Medicine sorting machine

Abstract

The medicine sorting machine comprises a conveying rack (1) and a sorting rack (2), a discharging frame (110), a discharging frame (120) and a feeding frame (130) are arranged on the conveying rack (1), a discharging conveying device (111) is arranged in the discharging frame (110), and a feeding conveying device (131) is arranged in the feeding frame (130); a sorting conveying device (210) and a medicine box recognition device (230) are arranged on the sorting machine frame (2), one end of the sorting conveying device (210) is located at the tail end of the feeding frame (130), a shielding frame (240) is arranged at the other end of the sorting conveying device (210), and a medicine box picking device (220) is arranged on one side of the sorting conveying device (210). And manual participation is still needed in the operation process, only one medicine can be selected for sorting each time of storage or taking, and the cost can be increased by arranging a plurality of sorting devices.

Description

Technical Field

[0001] The invention belongs to the technical field of medicine box classification, and in particular relates to a medicine sorting machine. Background Art

[0002] An automatic sorting machine is a machine that sorts items according to pre-set computer instructions and delivers the sorted items to a designated location. With the development of laser scanning, barcode and computer control technology, automatic sorting machines are becoming increasingly common in the medical field.

[0003] The patent document with application date of August 21, 2017 and application number CN201721043050.3 discloses a boxed medicine box sorting device, including a table top, a fixed plate and a sorting box, a placement frame is installed on the surface of the table top, medicine boxes are placed inside the placement frame, and the medicine boxes are sorted in sequence, a fixed plate is installed on the front end of the left side of the table top, a movable plate is installed on the right side of the fixed plate, a push-pull rod is installed on the upper end of the movable plate, a sorting box passes through the surface of the movable plate, a motor is installed at the bottom end of the sorting box, a box slot is opened at the front end of the sorting box, and the width of the box slot matches the width of the medicine box, and a hinge is installed on the left side of the sorting box.

[0004] The above structure is the same as the traditional method. The existing drug sorting device has certain disadvantages when in use. Manual participation is still required during the operation. The medicine boxes are placed in a fixed position in a certain order or position, and one medicine is selected for sorting each time they are stored or accessed. At the same time, only one can be taken out at a time. This results in the need for the cooperation of multiple sorting devices in the process of sorting drugs. This setting will increase the overall sorting cost. For this reason, a drug sorting machine is proposed. Summary of the invention

[0005] The purpose of the present invention is to overcome certain drawbacks in the use of the sorting device in the prior art. Manual participation is still required during the operation, and the medicine boxes are placed in a fixed position according to a certain order or position. Moreover, one medicine is selected for sorting each time it is stored or accessed, and only one can be taken out at a time. This results in the need for the cooperation of multiple sorting devices in the process of sorting medicines. This setting will lead to an increase in the overall sorting cost. For this purpose, a medicine sorting machine is provided.

[0006] In order to solve the above technical problems, the present invention provides a medicine sorting machine, comprising: A conveyor frame, wherein a material discharging frame, a material unloading frame and a material loading frame are arranged on the conveyor frame, the upper end of the material unloading frame is connected to the material discharging frame, the lower end of the material unloading frame is connected to the material loading frame, a material discharging conveying device is arranged in the material discharging frame, and a material loading conveying device is arranged in the material loading frame; A sorting frame, wherein a sorting conveying device and a medicine box identification device are arranged on the sorting frame, one end of the sorting conveying device is located at the tail end of the feeding frame, a shielding frame is arranged at the other end of the sorting conveying device, and a medicine box picking device is arranged on one side of the sorting conveying device; A medicine box storage warehouse, which is arranged on one side of the sorting rack and is used to store medicine boxes identified by the medicine box picking device; The classification and sorting operation device is arranged at one side of the above-mentioned medicine box storage warehouse, and the above-mentioned classification and sorting operation device is used for classifying and sorting the medicine boxes stored in the medicine box storage warehouse.

[0007] As one embodiment of the present invention, the above-mentioned unloading conveying device includes a unloading conveying belt and a unloading conveying motor, the above-mentioned loading conveying device includes a loading conveying belt and a loading conveying motor, a plurality of loading ribs are arranged on the above-mentioned loading conveying belt, the height of one end of the above-mentioned unloading frame connected to the above-mentioned unloading frame is higher than the height of one end of the above-mentioned unloading frame connected to the above-mentioned loading frame, a first photoelectric detection sensor is arranged at one end of the above-mentioned loading conveying belt close to the above-mentioned unloading frame, and a second photoelectric detection sensor is arranged at the tail end of the above-mentioned sorting conveying device close to the above-mentioned loading conveying belt.

[0008] As an embodiment of the present invention, the above-mentioned sorting and conveying device includes a sorting conveying belt and a sorting and conveying motor, and the above-mentioned medicine box recognition device includes a two-dimensional code recognition device and a medicine box position recognition device; The above-mentioned two-dimensional code recognition device includes a bottom two-dimensional code reader and a side two-dimensional code reader, and the above-mentioned medicine box position recognition device includes a left laser displacement sensor and a right laser displacement sensor. The above-mentioned left laser displacement sensor and right laser displacement sensor are respectively located on both sides of the sorting conveyor belt, and the laser directions of the left laser displacement sensor and the right laser displacement sensor are perpendicular to each other.

[0009] As an embodiment of the present invention, the medicine box picking device comprises a transverse axis driving device, a longitudinal axis driving device and a vertical driving device, the transverse axis driving device comprises a transverse axis driving motor and a transverse axis screw, a transverse axis slider is arranged on the transverse axis screw, and the longitudinal axis driving device is fixed on the transverse axis slider; The longitudinal axis driving device comprises a longitudinal axis bracket and a longitudinal axis motor, the output end of the longitudinal axis motor is provided with a longitudinal axis screw rod, the longitudinal axis screw rod is provided with a longitudinal axis slider, and the vertical driving device is fixed on the longitudinal axis slider; The above-mentioned vertical driving device includes a vertical bracket, and a vertical driving motor and a synchronous belt arranged on the vertical bracket. One end of the above-mentioned synchronous belt is rotationally matched with the output shaft of the vertical driving motor, and the other end of the above-mentioned synchronous belt is rotationally connected to a driven wheel. The above-mentioned synchronous belt is provided with a synchronous plate and a suction cup bracket, and a lifting slide rail is arranged between the above-mentioned suction cup bracket and the vertical bracket. The above-mentioned vertical bracket is also provided with a top bar code reader.

