga, the medicine bottle transfer device e also includes a first rotary mechanism e1, a first linear motion mechanism, and a second linear motion mechanism.

[0125] See Figure 3 The first rotary mechanism e1 is mounted in the center of the dispensing panel d1. See also Figure 3 as well as Figure 9 , Figure 10The rotation center line of the first rotating mechanism e1 is the first rotation center line z1, which coincides with the axis z.

[0126] The first linear motion mechanism is mounted on the first rotary mechanism e1, and the first rotary mechanism e1 can drive the first linear motion mechanism to perform a rotary motion around the axis z.

[0127] The second linear motion mechanism is mounted on the first linear motion mechanism, and the first linear motion mechanism can drive the second linear motion mechanism to perform horizontal linear reciprocating movement perpendicular to the axis z.

[0128] The first gripping device ga is mounted on the second linear motion mechanism, which can drive the first gripping device ga to reciprocate in a vertical straight line parallel to the axis z.

[0129] Specifically, the first gripping device ga can perform the aforementioned medicine bottle transfer action based on the coordinated movement of the second linear motion mechanism, the first linear motion mechanism, and the first rotary mechanism e1. That is, the first gripping device ga can grip the medicine bottle p, and then, based on the coordinated movement of the second linear motion mechanism, the first linear motion mechanism, and the first rotary mechanism e1, transfer the medicine bottle p from the dispensing station d2 to the weighing station d3, or transfer the medicine bottle p from the weighing station d3 to the dispensing station d2.

[0130] In some embodiments, see Figure 10 The first rotary mechanism e1 includes a second motor e11 and a first rotary table e12. The second motor e11 is arranged below the first rotary table e12 to drive the first rotary table e12 to perform a rotary motion about the axis z. The first linear motion mechanism is mounted on the top of the first rotary table e12.

[0131] The first rotary table e12 can be selected from existing rotary tables, or it can be customized based on the structure of an existing rotary table. That is, the first rotary table e12 used in this invention is usually a rotary table of existing technology, therefore, this application does not provide a detailed description of the structure and working principle of the first rotary table e12. Typically, the second motor e11 is connected to the first rotary table e12 through transmission components such as a reducer and gears.

[0132] It should also be noted that, where reasonable and applicable, the first rotary table e12 may also be a rotary table with a non-existent structural form, as long as it can drive the first linear motion mechanism mounted on the rotary table to rotate around the axis z.

[0133] In some embodiments, see Figure 9 and Figure 10 The first linear motion mechanism is a first synchronous belt module e2. This first synchronous belt module e2 differs slightly from commonly used synchronous belt modules, comprising two sets of first pulley assemblies e21 and a third motor e22. Each first pulley assembly e21 is a linear motion mechanism assembled from a synchronous belt (not shown) and synchronous pulleys (not shown). The two sets of first pulley assemblies e21 are arranged side-by-side and mounted on the rotating part of the first rotary table e12 via a mounting base e25. The third motor e22 is connected to one of the synchronous pulleys in one set of first pulley assemblies e21, and this synchronous pulley is connected to the corresponding synchronous pulley in the other set of first pulley assemblies e21 via a connecting shaft e23. Therefore, when the third motor e22 operates, it drives the synchronous pulley in one set of first pulley assemblies e21 to rotate. This synchronous pulley then drives the synchronous pulley in the other set of first pulley assemblies e21 to rotate via the connecting shaft e23, thus synchronizing the synchronous belts in the two sets of first pulley assemblies e21. In addition, the second linear motion mechanism is simultaneously mounted on the two synchronous belts of the two sets of the first pulley assemblies e21 via the first mounting base e35.

[0134] Therefore, when the third motor e22 is working, the synchronous belts in the two sets of first pulley assemblies e21 will operate synchronously, and then drive the second linear motion mechanism to make horizontal linear reciprocating movement perpendicular to the axis z through the first mounting base e35.

[0135] In some embodiments, see Figure 17 and Figure 18 The second linear motion mechanism is a gear and rack mechanism e3, which includes a first rack e31, a first gear e32, a fourth motor e33, and the aforementioned first mounting base e35.

[0136] The first rack e31 is fixed to the first gripping device ga, and the extension direction of the first rack e31 is parallel to the axis z. The first gear e32 meshes with the first rack e31. The output shaft of the fourth motor e33 is connected to the first gear e32 to drive the first gear e32 to rotate, and the fourth motor e33 is mounted on the first mounting base e35. The first mounting base e35 is fixed to two first moving blocks e24, and the two first moving blocks e24 are respectively fixed to two synchronous belts in the two first pulley assemblies e21, and can be driven by the synchronous belts to make linear reciprocating movements.

[0137] Therefore, when the fourth motor e33 is working, it can drive the first gear e32 to rotate. The first gear e32 can then drive the first rack e31, which meshes with it, to move linearly. Since the extension direction of the first rack e31 is parallel to the axis z, the movement of the first rack e31 will drive the first gripping device ga, which is fixed to it, to move in a vertical linear reciprocating motion parallel to the axis z.

