Dispensing system for Chinese herbal medicine bags

Abstract

The medicine dispensing system comprises a cabinet body used for storing the Chinese herbal medicine bags, a medicine conveying assembly used for conveying the Chinese herbal medicine bags and a taking and placing assembly used for taking and placing the Chinese herbal medicine bags, and a plurality of medicine storage cavities which are arranged in a penetrating mode are formed in the cabinet body; the medicine feeding assembly is arranged on the back face of the cabinet body and used for transporting the Chinese herbal medicine bags to the cabinet body from the far end. The taking and placing assembly can move to the position above the medicine feeding assembly through a rail assembly arranged on the back face of the cabinet body to grab the Chinese herbal medicine bags and place the Chinese herbal medicine bags into target medicine storage cavities. According to the implementation mode, the medicine dispensing system automatically finishes the processes from preparation of the Chinese herbal medicine bags to medicine taking of the patient, the automatic medicine dispensing function is achieved, manual Chinese herbal medicine bag dispensing is replaced, personnel allocation of a pharmacy is optimized, and the medicine dispensing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medicine dispensing technology, and in particular to a medicine dispensing system for a Chinese herbal medicine bag. Background Art

[0002] Traditional Chinese medicine is a traditional Chinese medical technology, which is a summary of the theories and experiences accumulated by the Chinese people for thousands of years. Chinese herbal medicine is the medicine used by traditional Chinese medicine to prevent and treat diseases. The medicinal materials of Chinese herbal medicine include the roots, stems, leaves, flowers, peels, fruits, etc. of plants.

[0003] In traditional Chinese medicine pharmacies, staff need to grab, weigh and pack Chinese herbs according to the prescription, and then call the patients to pick up the herbal medicine packages. Therefore, packing Chinese herbs and distributing herbal medicine packages need to be handled by staff.

[0004] When there are many patients coming to the outpatient clinic for medication, manual medication distribution will lead to low efficiency and require multiple staff members to handle it, increasing labor costs.

[0005] Therefore, a medicine dispensing system for Chinese herbal medicine packages is proposed to solve the above problems. Summary of the invention

[0006] Based on this, the object of the present invention is to provide a dispensing system for Chinese herbal medicine packages to solve the technical problems raised in the above background.

[0007] The medicine dispensing system comprises a cabinet for storing Chinese herbal medicine packages, a medicine delivery component for transmitting the Chinese herbal medicine packages, and a pick-and-place component for picking and placing the Chinese herbal medicine packages, wherein:

[0008] The cabinet is provided with a plurality of medicine storage cavities which are connected through the cabinet;

[0009] The medicine delivery assembly is arranged on the back of the cabinet and is used to transport the Chinese herbal medicine package from the remote end to the cabinet;

[0010] The pick-and-place assembly can move to the top of the medicine delivery assembly through a track assembly arranged on the back of the cabinet to grab the Chinese herbal medicine bag and place it into the target medicine storage cavity.

[0011] Optionally, the front of the medicine storage chamber is equipped with an openable and closable front door, and the back of the medicine storage chamber is equipped with a one-way plate.

[0012] Optionally, the track assembly includes transverse tracks installed at the upper and lower edges of the back side of the cabinet, and longitudinal tracks are horizontally slidably mounted between two groups of the transverse tracks, and the pick-and-place assembly is slidably mounted to the longitudinal tracks.

[0013] Optionally, first sliders are fixedly provided at the upper and lower ends of the longitudinal track, and each first slider is provided with two constraint wheels rotatably connected to two sides of the transverse track.

[0014] Optionally, the first sliding block is equipped with a power motor connected to the constraint wheel; and a constraint groove is provided at the contact position between the transverse track and the constraint wheel.

[0015] Optionally, the first slider below is fixed with a support platform, and a connected winding roller and winding motor are installed on the support platform; the first slider above is rotatably provided with a reversing wheel, and the wire rope wound around the winding roller is fixedly connected to the pick-up and placement assembly after passing through the reversing wheel; the lower end face of the first slider below is installed with an auxiliary wheel.