[0010] As an embodiment of the present invention, a suction cup rotating motor is disposed on the suction cup bracket, and a vacuum suction cup is disposed on the rotating shaft of the suction cup rotating motor.

[0011] As an embodiment of the present invention, the above-mentioned medicine box storage warehouse includes: A storage rack, wherein the storage rack comprises a plurality of support racks; A mobile control device is arranged on one side of the storage rack, and a medicine receiving device is connected to the mobile control device, and the medicine receiving device is used to temporarily store the medicine boxes to be stored; There are multiple medicine box storage boxes, each of which is arranged and fixed on the storage rack in sequence, and the above-mentioned mobile control device is used to control the medicine receiving device to move to each medicine box storage box; A discharging device is arranged on the other side of the storage rack, and is used to transport the medicine boxes in each medicine box storage box to the next station in batches; A manual code scanning device is used to quickly find the medicine box storage box where the medicine box is located; The above-mentioned movement control device includes a lateral movement control mechanism and a vertical movement control structure; The above-mentioned lateral movement control mechanism comprises a lateral servo motor and a lateral guide rail, a lateral slider is slidably arranged on the above-mentioned lateral guide rail, and a vertical movement control structure is arranged on the above-mentioned lateral slider.

[0012] As an embodiment of the present invention, the vertical movement control structure includes a vertical slide rail and a vertical slider, the vertical slide rail is arranged on the horizontal slider, the vertical slider is provided with a vertical servo motor, the vertical servo motor rotates to drive the vertical slider to move up and down on the vertical slide rail, the medicine receiving device is fixed on the vertical slider; the medicine receiving device includes a material receiving inclined plate and a material blocking structure; the material blocking structure includes a material blocking motor and a material blocking sheet, the upper end of the material blocking sheet passes through the material receiving inclined plate, and the medicine box to be stored is temporarily stored against the material blocking sheet; The above-mentioned blocking piece is fan-shaped, and the fan-shaped center part of the above-mentioned blocking piece is rotatably connected to the main shaft of the above-mentioned blocking motor. The above-mentioned material receiving inclined plate is provided with a blocking hole. The above-mentioned blocking piece is in the above-mentioned blocking hole. The above-mentioned blocking motor rotates to make the blocking piece move up and down in the blocking hole.

[0013] As an embodiment of the present invention, each medicine box storage box includes a material storage inclined plate and a plurality of partition plates, and a material storage channel is formed between two adjacent partition plates; A transverse transmission belt is arranged at the lower end of the above-mentioned material storage inclined plate, a transverse material storage conveying motor is arranged at one end of the above-mentioned transverse transmission belt, and a material guide cover is arranged at the other end of the above-mentioned transverse transmission belt; The above-mentioned discharging device is arranged at the lower end of the above-mentioned material guiding cover, and the above-mentioned discharging device includes a discharging conveyor belt and a discharging driving motor.

[0014] As an embodiment of the present invention, the above-mentioned classification and sorting operation device includes: A feeding structure, the feeding structure comprises a feeding bracket and a feeding conveying device, and a material receiving device is provided at the discharge end of the feeding bracket; A sorting and conveying device, comprising a sorting support and a sorting conveyor belt; There are multiple sorting devices, which are respectively arranged on the above-mentioned sorting conveying device in sequence, and each sorting device includes a sorting operator and a sorting operation table; the above-mentioned feeding conveying device includes a feeding conveying motor and a feeding slope conveyor belt, and the feeding slope conveyor belt is provided with a plurality of blocking bars arranged in sequence at equal intervals, and the above-mentioned feeding slope conveyor belt includes a feeding end and a discharging end; The above-mentioned material receiving device includes a material receiving motor and a material receiving conveyor belt. The loading slope conveyor belt, the material receiving conveyor belt and the sorting conveyor belt are all provided with transparent acrylic protective covers.

[0015] As an embodiment of the present invention, each sorting device further comprises: two two-dimensional code recognition sensors, which are respectively arranged on both sides of the above-mentioned sorting conveyor belt; The above-mentioned sorting operator comprises an operating bracket and a sorting plate, the above-mentioned operating bracket is provided with a sorting slide rail and a sorting slider, the above-mentioned sorting plate is fixed on the above-mentioned sorting slider, the above-mentioned sorting slider is also connected to a driving device, and both ends of the above-mentioned sorting slide rail are provided with limit blocks; The above-mentioned driving device includes a driving motor, a driving wheel is arranged on the above-mentioned driving motor, a driven wheel is arranged on the above-mentioned operating bracket, a synchronous belt is arranged between the above-mentioned driving wheel and the driven wheel, the above-mentioned sorting slider is fixed on the above-mentioned synchronous belt through a connecting plate, the above-mentioned sorting plate includes a medicine baffle plate and a medicine pushing plate, the above-mentioned medicine baffle plate is perpendicular to the above-mentioned sorting conveyor belt, the above-mentioned medicine pushing plate is vertically connected to one side of the above-mentioned medicine baffle plate, and the above-mentioned medicine pushing plate remains parallel to the conveying direction of the above-mentioned sorting conveyor belt.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. By setting up the unloading frame, unloading frame and loading frame, there is a large space in the unloading frame, which can realize the large-scale storage of multiple medicine boxes, and then the loading edge in the loading frame can separate and upload the medicine boxes individually; 2. By setting up a medicine box position recognition device, the laser sensor can accurately identify the position of the medicine box and cooperate with the vacuum suction cup in the medicine box picking device to pick up the medicine box, thereby improving the efficiency and accuracy of picking up; 3. By setting up a bottom QR code reader, a side QR code reader, and a top bar code reader, the QR code or bar code on the medicine box can be quickly identified from all directions, and the type information of the medicine box can be obtained, so that the medicine box can be conveniently placed in different medicine box storage rooms through the medicine box picking device; 4. By setting up multiple medicine box storage boxes, each medicine box storage box can store one medicine box, and the storage types are rich. In addition, multiple storage channels are set in each medicine box storage box, so that the overall storage space is large, and each storage can realize large-scale storage of multiple medicine boxes, and then the medicine boxes are separated and uploaded individually through the feeding edge in the feeding frame; 5. By setting up a mobile control device, the medicine boxes to be stored on the medicine receiving device are accurately controlled and placed in the corresponding medicine box storage box, and then placed in the storage channel to achieve accurate delivery of medicines; 6. By setting up a transverse transmission belt and a guide cover, all the medicine boxes in a medicine box storage box can be placed on the discharge conveyor belt of the discharge device in order and sent to the next station for further processing; 7. By setting up multiple sorting devices, each sorting device is equipped with a separate sorting operator that can quickly block and select the corresponding medicine box after identifying the medicine box, so as to achieve efficient medicine box identification and automatic classification, avoid human errors in manual inspection and classification, and save labor costs. The multiple sorting devices can be operated at the same time, and can be set to sort different medicine boxes, or a certain medicine box can be set with multiple sorting stations, which improves the types and speed of sorting; 8. By setting up a sorting operator, the identified medicine boxes can be directly grabbed from the sorting conveyor belt to the sorting operation table, and the operation is stable and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the overall structural diagram of the present invention.