[0138] Further, see Figure 10 and Figure 11 The gear and rack mechanism e3 further includes a guide rod e34, which is mounted on the first mounting base e35, and the extension direction of the guide rod e34 is parallel to the axis z. Simultaneously, the first gripping device ga is provided with a guide hole g12 adapted to the guide rod e34, and the guide hole g12 is penetrated by the guide rod e34 to limit the movement of the first gripping device ga to only along the guide rod e34. In the figure, there are four guide rods e34, which are arranged in a rectangular pattern. Correspondingly, the first gripping device ga is provided with four guide holes g12, each of which is penetrated by a guide rod e34.

[0139] Therefore, under the constraint of the cooperation between each guide hole g12 and each guide rod e34, it is ensured that the first gripping device ga will not deviate when it moves, and can only make vertical straight reciprocating movements parallel to the axis z.

[0140] The specific structure of the aforementioned robotic arm for picking up and placing medicine bottles is as follows.

[0141] In addition to the second gripping device gb, the medicine bottle picking and placing robot f also includes a second rotary mechanism f1, a third linear motion mechanism, a fourth linear motion mechanism, and a rotating mechanism f4.

[0142] See Figure 3 , Figure 10 as well as Figure 14 The second rotary mechanism f1 is inserted into the hole in the center of the first rotary table e12, and the rotation center line of the second rotary mechanism f1 is the second rotation center line z2, which coincides with the axis z.

[0143] The third linear motion mechanism is mounted on the second rotary mechanism f1, and the second rotary mechanism f1 can drive the third linear motion mechanism to perform a rotary motion around the axis z;

[0144] The fourth linear motion mechanism is mounted on the third linear motion mechanism, and the third linear motion mechanism can drive the fourth linear motion mechanism to perform linear reciprocating movement parallel to the axis z.

[0145] The rotating mechanism f4 is mounted on the fourth linear motion mechanism, which can drive the rotating mechanism f4 to perform linear reciprocating movement perpendicular to the axis z.

[0146] The second gripping device gb is mounted on the rotating mechanism f4. The rotating mechanism f4 can drive the second gripping device gb to rotate about an axis perpendicular to the axis z. During rotation, the second gripping device gb can rotate to a position perpendicular to the axis z or parallel to the axis z. When the second gripping device gb rotates to a position perpendicular to the axis z, see [reference needed]. Figure 3 The side of the second gripping device gb that holds the medicine bottle p is located on the side of the second gripping device gb opposite to the axis z. When the second gripping device gb rotates to a position parallel to the axis z, see [reference needed]. Figure 14 The side of the second gripping device gb that holds the medicine bottle p is located below the second gripping device gb.

[0147] The second gripping device gb can perform the aforementioned medicine bottle picking and placing action based on the coordinated movement of the rotating mechanism f4, the fourth linear motion mechanism, the third linear motion mechanism, and the second rotary mechanism f1. Specifically, the second gripping device gb can, based on the coordinated movement of the rotating mechanism f4, the fourth linear motion mechanism, the third linear motion mechanism, and the second rotary mechanism f1, transfer the medicine bottle p, which is horizontally placed in the medicine cabinet storage compartment a11, to a vertically placed weighing station d3 or dispensing station d2; or, it can transfer the medicine bottle p, which is vertically placed in the weighing station d3 or dispensing station d2, to a horizontally placed medicine cabinet storage compartment a11.

[0148] In some embodiments, see Figure 14 The second rotary mechanism f1 includes a fifth motor f11 and a second mounting base f12. The fifth motor f11 is arranged below the second mounting base f12 to drive the second mounting base f12 to perform a rotary motion about the axis z. The second mounting base f12 is used to mount the third linear motion mechanism.

[0149] Furthermore, the second rotary mechanism f1 also includes a coupling f13, and the bottom of the second mounting base f12 has a shaft. The fifth motor f11 is connected to the shaft at the bottom of the second mounting base f12 through the coupling f13.

[0150] It should be noted that, where reasonable and applicable, the second rotary mechanism f1 may also adopt other structural forms of rotary mechanisms, not limited to the structural forms provided above. Other structural forms of rotary mechanisms should also have a mounting base to facilitate the installation of the third linear motion mechanism.

[0151] In some embodiments, see Figure 14 and Figure 15 The third linear motion mechanism is a lead screw module f2, which is vertically mounted on the second mounting base f12. The lead screw module f2 has a slide block f21, which can reciprocate linearly in a direction parallel to the axis z.

[0152] Preferably, the lead screw module f2 is a fully enclosed lead screw module. This fully enclosed lead screw module 2 is arranged vertically, with its bottom fixed to the second mounting base f12 and its top connected to a top plate f5 via a bearing. The top plate f5 is then connected to other components on the top of the adjusting equipment, thus fixing the top plate f5 in place. This allows the lead screw module f2 to rotate stably between the second mounting base f12 and the top plate f5 when the second rotary mechanism f1 is working. The top plate f5 provides a stable foundation for the rotation of the lead screw module f2, preventing tilting or deviation during rotation.