[0016] Optionally, the pick-and-place assembly includes a second slider slidably sleeved on the longitudinal track, the second slider is connected to a positioning platform, a servo motor is installed on the top of the positioning platform, an output end of the servo motor passes through the positioning platform and is connected to a movable plate, and under the drive of the servo motor, the movable plate can rotate relative to the positioning platform;

[0017] A driving motor and a bearing seat are fixedly arranged on both sides of the bottom end of the movable plate, a lead screw is connected to the output end of the driving motor, and the other end of the lead screw is rotatably inserted into the bearing seat; a grabbing frame is sleeved on the two lead screws, and as the lead screws rotate, the grabbing frame can reciprocate along the axial direction of the lead screw relative to the movable plate;

[0018] Electric push rods are arranged on both sides of the grabbing frame, and a clamping plate is arranged at the output end of each electric push rod. In the working state, the two clamping plates can move towards or away from each other to clamp or release the Chinese herbal medicine bag.

[0019] Optionally, the medicine delivery assembly includes a conveyor belt located at the back of the cabinet, and U-shaped frames extending to the top of the conveyor belt are provided on both sides of the conveyor belt, and multiple sets of scanning modules are installed on the inner walls of both sides of the U-shaped frame.

[0020] Optionally, a driven shaft rotatably connected to the medicine storage chamber is fixed inside one end of the front door, the driven shaft is connected to a driving motor, and an image acquisition module is embedded in the end of the front door away from the driven shaft; in response to the image acquisition module detecting that the Chinese herbal medicine bag in the medicine storage chamber has been taken away, the driving motor closes the front door.

[0021] Optionally, a touch screen is installed at the center of the front of the cabinet, and a scanning head is embedded in the touch screen.

[0022] The above embodiment of the present invention has the following beneficial effects: the staff can transfer the configured and packaged Chinese herbal medicine package to the back of the cabinet through the medicine delivery component, realizing the automatic transfer of the Chinese herbal medicine package. The pick-and-place component can grab the Chinese herbal medicine package, move it to the target medicine storage cavity in the cabinet through the track component, and then place the Chinese herbal medicine package in the medicine storage cavity. Thus, the patient can take the Chinese herbal medicine package in the corresponding medicine storage cavity.

[0023] In this way, the dispensing system automatically completes the entire process from the preparation of the Chinese herbal medicine packages to the patients picking up the medicines, realizing the automated function of dispensing medicines, thereby replacing the manual distribution of Chinese herbal medicine packages, optimizing the staffing of the pharmacy, and improving the efficiency of dispensing medicines. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the front side of the dispensing system of the Chinese herbal medicine bag of the present invention;

[0025] Figure 2 A front view of an embodiment of a cabinet of the present invention;

[0026] Figure 3 for Figure 2 Enlarged view of point A in the middle.

[0027] Figure 4 It is a structural schematic diagram of the back side of the medicine dispensing system of the Chinese herbal medicine bag of the present invention;

[0028] Figure 5 It is a structural schematic diagram of the cabinet and track assembly of the present invention;

[0029] Figure 6 is a structural diagram of an embodiment of a medicine delivery assembly of the present invention;

[0030] Figure 7 It is a structural schematic diagram of an embodiment of a track assembly and a pick-and-place assembly of the present invention;

[0031] Figure 8 It is a structural schematic diagram of an embodiment of the longitudinal track and the pick-and-place assembly of the present invention;

[0032] Fig. 9 is a structural diagram of an embodiment of a pick-and-place assembly of the present invention;

[0033] Fig.10 is a structural diagram of another embodiment of a pick-and-place assembly of the present invention;

[0034] Description of reference numerals:

[0035] 100: cabinet; 200: track assembly; 300: medicine delivery assembly; 400: pick-and-place assembly;

[0036] 110: one-way plate; 120: medicine storage chamber; 130: front door; 140: laser emission module; 150: laser receiving module; 160: driving motor; 170: driven shaft;

[0037] 210: horizontal track; 220: Z-type connecting arm; 230: longitudinal track; 240: first slider; 241: restraining wheel; 250: supporting platform; 260: winding roller; 261: wire rope; 270: winding motor; 280: auxiliary wheel; 290: reversing wheel;

[0038] 310: conveyor belt; 320: U-shaped frame; 330: scanning module;