[0018] Figure 2 It is a structural schematic diagram of the conveying frame and the sorting frame of the present invention.

[0019] Figure 3 It is a schematic diagram of the internal structure of the conveying frame and the sorting frame of the present invention.

[0020] Figure 4 It is a schematic diagram of the bottom structure of the conveying frame and the sorting frame of the present invention.

[0021] Figure 5 It is a top view of the internal structure of the conveying frame and the sorting frame of the present invention.

[0022] Figure 6 It is a side view of the internal structure of the conveying frame and the sorting frame of the present invention.

[0023] Figure 7 It is a structural diagram of the medicine box picking device of the present invention.

[0024] Figure 8 It is the overall structural diagram of the medicine box storage warehouse of the present invention.

[0025] Fig. 9 It is a three-dimensional diagram of the internal structure of the medicine box storage warehouse of the present invention.

[0026] Fig.10 This is the internal structure of the medicine box storage warehouse of the present invention.

[0027] Fig.11 The present invention Fig.10 A partial enlarged view of the structure.

[0028] Fig.12 It is a front schematic diagram of the mobile control device of the present invention.

[0029] Fig.13 It is a structural diagram of a medicine receiving device of the present invention.

[0030] Fig.14 It is a structural diagram of the medicine box storage box of the present invention.

[0031] Fig.15 It is an overall structural diagram of the classification and sorting operation device of the present invention.

[0032] Fig.16 It is a diagram of the internal structure of the classification and sorting operation device of the present invention.

[0033] Fig.17 It is a structural diagram of the feeding and conveying device of the present invention.

[0034] Fig.18 It is a schematic structural diagram of the sorting device of the present invention.

[0035] Fig.19 It is a perspective view of the sorting operator of the present invention.

[0036] Description of Figure Numbers: 1. Conveyor frame; 110. Unloading frame; 111. Unloading conveying device; 112. Unloading conveyor belt; 113. Unloading conveying motor; 120. Unloading frame; 130. Loading frame; 131. Loading conveying device; 132. Loading conveyor belt; 133. Loading conveying motor; 134. Loading rib; 135. First photoelectric detection sensor; 136. Second photoelectric detection sensor; 2. Sorting rack; 210. Sorting conveyor device; 211. Sorting conveyor belt; 212. Sorting conveyor motor; 220. Medicine box picking device; 221. Horizontal axis driving device; 2211. Horizontal axis driving motor; 2212. Horizontal axis screw rod; 2213 Horizontal axis slider; 222. Vertical axis driving device; 2221. Vertical axis bracket; 2222. Vertical axis motor; 2223. Vertical axis screw rod; 2224. Vertical axis slider; 223. Vertical driving device; 2230. Vertical bracket; 2231. Vertical driving motor; 2 232, vertical synchronous belt; 2233, vertical synchronous plate; 2234, suction cup bracket; 2235, lifting slide rail; 2236, suction cup rotation motor; 2237, vacuum suction cup; 2238, top surface QR code reader; 230, medicine box identification device; 231, QR code identification device; 2311, bottom surface QR code reader; 2312, side surface QR code reader; 232, medicine box position identification device; 2321, left laser displacement sensor; 2322, right laser displacement sensor; 240, shielding frame; 3. Medicine box storage warehouse; 31. Storage rack; 311. Support frame; 32. Movement control device; 321. Horizontal movement control mechanism; 3211. Horizontal servo motor; 3212. Horizontal guide rail; 3213. Horizontal slider; 322. Vertical movement control structure; 3221. Vertical slide rail; 3222. Vertical slider; 3223. Vertical servo motor; 33. Medicine receiving device; 331. Material receiving inclined plate; 3310. Material blocking hole; 332. Material blocking structure; 3321. Material blocking motor; 3322. Material blocking sheet; 34. Discharging device; 341. Discharging conveyor belt; 342. Discharging drive motor; 35. Medicine box storage box; 350. Storage channel; 351. Storage inclined plate; 352. Partition plate; 353. Horizontal transmission belt; 354. Horizontal storage conveyor motor; 36. Material guide cover; 37. Medicine box; 4. Classification and sorting operation device; 41. Feeding structure; 411. Feeding bracket; 412. Feeding conveying device; 121. Material conveying motor; 4122. Feeding slope conveyor belt; 41221. Feeding end; 41222. Discharging end; 4123. Stop bar; 413. Feeding device; 4131. Feeding motor; 4132. Feeding conveyor belt; 42. Sorting conveying device, 421. Sorting bracket; 422. Sorting conveyor belt; 43. Sorting device; 431 , sorting operator; 432, sorting operation table; 433, two-dimensional code recognition sensor; 434, operating bracket; 4341, sorting slide rail; 4342, sorting slider; 4343, limit block; 435, sorting plate; 4351, medicine blocking plate; 4352, medicine pushing plate; 436, driving device; 4361 driving motor; 4362, driving wheel; 4363, driven wheel; 4364, synchronous belt; 4365, connecting plate; 44, transparent acrylic protective cover. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0038] On the contrary, the present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention as defined by the claims. Further, in order to make the public have a better understanding of the present invention, some specific details are described in detail in the detailed description of the present invention below. Those skilled in the art can fully understand the present invention without the description of these details.

[0039] like Figures 1 to 6 As shown: a medicine sorting machine, comprising: a conveyor rack 1 and a sorting rack 2, the conveyor rack 1 is mainly used to temporarily store various medicine boxes, and convey the medicine boxes one by one to the sorting rack 2 in sequence, the sorting rack 2 is mainly used to identify the type of medicine box, and after picking up, transfer it to the storage room of the medicine box.