[0153] It should be noted that the aforementioned fully enclosed lead screw module is existing technology and can be purchased directly from the manufacturer or customized. This fully enclosed lead screw module internally contains components such as a motor, lead screw, nut, and guide rail, and externally contains a slide block connected to the internal nut. During operation, the motor drives the lead screw to rotate, the rotation of the lead screw moves the nut, and the movement of the nut in turn moves the slide block linearly along the guide rail. Since only the slide block is exposed, and the other components are enclosed within the main frame of the lead screw module, only the exposed slide block f21 is visible in the figure; the other components enclosed within the main frame are not visible.

[0154] It should also be noted that, where reasonable and applicable, the third linear motion mechanism may also adopt other structural forms of linear motion mechanisms, and is not limited to the lead screw module form provided above.

[0155] In some embodiments, see Figure 14 and Figure 15 The fourth linear motion mechanism is a second synchronous belt module f3, which is mounted on the slide block f21. The second synchronous belt module f3 includes a seventh motor f31, a second pulley assembly f32, and a second moving block f33. The second pulley assembly f32 includes two synchronous pulleys (not shown in the figure) and a synchronous belt (not shown in the figure) surrounding the two synchronous pulleys. The seventh motor f31 is connected to one of the synchronous pulleys in the second pulley assembly f32 to drive the synchronous belt in the second pulley assembly f32 to rotate, thereby driving the second moving block f33 mounted on the synchronous belt to perform linear reciprocating movement perpendicular to the axis z.

[0156] It should be noted that the aforementioned second synchronous belt module f3 can be a fully enclosed synchronous belt module. This fully enclosed synchronous belt module is existing technology and can be purchased directly from the manufacturer or customized. In the fully enclosed synchronous belt module, the synchronous belt and synchronous pulley are enclosed within the main frame of the synchronous belt module. Therefore, the synchronous belt and synchronous pulley are not visible in the figure; only the second moving block f33, which is connected to the synchronous belt and exposed to the outside, is visible.

[0157] It should also be noted that, where reasonable and applicable, the fourth linear motion mechanism may also adopt other structural forms of linear motion mechanisms, and is not limited to the synchronous belt module form provided above.

[0158] In some embodiments, see Figure 16 The rotating mechanism f4 includes a second rotary table f41 and an eighth motor f42. The second rotary table f41 is connected to a fourth mounting base f43 (see...). Figure 14 and Figure 15 The second moving block f33 is connected to the second gripping device gb, which is mounted on the rotating part of the second rotary table f41. The eighth motor f42 is fixed to the bottom of the second rotary table f41 and is used to drive the rotating part of the second rotary table f41 to rotate.

[0159] It should be noted that the rotating mechanism f4, including the second rotary table f41 and the eighth motor f42, is existing technology and can be purchased directly from the manufacturer or customized.

[0160] It should also be noted that, where reasonable and applicable, the rotating mechanism f4 may also adopt other structural forms of rotating mechanisms, and is not limited to the motor combined with the rotary table structure provided above.

[0161] The specific structures of the first gripping device ga and the second gripping device gb are as follows.

[0162] See Figure 12 , Figure 13 as well as Figure 17 , Figure 18 Both the first gripping device ga and the second gripping device gb include: a shell g1, an airbag g2, and an airbag tube g3.

[0163] The bottom of the housing g1 is provided with a bottle receiving cavity g11, which allows the medicine bottle p to be partially inserted. An airbag g2 is disposed on the inner wall of the bottle receiving cavity g11. An airbag tube g3 is disposed in the housing g1 and communicates with the airbag g2 for inflating or deflating the airbag g2. When the airbag g2 is inflated, it can clamp the medicine bottle p placed in the bottle receiving cavity g11.

[0164] Furthermore, there are multiple airbags g2, distributed around the inner wall of the bottle-containing cavity g11. More specifically, see... Figure 12 or Figure 17 The number of airbags g2 is eight. The eight airbags g2 are distributed in pairs around the four regions of the inner wall of the bottle-containing cavity g11, wherein the two airbags g2 in each region are arranged in an up-down arrangement.

[0165] The airbag tubing g3 includes a main tubing and multiple branch tubing. One end of the main tubing is connected to the air pump via a flexible hose, and the other end is connected to each of the branch tubings. Each branch tubing is connected to each airbag g2. The airbag tubing g3 can be an integrally formed tubing with the shell g1, a separate tubing inserted into the shell g1, or a combination of both.