[0039] 410: positioning table; 420: second slider; 430: movable plate; 440: grab frame; 450: driving motor; 451: screw rod; 460: servo motor; 470: driven sleeve; 480: electric push rod; 490: clamping plate. DETAILED DESCRIPTION

[0040] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0042] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0044] First see Figures 1 to 5 , Figure 1 It is a structural schematic diagram of the front side of the dispensing system of the Chinese herbal medicine bag of the present invention; Figure 2 A front view of an embodiment of a cabinet of the present invention; Figure 3 for Figure 2 Enlarged view of point A in the middle; Figure 4 It is a structural schematic diagram of the back side of the medicine dispensing system of the Chinese herbal medicine bag of the present invention; Figure 5 Schematic diagram of the structure of the cabinet and track assembly of the present invention. Figures 1 to 5 As shown, the Chinese herbal medicine package dispensing system includes a cabinet 100, a track assembly 200, a medicine delivery assembly 300 and a pick-and-place assembly 400.

[0045] The front of the cabinet 100 is provided with a plurality of medicine storage chambers 120 arranged in a rectangular array. The medicine storage chambers 120 are used to store Chinese herbal medicine bags. Each medicine storage chamber 120 is equipped with an openable front door 130 near the front of the cabinet 100, and a one-way plate 110 is rotatably installed near the back of the medicine storage chamber 120. It should be noted that the Chinese herbal medicine bags are Chinese herbal medicines prepared by the staff according to the prescription and placed in cloth bags or paper bags.

[0046] A touch screen may be installed at the center of the front of the cabinet 100 , a scanning head may be embedded on one side of the touch screen, and a paper scrap box may be installed below the scanning head.

[0047] like Figure 3As shown, a driven shaft 170 rotatably connected to the medicine storage chamber 120 is fixed in one end of the front door 130. The driven shaft 170 is connected to a driving motor, and an image acquisition module is embedded in the end of the front door 130 away from the driven shaft 170. In the working state, when the image acquisition module detects that the Chinese herbal medicine bag in the medicine storage chamber 120 has been taken away, the driving motor closes the front door 130. The above-mentioned image acquisition module can be a camera or a camera, which collects images in the medicine storage chamber 120 and extracts features for analysis to determine whether there is a Chinese herbal medicine bag in the medicine storage chamber 120. Thereby, the front door 130 can be prevented from being in an open state for a long time.

[0048] See also Figure 6 And re-read Figure 4 ,like Figure 4 and Figure 6 As shown, the medicine delivery assembly 300 includes a conveyor belt 310 located at the back of the cabinet 100, and a U-shaped frame 320 extending above the conveyor belt 310 is provided on both sides of the conveyor belt 310, and multiple sets of scanning modules 330 are installed on the inner walls of both sides of the U-shaped frame 320. The scanning module 330 can obtain the patient information of the Chinese herbal medicine package by scanning the barcode posted on the Chinese herbal medicine package.

[0049] In the working state, after the staff prepares the Chinese herbal medicine package according to the prescription, the Chinese herbal medicine package can be placed on the conveyor belt 310, so that the Chinese herbal medicine package is transported from the far end to the back of the cabinet 100. In this way, the automatic transmission of the Chinese herbal medicine package is realized, saving manpower. Those skilled in the art can adjust the length of the conveyor belt 310 according to actual conditions.

[0050] See also Figure 7 and Figure 8 And re-read Figure 4 and Figure 5 , Figure 7 It is a structural schematic diagram of an embodiment of a track assembly and a pick-and-place assembly of the present invention; Figure 8 FIG. 1 is a schematic diagram of the structure of an embodiment of the longitudinal track and the pick-and-place assembly of the present invention. Figure 4 , Figure 5 , Figure 7 and Figure 8 As shown, a track assembly 200 is installed on the back of the cabinet 100. The track assembly 200 includes a horizontal track 210 installed on the back of the cabinet 100 near the upper and lower edges, and a Z-shaped connecting arm 220 for fixing the horizontal track 210 is installed at the upper and lower ends of the cabinet 100. The Z-shaped connecting arm 220 can fix the horizontal track 210 by welding.