[0040] like Figure 1-Figure 2 As shown, a discharge frame 110, a lower material frame 120 and a loading frame 130 are provided on the conveyor frame 1 of the present invention. The upper end of the lower material frame 120 is connected to the discharge frame 110, and the lower end of the lower material frame 120 is connected to the loading frame 130. The height of one end of the lower material frame 120 connected to the discharge frame 110 is higher than one end of the lower material frame 120 connected to the loading frame 130. The medicine box in the discharge frame 110 moves to the top of the lower material frame 120, and then slides to the bottom of the lower material frame 120, i.e., the entrance of the loading frame 130, under the action of gravity.

[0041] Additional power is required to move the medicine boxes on horizontal and inclined slopes, so a discharge conveying device 111 is provided in the discharge frame 110 , and a loading conveying device 131 is provided in the loading frame 130 .

[0042] Specific as Figure 1 , Figure 2 , Figure 3 As shown, the unloading conveying device 111 includes an unloading conveying belt 112 and an unloading conveying motor 113 . The unloading conveying belt 112 , driven by the unloading conveying motor 113 , moves all the medicine boxes in the unloading frame 110 horizontally into the unloading frame 120 .

[0043] The loading conveying device 131 includes a loading conveyor belt 132 and a loading conveying motor 133. The loading conveyor belt 132 is provided with a plurality of loading ribs 134. The medicine boxes slide down to the bottom of the unloading frame 120, i.e., the entrance of the loading frame 130, under the action of gravity, and then the medicine boxes are moved one by one along the loading conveyor belt 132 to the sorting rack 2 through each loading rib 134.

[0044] In order to count and start the position recognition device and the sorting device of the sorting rack 2, a first photoelectric detection sensor 135 is provided at one end of the loading conveyor belt 132 close to the unloading frame 120, and the first photoelectric detection sensor 135 can perform a preliminary count of the conveyed medicine boxes.

[0045] At the same time, a second photoelectric detection sensor 136 is provided at the tail end of the sorting and conveying device 210 close to the loading conveyor belt 132. A second photoelectric detection sensor 136 is provided at the tail end of the loading conveyor belt 132 of the sorting and conveying device 210. It can send activation instructions to various devices in the next step, so that the position recognition device and the sorting device in the sorting rack 2 can respond and process quickly.

[0046] like Figure 4-6 As shown, a sorting conveying device 210 and a medicine box identification device 230 are arranged on the sorting frame 2 of the present invention, one end of the sorting conveying device 210 is located at the rear end of the loading frame 130, and a medicine box picking device 220 is arranged on one side of the sorting conveying device 210.

[0047] A shielding frame 240 is provided at the other end of the sorting and conveying device 210. When the number of medicine boxes is too large, the shielding frame 240 can block the medicine boxes so that they stay on the sorting and conveying device 210 and wait for the medicine box picking device 220 to process them at any time.

[0048] After the medicine box enters the sorting rack 2, it is first transferred by the sorting conveying device 210, the position of the medicine box is identified by the medicine box identification device 230, and then the medicine box is picked up by the medicine box picking device 220. The two-dimensional code or bar code on the medicine box is then identified by the medicine box identification device 230 to identify the type of the medicine box, and finally the medicine box is transferred to the corresponding storage room by the medicine box picking device 220.

[0049] like Figure 4 As shown, the sorting and conveying device 210 of the present invention includes a sorting conveying belt 211 and a sorting conveying motor 212.

[0050] The medicine box recognition device 230 includes a two-dimensional code recognition device 231 and a medicine box position recognition device 232 .

[0051] In order to accurately identify the position of the medicine box, the medicine box position identification device 232 includes a left laser displacement sensor 2321 and a right laser displacement sensor 2322. The left laser displacement sensor 2321 and the right laser displacement sensor 2322 are respectively located on both sides of the sorting conveyor belt 211, and the laser directions of the left laser displacement sensor 2321 and the right laser displacement sensor 2322 are perpendicular to each other. The left laser displacement sensor 2321 and the right laser displacement sensor 2322 form a coordinate axis on the conveying plane, which can accurately identify the position of the medicine box and facilitate the accurate clamping of the medicine box picking device 220.

[0052] like Figure 5 As shown: Since the medicine boxes are randomly placed, the directions of the various faces of each medicine box are different. In order to improve the recognition efficiency, multiple QR code readers are set. Specifically, the QR code recognition device 231 in the present invention includes a bottom QR code reader 2311 and a side QR code reader 2312. After the medicine box picking device 220 clamps the medicine box, the information of the medicine box can be quickly identified from the bottom or side. After processing, the medicine box picking device 220 clamps the medicine box and moves it to the corresponding storage room.

[0053] In order to improve the speed of picking up and transferring medicine boxes, the present invention adopts a three-axis movement method, which can move freely in three-dimensional space and has high flexibility. Specifically, the medicine box picking device 220 of the present invention includes a horizontal axis driving device 221, a longitudinal axis driving device 222 and a vertical driving device 223.

[0054] The transverse axis driving device 221 controls the longitudinal axis driving device 222 and the vertical driving device 223 to perform reciprocating motion in the transverse direction. The movement direction of the transverse axis driving device 221 is parallel to the running direction of the sorting conveyor belt 211. The longitudinal axis driving device 222 controls the vertical driving device 223 to move in the longitudinal direction. The movement direction of the longitudinal axis driving device 222 is perpendicular to the movement direction of the transverse axis driving device 221. The vertical driving device 223 moves up and down in the direction of gravity.

[0055] like Figure 5-Figure 6 As shown, the transverse axis driving device 221 of the present invention includes a transverse axis driving motor 2211 and a transverse axis screw 2212, a transverse axis slider 2213 is provided on the transverse axis screw 2212, the longitudinal axis driving device 222 is fixed on the transverse axis slider 2213, and the transverse axis slider 2213 is fixed on the transverse axis screw 2212. The transverse axis slider 2213 is controlled to reciprocate on the transverse axis screw 2212 by the forward and reverse rotation of the transverse axis driving motor 2211.

[0056] like Figure 5-Figure 6 As shown, the longitudinal axis driving device 222 includes a longitudinal axis bracket 2221 and a longitudinal axis motor 2222 , the output end of the longitudinal axis motor 2222 is provided with a longitudinal axis screw rod 2223 , the longitudinal axis screw rod 2223 is provided with a longitudinal axis slider 2224 , and the vertical driving device 223 is fixed on the longitudinal axis slider 2224 .