[0166] Therefore, when the bottle-containing cavity g11 is fitted around the bottom of the medicine bottle p, simultaneously inflating the eight airbags g2 allows them to clamp the bottom of the medicine bottle p from four directions. This simultaneous clamping of the medicine bottle p by the eight airbags g2 ensures uniform force on the outer wall of the medicine bottle p, preventing it from being pushed off its original position by the airbags. Furthermore, because the clamping is done by the airbags g2, it has a certain degree of flexibility. When the airbags g2 clamp the medicine bottle p and place it into the dispensing station d2 or weighing station d3, if there is a slight deviation, the medicine bottle p can be slightly deflected due to the flexibility of the airbags g2, allowing it to smoothly fit into the dispensing station d2 or weighing station d3. For details, see [link to documentation]. Figure 4 Since the outer wall of the cap p2 of the medicine bottle p is provided with two sets of driving protrusions p22, and the dispensing station d2 or weighing station d3 is provided with a positioning groove d322 that matches the driving protrusions p22, under normal circumstances, the driving protrusions p22 should be aligned with the positioning groove d322 during the process of putting the medicine bottle p into the dispensing station d2 or weighing station d3. However, if the driving protrusions p22 and the positioning groove d322 are not completely aligned, but slightly deviated, and the deviation is within the allowable range, then the medicine bottle p can be slightly twisted relative to the air bag g2 during the process of putting it in. After twisting, it can be aligned with the positioning groove d322, so that the medicine bottle p can be smoothly inserted into the dispensing station d2 or weighing station d3.

[0167] To facilitate the detection of the position and status of the medicine bottle p, in some embodiments, see [reference needed]. Figure 12 or Figure 17A first sensor g4 is provided at the top of the bottle-receiving cavity g11, and a second sensor g5 is provided on the side of the bottom. The first sensor g4 is used to detect whether the medicine bottle is properly positioned inside the bottle-receiving cavity g11, and the second sensor g5 is used to detect whether the medicine bottle is completely detached from the bottle-receiving cavity g11.

[0168] Preferably, the first sensor g4 is a reflective photoelectric sensor, which can detect the distance between the bottom of the medicine bottle p and the top surface of the bottle receiving cavity g11 when grasping the medicine bottle p, and then determine whether the medicine bottle p is properly placed in the bottle receiving cavity g11.

[0169] Preferably, the second sensor g5 is a through-beam infrared sensor, consisting of a transmitter and a receiver, which are respectively arranged on the left and right sides of the bottom of the bottle-containing cavity g11. When the medicine bottle p is released, when the receiver receives the infrared light emitted by the transmitter, it indicates that the medicine bottle p has completely left the bottle-containing cavity g11.

[0170] Of course, the first sensor g4 and the second sensor g5 are not limited to the types of sensors described above. In some other embodiments, other types of suitable sensors may also be used.

[0171] In some embodiments, see Figure 13 or Figure 18 A third sensor g6 is also provided at the center of the top of the bottle-containing cavity g11. The third sensor g6 is used to read the RFID tag set at the bottom of the medicine bottle p. The RFID tag contains the name information of the medicine stored in the medicine bottle p. By reading the RFID tag, the third sensor g6 can determine whether the medicine bottle p grasped by the first grasping device ga or the second grasping device gb is correct, so as to avoid grasping the wrong one.

[0172] In some embodiments, see Figure 12 or Figure 17 The bottle receiving cavity g11 is provided with multiple guide limiting plates g13, which are distributed around the inner wall of the bottle receiving cavity g11 to guide the medicine bottle p so that the medicine bottle p can be inserted into the bottle receiving cavity g11 along the central axis of the bottle receiving cavity g11 and avoid deviating from the predetermined position.

[0173] For details, see Figure 12 or Figure 17The bottle-receiving cavity g11 is equipped with four guide limiting plates g13, which are distributed at the front, back, left, and right positions within the cavity. The bottom of each guide limiting plate g13 has a slope to facilitate the smooth insertion of the medicine bottle p into the area defined by the four guide limiting plates g13. Furthermore, when the airbag g2 is not inflated (i.e., when the airbag g2 is in a contracted state), the protrusion height of the guide limiting plate g13 is greater than that of the airbag g2 (i.e., the guide limiting plate g13 is closer to the central axis of the bottle-receiving cavity g11 than the contracted airbag g2). This ensures that the medicine bottle p will not come into contact with the uninflated airbag g2 during insertion into the bottle-receiving cavity g11, preventing the airbag g2 from sticking to the outer wall of the medicine bottle p and affecting its smooth insertion.

[0174] In addition, the first gripping device ga and the second gripping device gb also have the following differences:

[0175] (1) In the first gripping device ga, see Figure 11 and Figure 12 The shell g1 above the bottle receiving cavity g11 has a flat structure and is perpendicular to the outer shell of the bottle receiving cavity g11, and the guide hole g12 is provided on the shell g1 above the bottle receiving cavity g11.

[0176] In the second gripping device GB, see [link / reference] Figure 16 and Figure 17 The shell g1 above the bottle-containing cavity g11 has a flat cylindrical structure and is consistent with the extension direction of the bottle-containing cavity g11. A base plate g8 can be installed on the outer wall of the flat cylindrical structure. Then, the flat cylindrical structure is connected to the rotating part of the second rotary table f41 through the base plate g8, thereby realizing the purpose of using the second rotary table f41 to drive the second gripping device gb to rotate.