[0051] A longitudinal track 230 is installed between the two transverse tracks 210. A pick-up and place assembly 400 is slidably installed on the longitudinal track 230. The upper and lower ends of the longitudinal track 230 are fixed with first sliders 240 that are slidably installed with the transverse track 210. Specifically, each first slider 240 is rotatably provided with constraint wheels 241 on both sides of the transverse track 210. A support platform 250 is fixed at the bottom of the first slider 240 located at the bottom, and a connected winding roller 260 and a winding motor 270 are installed at the upper end of the support platform 250. A reversing wheel 290 is rotatably provided on the first slider 240 above. The wire rope 261 wound around the winding roller 260 is fixedly connected to the pick-up and place assembly 400 after passing through the reversing wheel 290.

[0052] In the working state, when the winding motor 270 drives the winding roller 260 to wind up the wire rope 261, it can pull the pick-and-place assembly 400 to move upward along the longitudinal track 230. When the winding motor 270 reverses and drives the winding roller 260 to release the wire rope 261, it can make the pick-and-place assembly 400 move downward along the longitudinal track 230, thereby realizing the vertical movement of the pick-and-place assembly 400.

[0053] Furthermore, the first slider 240 is equipped with a power motor connected to the constraint wheel 241, a constraint groove may be provided at the contact position between the transverse track 210 and the constraint wheel 241, and an auxiliary wheel 280 is installed on the end surface of the first slider 240 at the bottom.

[0054] The output end of the power motor is used to provide power to the constraint wheel 241, so that the constraint wheel 241 rolls horizontally along the constraint groove, thereby driving the longitudinal track 230 to move horizontally. The auxiliary wheel 280 bears part of the weight of the longitudinal track 230 and the pick-and-place assembly 400, avoiding the concentrated force on the lower transverse track 210, thereby improving the strength and reliability of the track assembly 200.

[0055] In this way, the pick-and-place assembly 400 can move horizontally and vertically through the drive of the reeling motor 270 and the power motor. When a medicine storage cavity 120 is idle, the medicine storage cavity 120 can be used as the target, and the track assembly 200 can drive the pick-and-place assembly 400 to move outside the medicine storage cavity 120.

[0056] Lastly, please refer to Fig. 9 and Fig.10 , Fig. 9 is a structural diagram of an embodiment of a pick-and-place assembly of the present invention; Fig.10 FIG. 2 is a structural diagram of another embodiment of the pick-and-place assembly of the present invention. Fig. 9 and Fig.10As shown, the pick-and-place assembly 400 includes a second slider 420 slidably sleeved on the longitudinal track 230, and the bottom end of the second slider 420 is fixedly connected to a positioning platform 410. The steel wire rope 261 can be connected to the positioning platform 410. A servo motor 460 is installed on the top of the positioning platform 410, and the output end of the servo motor 460 passes through the positioning platform 410 and is connected to a movable plate 430. When the servo motor 460 rotates, it can drive the movable plate 430 to rotate relative to the positioning platform 410.

[0057] Drive motors 450 and bearing seats are fixed on both sides of the bottom end of the movable plate 430. A lead screw 451 is connected to the output end of each drive motor 450, and the other end of the lead screw 451 is rotatably inserted into the bearing seat. A grabbing frame 440 is sleeved on the above-mentioned two lead screws 451. When the above-mentioned drive motor 450 drives the lead screw 451 to rotate, the grabbing frame 440 can slide toward or away from the cabinet 100 along the axial direction of the lead screw 451 relative to the movable plate 430. Specifically, driven sleeves 470 can be set on both sides of the grabbing frame 440, and the two driven sleeves 470 are sleeved on the two lead screws 451.

[0058] Electric push rods 480 are installed on both sides of the grab frame 440, and a clamping plate 490 is provided at the output end of each electric push rod 480. In the working state, driven by the two electric push rods 480, the two clamping plates 490 can move toward or away from each other, thereby clamping or releasing the Chinese herbal medicine bag.

[0059] The medicine dispensing system may further include a controller, which is communicatively connected with the track assembly 200, the medicine delivery assembly 300, and the pick-and-place assembly 400. As an example, the controller may be an MCU (Microcontroller Unit), such as STM32, Arduino, etc. Those skilled in the art may make adjustments according to actual conditions.