[0057] The longitudinal axis bracket 2221 is fixed on the transverse axis slider 2213, and the longitudinal axis motor 2222 on the longitudinal axis bracket 2221 rotates forward and reversely, driving the longitudinal axis slider 2224 on the longitudinal axis screw rod 2223 to move back and forth, so that the vertical driving device 223 on the longitudinal axis slider 2224 moves in the longitudinal direction.

[0058] like Figure 5-Figure 6 As shown, the vertical driving device 223 of the present invention includes a vertical bracket 2230, and a vertical driving motor 2231 and a vertical synchronous belt 2232 arranged on the vertical bracket 2230, one end of the vertical synchronous belt 2232 is rotatably matched with the output shaft of the vertical driving motor 2231, and the other end of the vertical synchronous belt 2232 is rotatably connected to a driven wheel, and a vertical synchronous plate 2233 and a suction cup bracket 2234 are arranged on the vertical synchronous belt 2232. The vertical driving motor 2231 rotates forward and reversely to drive the vertical synchronous plate 2233 on the vertical synchronous belt 2232 to move up and down, thereby moving the suction cup bracket 2234 up and down.

[0059] In order to reduce friction and provide directional guidance, a lifting rail 2235 is set between the suction cup bracket 2234 and the vertical bracket 2230.

[0060] A suction cup rotating motor 2236 is provided on the suction cup bracket 2234, and a vacuum suction cup 2237 is provided on the rotating shaft of the suction cup rotating motor 2236. The vacuum suction cup 2237 is used to adsorb on the surface of the medicine box and transfer the medicine box through the medicine box picking device 220. The suction cup rotating motor 2236 can rotate the entire vacuum suction cup 2237, so that the QR code on the medicine box can be rotated, which is easier to identify.

[0061] In order to further improve the recognition accuracy, a top surface QR code reader 2238 is also provided on the vertical bracket 2230 , which can recognize the QR code information on the medicine box after the vacuum suction cup 2237 adsorbs the medicine box.

[0062] like Figures 8 to 14 The medicine box storage warehouse 3 shown in the figure comprises a storage rack 31, a mobile control device 32, a medicine receiving device 33, a discharging device 34 and a plurality of medicine box storage boxes 35. The medicine box storage warehouse 3 is arranged at one side of the sorting frame 2 and is used to store the medicine boxes identified by the medicine box picking device 220 .

[0063] like Figure 8 As shown, the storage rack 31 is mainly constructed of a large number of support frames 311, and protective covers are provided on both sides and the top of the support frames 311 to protect the internal structure.

[0064] The mobile control device 32 is disposed at one side of the storage rack 31 . The mobile control device 32 is connected to a medicine receiving device 33 . The medicine receiving device 33 is used to temporarily store medicine boxes to be stored.

[0065] The storage rack 31 is also provided with a manual code scanning device 38 for quickly finding the medicine box storage box 35 where the medicine box is located.

[0066] like Fig. 9 As shown, the mobile control device 32 includes a lateral movement control mechanism 321 and a vertical movement control structure 322. The lateral movement control mechanism 321 controls the medicine receiving device 33 to move left and right in the lateral direction, and the vertical movement control structure 322 controls the medicine receiving device 33 to rise and fall in the vertical direction, so that the medicine receiving device 33 can be transported to the position of each medicine box storage box 35, and accurate delivery and storage are achieved.

[0067] Specifically, Fig. 9 and Fig.12As shown, the lateral movement control mechanism 321 of the present invention includes a lateral servo motor 3211 and a lateral guide rail 3212, a lateral slider 3213 is slidably arranged on the lateral guide rail 3212, a vertical movement control structure 322 is arranged on the lateral slider 3213, and the lateral servo motor 3211 provides movement power so that the vertical movement control structure 322 can reciprocate on the lateral guide rail 3212 through the lateral slider 3213.

[0068] Based on the above design, the vertical movement control structure 322 of the present invention includes a vertical slide rail 3221 and a vertical slider 3222. The transverse guide rail 3212 and the vertical slide rail 3221 are vertically arranged to form a coordinate system. At the same time, the transverse guide rail 3212 and the front end of each medicine box storage box 35 are arranged in parallel to maintain consistency.

[0069] The vertical slide rail 3221 is arranged on the horizontal slider 3213 , and a vertical servo motor 3223 is arranged on the vertical slider 3222 . The vertical servo motor 3223 rotates to drive the vertical slider 3222 to move up and down on the vertical slide rail 3221 , and the medicine receiving device 33 is fixed on the vertical slider 3222 .

[0070] By sliding on the transverse guide rail 3212 and the vertical slide rail 3221, the medicine receiving device 33 can be transported to the position of each medicine box storage box 35 to achieve accurate delivery and storage.

[0071] The medicine box to be stored is temporarily stored in the medicine receiving device 33. The medicine box has been identified by the QR code in the previous step. The medicine receiving device 33 only needs to release the medicine box after being pushed to the set position by the mobile control device 32, so that the medicine box can flow into the medicine box storage box 35 according to gravity.

[0072] like Fig. 9 and Fig.13 As shown, the medicine receiving device 33 of the present invention includes a material receiving inclined plate 331 and a material blocking structure 332, in order to fix the medicine box during the movement, and at the same time, the medicine box can be released after reaching the designated position.

[0073] Therefore, if Fig.13 As shown, the material blocking structure 332 designed in the present invention includes a material blocking motor 3321 and a material blocking piece 3322 . The upper end of the material blocking piece 3322 passes through the material receiving inclined plate 331 , and the medicine boxes to be stored are temporarily placed against the material blocking piece 3322 .

[0074] The material blocking piece 3322 is fan-shaped, and the fan-shaped center part of the material blocking piece 3322 is rotatably connected to the main shaft of the material blocking motor 3321. A material blocking hole 3310 is provided on the material receiving inclined plate 331, and the material blocking piece 3322 is located in the material blocking hole 3310. The material blocking motor 3321 rotates to make the material blocking piece 3322 move up and down in the material blocking hole 3310.

[0075] The lower end of the fan-shaped blocking piece 3322 is fixed on the main shaft of the blocking motor 3321. During transportation, the blocking motor 3321 does not rotate, while the upper end of the fan-shaped blocking piece 3322 extends out of the blocking hole 3310, blocking the front of the medicine box to prevent the medicine box from sliding down and falling. When the mobile control device 32 controls the medicine receiving device 33 to reach a fixed position, the blocking motor 3321 rotates, causing the upper end of the fan-shaped blocking piece 3322 to retract and be located below the blocking hole 3310. The medicine box slides into the medicine box storage box 35 under the action of gravity, completing the delivery.