[0177] (2) In the second gripping device GB, see Figure 17 A fourth sensor g7 is also provided on the outside of the bottle-containing cavity g11. This fourth sensor g7 is located at the bottom of the flat cylindrical structure and is used to detect whether there is a medicine bottle p at the target location; preferably, see Figure 19 The fourth sensor g7 is a laser rangefinder. Before grasping the medicine bottle p, it uses laser to detect whether there is a medicine bottle p at the target location to be grasped. If no medicine bottle p is detected, the second grasping device gb can move to the next position and continue to detect whether there is a medicine bottle p at the next target location. If a medicine bottle p is detected, the second grasping device gb can be activated to grasp the medicine bottle p. Similarly, the laser rangefinder can also detect whether the position where the medicine bottle p is about to be inserted is occupied by other medicine bottles. If an abnormality is detected, it can be fed back to the staff for handling through the software interface.

[0178] Of course, the fourth sensor g7 is not limited to the type of sensor described above. In some other embodiments, other types of suitable sensors may also be used.

[0179] The installation and use of the medicine bottle transfer device e and the medicine bottle picking and placing robot f of the present invention are as follows.

[0180] During installation, the first rotary mechanism e1 of the medicine bottle transfer device e needs to be installed in the center of the dispensing panel d1. An installation area is reserved in the center of the dispensing panel d1, and the first rotary table e12 of the first rotary mechanism e1 is installed in this installation area. After installation, see [link to installation instructions]. Figure 3 The first rotation center line z1 of the first rotating mechanism e1 is collinear with the axis z and both extend vertically.

[0181] The aforementioned medicine bottle handling robot f also needs to be installed in the reserved installation area in the middle of the dispensing panel d1, and the second rotary mechanism f1 of the medicine bottle handling robot f needs to be inserted and installed in the first rotary table e12 of the medicine bottle transfer device e. Specifically, the second rotary mechanism f1 is installed in the hole in the center of the first rotary table e12 through bearings, and the upper part of the second mounting base f12 is located above the two first pulley assemblies e21, and the lower part passes through the hole between the two first pulley assemblies e21 and the mounting base e25 and the first rotary table e12. After installation, the second rotation center line z2 of the second rotary mechanism f1 is also collinear with the axis z.

[0182] After the medicine bottle transfer device e and the medicine bottle picking and placing robot f are installed, the second rotary mechanism f1 can rotate independently of the first rotary mechanism e1 with the aid of bearings, without interfering with the first rotary mechanism e1. Similarly, the first rotary mechanism e1 can also rotate independently of the second rotary mechanism f1, without interfering with it. Therefore, after installation, the medicine bottle transfer device e and the medicine bottle picking and placing robot f can operate independently, each performing its own medicine bottle transfer or picking and placing action.

[0183] The workflow of the medicine bottle transfer device e when performing the medicine bottle transfer action is roughly as follows:

[0184] First, the first rotating mechanism e1 of the medicine bottle transfer device e is activated, driving the first gripping device ga to rotate to a position in the same radial direction as the medicine bottle p to be gripped;

[0185] Then, the first synchronous belt module e2 works, driving the first gripping device ga to move radially to directly above the medicine bottle p that is about to be gripped;

[0186] Subsequently, the gear and rack mechanism e3 operates in the forward direction, driving the first gripping device ga to move downward and causing the bottle receiving cavity g11 to fit onto the bottom of the medicine bottle p;

[0187] Then, all the airbags g2 of the first gripping device ga are inflated, and after each airbag g2 is inflated, it clamps the bottom of the medicine bottle p from four directions.

[0188] Subsequently, the gear and rack mechanism e3 reverses its operation, causing the grasped medicine bottle p to move upward;

[0189] Then, the first synchronous belt module e2 works, driving the grasped medicine bottle p to move horizontally to a position with the same radius as the corresponding station (dispensing station d2 or weighing station d3);

[0190] Subsequently, the first rotary mechanism e1 operates, causing the grasped medicine bottle p to rotate directly above the corresponding workstation mentioned above;

[0191] Afterwards, the gear and rack mechanism e3 works in the forward direction, causing the grasped medicine bottle p to move downwards and be inserted into the corresponding work station;

[0192] Finally, the airbag g2 of the first gripping device ga is deflated to release the grip on the medicine bottle p. Then, the gear and rack mechanism e3 is reversed to drive the first gripping device ga to move upward and away from the medicine bottle p.

[0193] The workflow of the medicine bottle handling robot f, when performing the medicine bottle handling action, is roughly as follows: It removes the medicine bottle p from the medicine cabinet and places it on the dispensing station d2 or the weighing station d3:

[0194] First, the second rotating mechanism f1 of the medicine bottle picking and placing robot f is activated, driving the second gripping device gb to rotate to a position on the same vertical plane as the medicine bottle p to be gripped;

[0195] Then, the lead screw module f2 operates, driving the second gripping device gb to move up or down to a position directly opposite the medicine bottle p that is about to be gripped;

[0196] Subsequently, the rotating mechanism f4 operates in the forward direction, driving the second gripping device gb to rotate from a position parallel to the axis z to a position perpendicular to the axis z, that is, allowing the second gripping device gb to rotate from a vertical state to a horizontal state;

[0197] Afterwards, the second synchronous belt module f3 operates in the forward direction, driving the second gripping device gb to move horizontally forward. When it moves to the position where it is about to grip the medicine bottle p, the fourth sensor g7 detects whether there is a medicine bottle p at the target position. If a medicine bottle p is detected, the subsequent actions continue. If no medicine bottle p is detected, the second rotary mechanism f1 and the lead screw module f2 work together to move the second gripping device gb to the position directly opposite the next medicine storage compartment a11, and continue to detect whether there is a medicine bottle p in the medicine storage compartment a11. If not, it continues to move to the position directly opposite the next medicine storage compartment a11, until a medicine bottle p is detected in the medicine storage compartment a11 at the target position.