[0060] The controller can be connected to the conveyor belt 310 for communication. When the conveyor belt 310 delivers the Chinese herbal medicine package to a designated position near the back of the cabinet 100, the controller stops the rotation of the conveyor belt 310. Specifically, a proximity switch can be provided at a designated position on the back of the cabinet 100. When the Chinese herbal medicine package blocks the proximity switch, it indicates that the Chinese herbal medicine package is at the designated position.

[0061] Next, the controller controls the power motor and the retracting motor 270 to rotate, so that the pick-and-place assembly 400 moves to above the Chinese herbal medicine bag, that is, above the designated position. Next, the drive motor 450 drives the screw rod 451 to rotate, so that the grabbing frame 440 moves to the side away from the cabinet 100, so that the grabbing frame 440 is located directly above the Chinese herbal medicine bag.

[0062] The controller controls the two electric push rods 480 to move the two clamping plates 490 away from the ground, and controls the reeling motor 270 to release the wire rope 261, so that the grabbing frame 440 moves toward the Chinese herbal medicine bag. The controller controls the two electric push rods 480 to move the two clamping plates 490 inwardly, thereby clamping the Chinese herbal medicine bag.

[0063] Then, the controller controls the driving motor 450 to reverse, so that the grabbing frame 440 slides toward the cabinet 100 driven by the screw rod 451 to complete the reset. Further, the controller controls the servo motor 460 to rotate, so that the movable plate 430 drives the grabbing frame 440 and the Chinese herbal medicine bag to rotate 180°. In this way, the extension direction of the grabbing frame 440 can be made toward the cabinet 100, which is convenient for the subsequent placement of the Chinese herbal medicine bag. By setting the movable plate 430 to make the grabbing frame 440 turn within the range of the positioning platform 410, the space required for the grabbing frame 440 to turn is greatly reduced, and the overall size of the pick-and-place assembly 400 is also reduced, making the structure more compact and reducing the space occupied.

[0064] The controller controls the power motor and the reeling motor 270 to rotate, so that the track assembly 200 can drive the Chinese herbal medicine bag to move horizontally and vertically, so as to reach the outside of the target medicine storage cavity 120. The above-mentioned target medicine storage cavity 120 can be an empty medicine storage cavity 120. The controller can determine whether a Chinese herbal medicine bag is placed in the medicine storage cavity 120 through the above-mentioned image acquisition module. In addition, each medicine storage cavity 120 can be correspondingly provided with coordinates, and the controller can control the power motor and the reeling motor 270 to rotate according to the coordinates of the medicine storage cavity 120.

[0065] When the Chinese herbal medicine bag reaches the outside of the target medicine storage cavity 120, the controller controls the driving motor 450 to drive the screw 451 to rotate, so that the grabbing frame 440 moves toward the inside of the medicine storage cavity 120, thereby pushing open the one-way plate 110. Next, the two electric push rods 480 move the two clamping plates 490 away from each other and outward, thereby loosening the Chinese herbal medicine bag and placing it into the medicine storage cavity 120. Finally, the controller controls the driving motor 450 to drive the screw 451 to rotate, so that the grabbing frame 440 moves toward the outside of the medicine storage cavity 120. The placement of the Chinese herbal medicine bag is completed.

[0066] In this way, the picking and placing assembly can clamp the Chinese herbal medicine bag on the conveyor belt 310, and place the Chinese herbal medicine bag into the medicine storage cavity 120 through the track assembly 200, thereby realizing the picking and placing of the Chinese herbal medicine bag.

[0067] Before placing the Chinese herbal medicine package on the conveyor belt 310, the staff can paste a barcode on the Chinese herbal medicine package, and obtain the personal information of the patient of the Chinese herbal medicine package by scanning the barcode through the scanning module 330. When the Chinese herbal medicine package moves to the target medicine storage cavity 120, the controller can record the coordinates of the Chinese herbal medicine package.

[0068] When the patient takes medicine, he can click the medicine button on the touch screen, and then use the scanning head to scan the medicine code, so that the controller can obtain the patient's personal information. Then, the controller can compare the patient's personal information recorded in the barcode of the Chinese herbal medicine package in the medicine storage cavity 120, and open the corresponding front door 130 through the coordinates of the Chinese herbal medicine package and the driving motor, so that the patient can complete the medicine.