[0076] In order to store more types and larger quantities of medicine boxes, in this embodiment, 10 layers of medicine box storage boxes 35 are set in the storage rack 31. Of course, the number of medicine box storage boxes 35 can be increased or decreased according to demand.

[0077] like Fig.10 , Fig.12 and Fig.14 As shown, the medicine box storage boxes 35 of the present invention are arranged in sequence and fixed on the storage rack 31 , and the movement control device 32 controls the medicine receiving device 33 to move the medicine box 37 to the corresponding medicine box storage box 35 .

[0078] like Fig.14 As shown, each medicine box storage box 35 includes a material storage inclined plate 351 and a plurality of partition plates 352 , and a material storage channel 350 is formed between two adjacent partition plates 352 .

[0079] like Fig.11 As shown, in order to allow the medicine boxes 37 stored in the medicine box storage box 35 to be exported in batches at one time, a transverse transmission belt 353 is provided at the lower end of the storage inclined plate 351, a transverse storage conveying motor 354 is provided at one end of the transverse transmission belt 353, and a material guide cover 36 is provided at the other end of the transverse transmission belt 353.

[0080] At the same time, the present invention also provides a discharging device 34, which is arranged on the other side of the storage rack 31. The discharging device 34 cooperates with the medicine boxes poured out from the transverse transmission belt 353, and the discharging device 34 then transports the medicine boxes poured out from the medicine box storage box 35 to the next workstation in batches.

[0081] The material guide cover 36 is used to protect the medicine boxes poured out from the transverse transmission belt 353 to prevent the medicine boxes from falling to the outside in the air. The discharging device 34 is arranged at the lower end of the material guide cover 36, and the discharging device 34 includes a discharging conveyor belt 341 and a discharging drive motor 342.

[0082] like Figures 15 to 19 The classification and sorting operation device 4 shown is used to sort medicine boxes and place the medicine boxes on the conveyor belt. A QR code or a bar code is set on the medicine box. After identifying the medicine box information, the medicine box 37 is transferred to the corresponding position through the sorting device 43.

[0083] The classification and sorting operation device 4 is arranged at one side of the medicine box storage warehouse 3 , and the classification and sorting operation device 4 is used for classifying and sorting the medicine boxes 37 stored in the medicine box storage warehouse 3 .

[0084] like Figure 15-19 As shown, in order to realize the above functions, the present invention mainly includes a classification and sorting operation device 4 including: a feeding structure 41, a sorting and conveying device 42, a sorting device 43 and a transparent acrylic protective cover 44.

[0085] The feeding structure 41 includes a feeding bracket 411 and a feeding conveying device 412. A receiving device 413 is provided at the discharge end of the feeding bracket 411. The feeding conveying device 412 and the receiving device 413 are used to transmit medicine boxes. The feeding conveying device 412 is mainly used to lift the medicine boxes to a suitable height, and then transfer the medicine boxes to the sorting conveying device 42 and the sorting device 43 through the receiving device 413.

[0086] Specific as Fig.17 As shown, the feeding conveying device 412 includes a feeding conveying motor 4121 and a feeding slope conveying belt 4122, and the feeding slope conveying belt 4122 is provided with a plurality of blocking bars 4123 arranged in sequence at equal intervals.

[0087] Since multiple layers of medicine boxes are arranged in the storage device, and the medicine boxes fall from a high place to the feeding structure 41 in each storage layer in the storage device, the height of the feeding end 41221 of the feeding structure 41 is set very low.

[0088] The loading slope conveyor belt 4122 includes a loading end 41221 and a discharging end 41222, the height of the discharging end 41222 is higher than the height of the loading end 1211, and the material receiving device 413 includes a material receiving motor 4131 and a material receiving conveyor belt 4132, the height of the material receiving conveyor belt 4132 is lower than the height of the discharging end 41222.

[0089] The receiving conveyor belt 4132 is located below the discharging end 41222, so that the medicine boxes can fall onto the receiving conveyor belt 4132 by gravity.

[0090] like Figure 16-18 As shown, the sorting and conveying device 42 of the present invention is arranged on one side of the material receiving device 413, and includes a sorting bracket 421 and a sorting conveyor belt 422; the sorting conveyor belt 422 is a general conveyor belt, which can be extended and lengthened arbitrarily, and the medicine boxes are conveyed in sequence on the sorting conveyor belt 422.

[0091] like Fig.18 As shown, in order to identify the type of medicine box, each sorting device 43 also includes two two-dimensional code recognition sensors 433, and the two two-dimensional code recognition sensors 433 are respectively arranged on both sides of the sorting conveyor belt 422.

[0092] The medicine box is identified by the two-dimensional code recognition sensors 433 arranged on both sides, and then the corresponding sorting devices 43 are controlled to perform sorting. In order to increase the types of sorting or improve the efficiency of sorting, four sorting devices 43 are arranged in the present invention, which are arranged on the sorting conveyor 42 in sequence. Specifically, the number of sorting devices 43 can be increased according to the types of medicine boxes and efficiency requirements, and only the length of the sorting conveyor belt 422 needs to be extended.

[0093] like Fig.18 As shown, the sorting device 43 of the present invention includes a sorting operator 431 and a sorting operation table 432. The sorting operator 431 transfers the corresponding medicine box from the sorting conveyor belt 422 to the sorting operation table 432. The sorting operation table 432 can be provided with a work station for workers to perform the arrangement work, or a storage box can be directly provided to store the medicine boxes pushed over.

[0094] like Fig.15 As shown, in order to prevent the medicine boxes from falling off the conveyor belt and to observe the status of the internal medicine boxes to prevent jamming, a transparent acrylic protective cover 44 is provided on the loading ramp conveyor belt 4122, the receiving conveyor belt 4132 and the sorting conveyor belt 422.

[0095] like Fig.19 As shown, the sorting operator 431 of the present invention includes an operating bracket 434 and a sorting plate 435. The operating bracket 434 is fixed to the front side of the sorting operating table 432 for installing the operating equipment.