[0198] When a medicine bottle p is detected at the target location, the second synchronous belt module f3 continues to work in the forward direction, driving the second gripping device gb to move horizontally forward until the bottom of the medicine bottle p is inserted into the bottle receiving cavity g11.

[0199] Then, all the airbags g2 of the second gripping device gb are inflated, and after each airbag g2 is inflated, it clamps the bottom of the medicine bottle p from four directions.

[0200] Subsequently, the second synchronous belt module f3 works in reverse, causing the grasped medicine bottle p to move horizontally backward to the zero point position of the second synchronous belt module f3;

[0201] Then, the rotating mechanism f4 works in reverse, causing the grasped medicine bottle p to rotate from a horizontal state to a vertical state;

[0202] After that, the second synchronous belt module f3 works in the forward direction, causing the grasped medicine bottle p to move to the same radius position as the station where it is about to be placed (dispensing station d2 or weighing station d3);

[0203] Subsequently, the second rotary mechanism f1 operates, causing the grasped medicine bottle p to rotate directly above the station where it will be placed (dispensing station d2 or weighing station d3).

[0204] Then, the lead screw module f2 works, driving the gripped medicine bottle p to move downwards until the bottle cap p2 of medicine bottle p is engaged in the dispensing station d2 or the weighing station d3.

[0205] Finally, the airbag g2 of the second gripping device gb is deflated to release the grip on the medicine bottle p. Then, the lead screw module f2 is reversed to drive the second gripping device gb to move upward and away from the medicine bottle p.

[0206] After dispensing, the medicine bottle p on dispensing station d2 or weighing station d3 needs to be returned to its original position in the medicine cabinet. This process is completed with the cooperation of the second rotary mechanism f1, the lead screw module f2, the second synchronous belt module f3, and the rotating mechanism f4. The specific steps are roughly the opposite of the steps described above for taking the medicine bottle p off the medicine cabinet and placing it on dispensing station d2 or weighing station d3, so they will not be described in detail here.

[0207] Therefore, the medicine bottle transfer device e in this invention can perform the work of transferring medicine bottles in the dispensing equipment designed by the applicant, and can automatically transfer medicine bottles p between the dispensing station d2 and the weighing station d3 on the dispensing panel d1. The medicine bottle picking and placing robot f in this invention can perform the work of picking and placing medicine bottles in the dispensing equipment designed by the applicant, that is, it can automatically remove the medicine bottle p from the designated position in the medicine cabinet and place it on the corresponding weighing station d3 or the corresponding dispensing station d2 on the dispensing panel d1, and after the dispensing is completed, it can put the medicine bottle p on the weighing station d3 or the dispensing station d2 back to its original position in the medicine cabinet.

[0208] More importantly, the medicine bottle transfer device e and the medicine bottle picking and placing robot f can operate simultaneously. This has the advantage that, to improve work efficiency, the dispensing stations d2 designed in this invention have a large number of stations. During the dispensing process, different medicine bottles p may be placed on multiple dispensing stations d2 simultaneously. Therefore, the medicine bottle picking and placing robot f will be quite busy, needing to continuously pick up and place medicine bottles between the medicine cabinet and the dispensing station d2 and weighing station d3 (i.e., performing the aforementioned medicine bottle picking and placing actions). Furthermore, if the medicine bottle picking and placing robot f also needs to allocate time to perform the medicine bottle transfer work (i.e., performing the aforementioned medicine bottle transfer actions, transferring medicine bottles p from dispensing station d2 to weighing station d3 or from weighing station d3 to dispensing station d2), it would be problematic. If the medicine bottle handling robot f has a heavy workload, the waiting time for the medicine bottles to move between the medicine cabinet, dispensing station d2, and weighing station d3 will be long, thus dragging down the overall efficiency of the dispensing equipment. To address this, the medicine bottle transfer device e reduces the workload of the medicine bottle handling robot f, allowing it to focus solely on picking up and placing the medicine bottles, while the transfer device e handles the transfer. Therefore, with the simultaneous operation and collaborative work of the medicine bottle transfer device e and the medicine bottle handling robot f, the movement of medicine bottles p between the medicine cabinet, dispensing station d2, and weighing station d3 can be faster, reducing waiting time and improving dispensing efficiency.