[0069] Therefore, the medicine dispensing system realizes the automation function of medicine dispensing, thereby replacing the manual distribution of Chinese herbal medicine packages, optimizing the staffing of the pharmacy and improving the efficiency of medicine dispensing.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A Chinese herbal medicine package dispensing system, characterized in that: The invention comprises a cabinet for storing Chinese herbal medicine packages, a medicine delivery component for transmitting the Chinese herbal medicine packages, and a pick-and-place component for taking and placing the Chinese herbal medicine packages, wherein: The cabinet is provided with a plurality of medicine storage cavities which are connected through the cabinet; The medicine delivery assembly is arranged on the back of the cabinet and is used to transport the Chinese herbal medicine package from the remote end to the cabinet; The pick-and-place assembly can move to the top of the medicine delivery assembly through a track assembly arranged on the back of the cabinet to grab the Chinese herbal medicine bag and place it into the target medicine storage cavity.

2. The Chinese herbal medicine package dispensing system according to claim 1, characterized in that: The front side of the medicine storage cavity is equipped with an openable front door, and the back side of the medicine storage cavity is equipped with a one-way plate.

3. The Chinese herbal medicine package dispensing system according to claim 1, characterized in that: The track assembly comprises transverse tracks installed at the upper and lower edge positions of the back side of the cabinet, and longitudinal tracks are horizontally slidably mounted between two groups of the transverse tracks, and the pick-and-place assembly is slidably mounted on the longitudinal tracks.

4. The Chinese herbal medicine package dispensing system according to claim 3, characterized in that: The upper and lower ends of the longitudinal track are fixedly provided with first sliding blocks, and each first sliding block is provided with two restraining wheels rotatably connected to the two sides of the transverse track.

5. The Chinese herbal medicine package dispensing system according to claim 4, characterized in that: The first sliding block is provided with a power motor connected with the restraining wheel; and a restraining groove is provided at the contact position between the transverse track and the restraining wheel.

6. The Chinese herbal medicine package dispensing system according to claim 4, characterized in that: The first slider below is fixed with a support platform, and a connected winding roller and winding motor are installed on the support platform; the first slider above is rotatably provided with a reversing wheel, and the wire rope wound by the winding roller is fixedly connected to the pick-up and placement assembly after passing through the reversing wheel; the lower end surface of the first slider below is installed with an auxiliary wheel.

7. The Chinese herbal medicine package dispensing system according to claim 3, characterized in that: The pick-and-place assembly includes a second slider slidably sleeved on the longitudinal track, the second slider is connected to a positioning platform, a servo motor is installed on the top of the positioning platform, the output end of the servo motor passes through the positioning platform and is connected to a movable plate, and under the drive of the servo motor, the movable plate can rotate relative to the positioning platform; A driving motor and a bearing seat are fixedly arranged on both sides of the bottom end of the movable plate, a lead screw is connected to the output end of the driving motor, and the other end of the lead screw is rotatably inserted into the bearing seat; a grabbing frame is sleeved on the two lead screws, and as the lead screws rotate, the grabbing frame can reciprocate along the axial direction of the lead screw relative to the movable plate; Electric push rods are arranged on both sides of the grabbing frame, and a clamping plate is arranged at the output end of each electric push rod. In the working state, the two clamping plates can move towards or away from each other to clamp or release the Chinese herbal medicine bag.

8. The Chinese herbal medicine package dispensing system according to claim 1, characterized in that: The medicine delivery component includes a conveyor belt located at the back of the cabinet, and U-shaped frames extending to the top of the conveyor belt are provided on both sides of the conveyor belt, and multiple groups of scanning modules are installed on the inner walls of both sides of the U-shaped frame.

9. The Chinese herbal medicine package dispensing system according to claim 2, characterized in that: A driven shaft rotatably connected to the medicine storage chamber is fixed inside one end of the front door, and the driven shaft is connected to a driving motor. An image acquisition module is embedded in the end of the front door away from the driven shaft. In response to the image acquisition module detecting that the Chinese herbal medicine bag in the medicine storage chamber has been taken away, the driving motor closes the front door.

10. The Chinese herbal medicine package dispensing system according to claim 1, characterized in that: A touch screen is installed at the center of the front of the cabinet, and a scanning head is embedded in the touch screen.

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