[0096] A sorting slide rail 4341 and a sorting slider 4342 are provided on the operating bracket 434, the sorting plate 435 is fixed on the sorting slider 4342, and the sorting slider 4342 is also connected to a driving device 436, and the driving device 436 enables the sorting slider 4342 to reciprocate left and right along the sorting slide rail 4341.

[0097] The sorting plate 435 is controlled to move back and forth by sliding to pick up the required medicine boxes. The overall structure is simple and the cost is low. Using multiple plates can improve efficiency.

[0098] Limit blocks 4343 are provided at both ends of the sorting slide rail 4341, and the two limit blocks 4343 are used to limit the position of the sorting plate 435 moving back and forth.

[0099] In order to achieve direct and precise control, the driving device 436 includes a driving motor 4361, which is a servo motor. A driving wheel 4362 is arranged on the driving motor 4361, a driven wheel 4363 is arranged on the operating bracket 434, a synchronous belt 4364 is arranged between the driving wheel 4362 and the driven wheel 4363, and the sorting slider 4342 is fixed to the synchronous belt 4364 through a connecting plate 4365.

[0100] The reciprocating movement of the synchronous belt 4364 drives the connecting plate 4365 to move, so that the sorting slider 4342 moves back and forth left and right along the sorting slide rail 4341, and the sorting slider then synchronously drives the sorting plate 435 to move, so that the sorting plate 435 picks up the medicine box according to demand.

[0101] In order to pick up the medicine box, the sorting plate 435 includes a medicine blocking plate 4351 and a medicine pushing plate 4352. The medicine blocking plate 4351 is used to block the medicine box after the two-dimensional code recognition sensor 433 recognizes the medicine box, and the medicine pushing plate 4352 is used to push the blocked medicine box onto the sorting operation table 432.

[0102] like Fig.19 As shown, specifically, the medicine blocking plate 4351 is arranged perpendicular to the sorting conveyor belt 422, and the medicine pushing plate 4352 is vertically connected to one side of the medicine blocking plate 4351, that is, the conveying directions of the medicine pushing plate 4352 and the sorting conveyor belt 422 remain parallel.

[0103] Working principle: the medicine boxes are transported in sequence on the loading ramp conveyor belt 4122, the receiving conveyor belt 4132 and the sorting conveyor belt 422. When the two-dimensional code recognition sensor 433 does not recognize the corresponding medicine box information, the sorting plate 435 is in a retracted state. When the two-dimensional code recognition sensor 433 recognizes the required medicine box, it sends a command to the control system, and the control system controls the drive motor 4361 to rotate to move the sorting plate 435 to the sorting conveyor belt 422, and the medicine box is blocked by the medicine blocking plate 4351, and then the drive motor 4361 is rotated in the opposite direction, and the blocked medicine box is pushed to the sorting operation table 432 by the medicine pushing plate 4352. Each sorting device 43 can realize the above operation to complete the accurate and efficient classification of medicine boxes.

[0104] The above describes the embodiments of the present invention in detail in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. For ordinary technicians in this field, several modifications and improvements can be made without departing from the present invention, and these should also be regarded as belonging to the protection scope of the present invention.

Claims

1. A medicine sorting machine, characterized in that: include: A conveyor frame (1), wherein a material discharge frame (110), a material removal frame (120) and a material loading frame (130) are arranged on the conveyor frame (1), the upper end of the material removal frame (120) is connected to the material discharge frame (110), the lower end of the material removal frame (120) is connected to the material loading frame (130), a material discharge conveying device (111) is arranged in the material discharge frame (110), and a material loading conveying device (131) is arranged in the material loading frame (130); A sorting frame (2), wherein a sorting conveying device (210) and a medicine box identification device (230) are arranged on the sorting frame (2), one end of the sorting conveying device (210) is located at the rear end of the loading frame (130), a shielding frame (240) is arranged at the other end of the sorting conveying device (210), and a medicine box picking device (220) is arranged on one side of the sorting conveying device (210); A medicine box storage warehouse (3), the medicine box storage warehouse (3) being arranged on one side of the sorting rack (2) and being used to store medicine boxes identified by the medicine box picking device (220); The classification and sorting operation device (4) is arranged on one side of the medicine box storage warehouse (3), and the classification and sorting operation device (4) is used for classification and sorting of medicine boxes stored in the medicine box storage warehouse (3).

2. A medicine sorting machine according to claim 1, characterized in that: The unloading conveying device (111) comprises an unloading conveying belt (112) and an unloading conveying motor (113); the loading conveying device (131) comprises a loading conveying belt (132) and a loading conveying motor (133); a plurality of loading ribs (134) are arranged on the loading conveying belt (132); the height of one end of the unloading frame (120) connected to the unloading frame (110) is higher than that of one end of the unloading frame (120) connected to the loading frame (130); a first photoelectric detection sensor (135) is arranged at one end of the loading conveying belt (132) close to the unloading frame (120); and a second photoelectric detection sensor (136) is arranged at the rear end of the sorting conveying device (210) close to the loading conveying belt (132).

3. A medicine sorting machine according to claim 2, characterized in that: The sorting and conveying device (210) comprises a sorting conveying belt (211) and a sorting and conveying motor (212); the medicine box identification device (230) comprises a two-dimensional code identification device (231) and a medicine box position identification device (232); The two-dimensional code recognition device (231) comprises a bottom two-dimensional code reader (2311) and a side two-dimensional code reader (2312); the medicine box position recognition device (232) comprises a left laser displacement sensor (2321) and a right laser displacement sensor (2322); the left laser displacement sensor (2321) and the right laser displacement sensor (2322) are respectively located on two sides of the sorting conveyor belt (211); and the laser directions of the left laser displacement sensor (2321) and the right laser displacement sensor (2322) are perpendicular to each other.

4. A medicine sorting machine according to claim 1, characterized in that: The medicine box picking device (220) comprises a transverse axis driving device (221), a longitudinal axis driving device (222) and a vertical driving device (223); the transverse axis driving device (221) comprises a transverse axis driving motor (2211) and a transverse axis screw rod (2212); a transverse axis slider (2213) is arranged on the transverse axis screw rod (2212); and the longitudinal axis driving device (222) is fixed on the transverse axis slider (2213); The longitudinal axis driving device (222) comprises a longitudinal axis support (2221) and a longitudinal axis motor (2222); the output end of the longitudinal axis motor (2222) is provided with a longitudinal axis lead screw (2223); a longitudinal axis slider (2224) is provided on the longitudinal axis lead screw (2223); and the vertical driving device (223) is fixed on the longitudinal axis slider (2224); The vertical drive device (223) comprises a vertical support (2230), and a vertical drive motor (2231) and a vertical synchronous belt (2232) arranged on the vertical support (2230); one end of the vertical synchronous belt (2232) is rotatably matched with an output shaft of the vertical drive motor (2231); the other end of the vertical synchronous belt (2232) is rotatably connected to a driven wheel; a vertical synchronous plate (2233) and a suction cup support (2234) are arranged on the vertical synchronous belt (2232); a lifting slide rail (2235) is arranged between the suction cup support (2234) and the vertical support (2230); and a top bar code reader (2238) is also arranged on the vertical support (2230).