[0209] In summary, the Chinese herbal granule dispensing system of the present invention can not only automate actions such as dispensing and weighing, but also automate the process of taking medicine bottles from the medicine cabinet to the dispensing or weighing station and putting the medicine bottles from the dispensing or weighing station back to the medicine cabinet, thereby achieving full automation of the Chinese herbal granule dispensing process.

[0210] Furthermore, because the storage compartment a11 of the enclosed medicine cabinet in this invention has the characteristic that medicine bottles can be placed and removed from both the inner and outer operating surfaces, when the medicine bottle handling robot f and the medicine bottle transfer device e on the inner side of the enclosed medicine cabinet are in operation, the staff can simultaneously store medicine bottles p into the storage compartment a11 from the outside of the enclosed medicine cabinet or remove medicine bottles p from the storage compartment a11 for dispensing. That is, the characteristics of the storage compartment in the enclosed medicine cabinet of this invention allow for simultaneous interaction between the inner and outer sides of the enclosed medicine cabinet. While the medicine bottle handling robot f and the medicine bottle transfer device e on the inner side are performing dispensing-related actions, the staff on the outer side can remove medicine bottles from the storage compartment a11 for dispensing as needed, ensuring that the entire dispensing system can operate continuously without interruption due to a lack of medicine bottles.

[0211] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A traditional Chinese medicine granule dispensing system, characterized in that, It includes an enclosed medicine cabinet and dispensing equipment, wherein the center line of the dispensing equipment is the axis (z); The enclosed medicine cabinet is distributed around the axis (z) and located on the periphery of the dispensing equipment, and the enclosed medicine cabinet is provided with a number of medicine storage compartments (a11) for storing medicine bottles. The dispensing equipment includes a carrier box rotation mechanism (c), a dispensing worktable (d), and a medicine bottle picking and placing robot (f); The carrier box rotation mechanism (c) includes a plurality of carrier boxes (c2) spaced apart. When the carrier box rotation mechanism (c) is running, it can drive the plurality of carrier boxes (c2) to rotate around the axis (z). The dispensing workbench (d) includes a dispensing panel (d1) and several dispensing stations (d2); the dispensing panel (d1) is located above the carrier box rotation mechanism (c), and the height of the dispensing panel (d1) is lower than the height of the medicine storage compartment (a11); the several dispensing stations (d2) are arranged sequentially at intervals and around the axis (z) on the dispensing panel (d1); The medicine bottle picking and placing robot (f) is used to perform medicine bottle picking and placing actions, which include: removing the medicine bottle from the medicine storage compartment (a11) and placing it in the dispensing station (d2), or placing the medicine bottle on the dispensing station (d2) back into the medicine storage compartment (a11). When the carrier box rotation mechanism (c) drives the plurality of carrier boxes (c2) to rotate around the axis (z), any one of the carrier boxes (c2) can stop directly below any one of the adjustment stations (d2); The dispensing workbench (d) further includes at least one weighing station (d3), which is arranged on the dispensing panel (d1) on the inner or outer side of the ring formed by the plurality of dispensing stations (d2); the medicine bottle picking and placing action further includes: removing the medicine bottle from the medicine storage compartment (a11) and placing it on the weighing station (d3), or placing the medicine bottle on the weighing station (d3) back into the medicine storage compartment (a11). The dispensing equipment further includes a medicine bottle transfer device (e), which is used to perform a medicine bottle transfer action, including: transferring the medicine bottle from the dispensing station (d2) to the weighing station (d3), or transferring the medicine bottle from the weighing station (d3) to the dispensing station (d2); The medicine bottle transfer device (e) further includes a first rotary mechanism (e1), a first linear motion mechanism, a second linear motion mechanism, and a first gripping device (ga) for gripping the medicine bottle; the rotation center line of the first rotary mechanism (e1) is collinear with the axis (z); the first linear motion mechanism is mounted on the first rotary mechanism (e1) and can perform a rotary motion around the axis (z) based on the first rotary mechanism (e1); the second linear motion mechanism is mounted on the first linear motion mechanism and can perform a linear reciprocating movement perpendicular to the axis (z) based on the first linear motion mechanism; the first gripping device (ga) is mounted on the second linear motion mechanism and can perform a linear reciprocating movement parallel to the axis (z) based on the second linear motion mechanism; wherein, the first gripping device (ga) can perform the medicine bottle transfer action based on the coordinated movement of the second linear motion mechanism, the first linear motion mechanism, and the first rotary mechanism (e1).

2. The traditional Chinese medicine granule dispensing system according to claim 1, characterized in that, The enclosed medicine cabinet includes several medicine storage layers, each containing several medicine storage compartments (a11). The medicine storage compartments (a11) in each layer are arranged sequentially at intervals around the axis (z) in a circumferential direction. The side of each medicine storage compartment (a11) closest to the axis (z) is defined as the inner operating surface, and the side facing away from the axis (z) is defined as the outer operating surface. Each medicine storage compartment (a11) allows medicine bottles to be stored from either the inner or outer operating surface. Medicine bottles stored in the medicine storage compartment (a11) can be removed from either the inner or outer operating surface.

3. The traditional Chinese medicine granule dispensing system according to claim 1, characterized in that, The carrier box rotation mechanism (c) also includes a first synchronous belt (c1), a first driving pulley (c3), a first motor (c4), and several first driven pulleys (c5); The first synchronous belt (c1) is arranged in a ring; a plurality of the carrier boxes (c2) are fixed at equal intervals on the outside of the first synchronous belt (c1); The first drive pulley (c3) is used to drive the first synchronous belt (c1) to rotate. The first motor (c4) is used to drive the first drive wheel (c3) to rotate around its own axis; A plurality of first driven wheels (c5) are arranged sequentially along a circular path on the inner side of the first synchronous belt (c1) to support the first synchronous belt (c1) so that it maintains the circular arrangement, and the first driven wheels (c5) can rotate around their own axis as the first synchronous belt (c1) moves.

4. The traditional Chinese medicine granule dispensing system according to claim 1, characterized in that, The first linear motion mechanism is a first synchronous belt module (e2), which includes two sets of first pulley assemblies (e21) and a third motor (e22). The two sets of first pulley assemblies (e21) are arranged side by side and driven by the third motor (e22) to run synchronously. The second linear motion mechanism is connected to the synchronous belts in the two sets of first pulley assemblies (e21) through a first mounting base (e35).

5. The traditional Chinese medicine granule dispensing system according to claim 1, characterized in that, The second linear motion mechanism is a rack and pinion mechanism (e3), which includes a first rack (e31), a first gear (e32), and a fourth motor (e33). The first rack (e31) is fixed to the first gripping device (ga), and the extension direction of the first rack (e31) is parallel to the axis (z). The first gear (e32) meshes with the first rack (e31). The output shaft of the fourth motor (e33) is connected to the first gear (e32) to drive the first gear (e32) to rotate, and the fourth motor (e33) is relatively fixed to the moving part of the first linear motion mechanism.

6. A traditional Chinese medicine granule dispensing system according to any one of claims 1 to 5, characterized in that, The medicine bottle handling robot (f) includes a second gripping device (gb) for gripping medicine bottles. The second gripping device (gb) has at least four degrees of freedom, which include: rotational motion about the axis (z), linear reciprocating motion parallel to the axis (z), linear reciprocating motion perpendicular to the axis (z), and rotational motion about an axis perpendicular to the axis (z).

7. A traditional Chinese medicine granule dispensing system according to claim 6, characterized in that, The medicine bottle handling robot (f) also includes a second rotary mechanism (f1), a third linear motion mechanism, a fourth linear motion mechanism, and a rotation mechanism (f4); The rotation center line of the second rotary mechanism (f1) is collinear with the axis (z); The third linear motion mechanism is mounted on the second rotary mechanism (f1) and can perform rotary motion around the axis (z) based on the second rotary mechanism (f1); The fourth linear motion mechanism is mounted on the third linear motion mechanism and can perform linear reciprocating movement parallel to the axis (z) based on the third linear motion mechanism; The rotating mechanism (f4) is mounted on the fourth linear motion mechanism and can perform linear reciprocating movement perpendicular to the axis (z) based on the fourth linear motion mechanism; The second gripping device (gb) is mounted on the rotating mechanism (f4) and can rotate around an axis perpendicular to the axis (z) based on the rotating mechanism (f4). During the rotation, the second gripping device (gb) can rotate to a position perpendicular to the axis (z) or a position parallel to the axis (z). The second gripping device (gb) can perform the medicine bottle picking and placing action based on the coordinated movement of the rotating mechanism (f4), the fourth linear motion mechanism, the third linear motion mechanism, and the second rotary mechanism (f1).

8. A traditional Chinese medicine granule dispensing system according to claim 7, characterized in that, The second rotary mechanism (f1) includes a fifth motor (f11) and a second mounting base (f12); the fifth motor (f11) is arranged below the second mounting base (f12) to drive the second mounting base (f12) to perform a rotary motion around the axis (z); The third linear motion mechanism is a lead screw module (f2), which is mounted on the top of the second mounting base (f12). The lead screw module (f2) includes a slide (f21), which can reciprocate linearly in a direction parallel to the axis (z).

9. A traditional Chinese medicine granule dispensing system according to claim 8, characterized in that, The fourth linear motion mechanism is a second synchronous belt module (f3), which is mounted on the slide (f21). The second synchronous belt module (f3) includes a seventh motor (f31), a second pulley assembly (f32), and a second moving block (f33). The seventh motor (f31) is connected to the second pulley assembly (f32) to drive the second moving block (f33) mounted on the second pulley assembly (f32) to perform linear reciprocating movement perpendicular to the axis (z). The rotating mechanism (f4) is mounted on the second moving block (f33); the rotating mechanism (f4) includes a second rotary table (f41) and an eighth motor (f42), the second gripping device (gb) is mounted on the rotating part of the second rotary table (f41), and the eighth motor (f42) is used to drive the rotating part of the second rotary table (f41) to rotate.

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