5. A medicine sorting machine according to claim 4, characterized in that: A suction cup rotating motor (2236) is provided on the suction cup bracket (2234), and a vacuum suction cup (2237) is provided on the rotating shaft of the suction cup rotating motor (2236).

6. A medicine sorting machine according to claim 1, characterized in that: The medicine box storage warehouse (3) comprises: A storage rack (31), wherein the storage rack (31) comprises a plurality of support racks (311); A mobile control device (32) is arranged on one side of the storage rack (31), and a medicine receiving device (33) is connected to the mobile control device (32), and the medicine receiving device (33) is used to temporarily store medicine boxes to be stored; A plurality of medicine box storage boxes (35) are provided, and each medicine box storage box (35) is arranged in sequence and fixed on the storage rack (31), and the movement control device (32) is used to control the medicine receiving device (33) to move to each medicine box storage box (35); A discharging device (34) is arranged on the other side of the storage rack (31), and the discharging device (34) is used to transport the medicine boxes in batches from each medicine box storage box (35) to the next work station; A manual code scanning device (38) for quickly finding the medicine box storage box (35) where the medicine box is located; The movement control device (32) comprises a lateral movement control mechanism (321) and a vertical movement control structure (322); The lateral movement control mechanism (321) comprises a lateral servo motor (3211) and a lateral guide rail (3212), a lateral slider (3213) is slidably arranged on the lateral guide rail (3212), and a vertical movement control structure (322) is arranged on the lateral slider (3213).

7. A medicine sorting machine according to claim 6, characterized in that: The vertical movement control structure (322) comprises a vertical slide rail (3221) and a vertical slider (3222); the vertical slide rail (3221) is arranged on the horizontal slider (3213); a vertical servo motor (3223) is arranged on the vertical slider (3222); the vertical servo motor (3223) rotates to drive the vertical slider (3222) to move up and down on the vertical slide rail (3221); the medicine receiving device (33) is fixed on the vertical slider (3222); the medicine receiving device (33) comprises a material receiving inclined plate (331) and a material blocking structure (332); the material blocking structure (332) comprises a material blocking motor (3321) and a material blocking sheet (3322); the upper end of the material blocking sheet (3322) passes through the material receiving inclined plate (331), and the medicine box to be stored is temporarily stored against the material blocking sheet (3322); The material blocking piece (3322) is fan-shaped, and the fan-shaped center part of the material blocking piece (3322) is rotatably connected to the main shaft of the material blocking motor (3321). The material receiving inclined plate (331) is provided with a material blocking hole (3310), and the material blocking piece (3322) is located in the material blocking hole (3310). When the material blocking motor (3321) rotates, the material blocking piece (3322) moves up and down in the material blocking hole (3310).

8. A medicine sorting machine according to claim 7, characterized in that: Each medicine box storage box (35) comprises a material storage inclined plate (351) and a plurality of partition plates (352), and a material storage channel (350) is formed between two adjacent partition plates (352); A transverse transmission belt (353) is provided at the lower end of the material storage inclined plate (351), a transverse material storage conveying motor (354) is provided at one end of the transverse transmission belt (353), and a material guide cover (36) is provided at the other end of the transverse transmission belt (353); The material discharging device (34) is arranged at the lower end of the material guiding cover (36), and the material discharging device (34) comprises a material discharging conveyor belt (341) and a material discharging driving motor (342).

9. A medicine sorting machine according to claim 1, characterized in that: The classification and sorting operation device (4) comprises: A feeding structure (41), the feeding structure (41) comprising a feeding support (411) and a feeding conveying device (412), and a material receiving device (413) is provided at the discharge end of the feeding support (411); A sorting conveying device (42), comprising a sorting support (421) and a sorting conveying belt (422); There are a plurality of sorting devices (43), which are arranged on the sorting conveying device (42) in sequence, and each sorting device (43) comprises a sorting operator (431) and a sorting operation table (432); the feeding conveying device (412) comprises a feeding conveying motor (4121) and a feeding slope conveying belt (4122); a plurality of blocking bars (4123) are arranged in sequence at equal intervals on the feeding slope conveying belt (4122); the feeding slope conveying belt (4122) comprises a feeding end (41221) and a discharging end (41222); The material receiving device (413) comprises a material receiving motor (4131) and a material receiving conveyor belt (4132), and a transparent acrylic protective cover (44) is provided on the material loading slope conveyor belt (4122), the material receiving conveyor belt (4132) and the sorting conveyor belt (422).

10. A medicine sorting machine according to claim 9, characterized in that: Each sorting device (43) further comprises two two-dimensional code recognition sensors (433), wherein the two two-dimensional code recognition sensors (433) are respectively arranged on both sides of the sorting conveyor belt (422); The sorting operator (431) comprises an operating support (434) and a sorting plate (435); a sorting slide rail (4341) and a sorting slider (4342) are provided on the operating support (434); the sorting plate (435) is fixed on the sorting slider (4342); the sorting slider (4342) is also connected to a driving device (436); and limit blocks (4343) are provided at both ends of the sorting slide rail (4341); The driving device (436) comprises a driving motor (4361), a driving wheel (4362) is arranged on the driving motor (4361), a driven wheel (4363) is arranged on the operating bracket (434), a synchronous belt (4364) is arranged between the driving wheel (4362) and the driven wheel (4363), the sorting slider (4342) is fixed to the synchronous belt (4364) via a connecting plate (4365), the sorting plate (435) comprises a medicine blocking plate (4351) and a medicine pushing plate (4352), the medicine blocking plate (4351) is perpendicular to the sorting conveyor belt (422), the medicine pushing plate (4352) is vertically connected to one side of the medicine blocking plate (4351), and the medicine pushing plate (4352) remains parallel to the conveying direction of the sorting conveyor belt (422).

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