Bulk traditional Chinese medicine dispensing and packaging equipment and control method thereof

Abstract

The invention discloses bulk traditional Chinese medicine dispensing and packaging equipment and a control method thereof. The bulk traditional Chinese medicine dispensing and packaging equipment comprises a base, a plurality of storage modules, a plurality of weighing modules, a plurality of transverse material moving modules, a plurality of longitudinal material moving modules, a picking mechanism and a packaging device. Weighing the empty box and the medicinal materials by a weighing device until the weight reaches a target to obtain a medicine box; the transverse material moving module is used for transferring the medicine boxes to a first storage rack of a box changing station; the first lifting mechanism drives the second storage rack to move to the box changing station; the transverse material moving module is used for transferring the empty box to the weighing frame from the box changing station to wait for the loading of the next medicinal material; the longitudinal material moving module moves the medicine boxes towards the near-side box changing station; the picking mechanism can pick the medicine boxes and pour the medicinal materials to the packaging station, so that the packaging device packages the medicinal materials, and then the picking mechanism takes the poured empty boxes back to the second storage rack; the longitudinal material moving module moves the empty boxes towards the far-side box changing station. The packaging efficiency and the yield of the medicinal materials can be improved easily.

Description

Technical Field

[0001] The invention relates to the technical field of bulk Chinese medicine dispensing packaging equipment, and in particular to bulk Chinese medicine dispensing packaging equipment and a control method thereof. Background Art

[0002] After the preparation of bulk Chinese medicine, the Chinese medicine needs to be packaged for transportation, handling and preservation. However, the existing packaging of medicinal materials generally relies entirely on manual operation, or mostly relies on manual operation, which easily leads to relatively low efficiency and high error rate of medicinal materials packaging. Summary of the invention

[0003] The main purpose of the present invention is to provide a bulk Chinese medicine dispensing packaging device and a control method thereof, aiming to solve the problem of low efficiency and high error rate of medicinal material packaging caused by traditional excessive reliance on manual operation.

[0004] To achieve the above-mentioned purpose, the present invention provides a bulk Chinese medicine dispensing packaging device, comprising:

[0005] The base is provided with a plurality of medicine weighing areas and packaging stations arranged in sequence along the longitudinal direction, each of the medicine weighing areas comprises a box changing station and a weighing station arranged in sequence along the transverse direction, and the box changing station far away from the packaging station is a distal box changing station, and the box changing station close to the packaging station is a proximal box changing station;

[0006] A plurality of storage modules are arranged corresponding to each of the box changing stations one by one, and among the storage racks, the one corresponding to the far-side box changing station is a far-side storage module, and the one corresponding to the near-side box changing station is a near-side storage module, each of the storage modules comprises at least two storage racks arranged vertically at intervals at the box changing station and a first lifting mechanism connecting the storage racks, the two storage racks respectively have a translation stroke in the vertical direction so as to be able to move to the box changing station in sequence, and the two storage racks are respectively a first storage rack and a second storage rack;

[0007] A plurality of weighing modules, each of which is arranged corresponding to each of the weighing stations, and each of the weighing modules comprises a weighing frame located at the weighing station and a weighing device connected to the weighing frame;

[0008] A plurality of transverse material shifting modules are arranged one by one along each of the medicine weighing areas, each of the transverse material shifting modules comprises a transverse material shifting member having a transverse translation stroke, the transverse material shifting member is used to move the medicine boxes at the weighing rack to the first rack at the box changing station, and to move the empty boxes at the second rack at the box changing station to the weighing rack;

[0009] A longitudinal material moving module, comprising a longitudinal material moving member having a longitudinal translation stroke, the longitudinal material moving member being used to move the medicine boxes on the first rack at each of the box changing stations toward the first rack at the near box changing station, and to move the empty boxes on the second rack at each of the box changing stations toward the second rack at the far box changing station;

[0010] A picking module, comprising a picking member and a driving mechanism connected to the picking member, wherein the picking member has a translation stroke in the vertical, longitudinal and transverse directions, and a rotation stroke around the longitudinal axis, so as to pick up the medicine box transferred to the first storage rack of the near-side box changing station to the packaging station, and then pick up the empty box to the second storage rack of the near-side box changing station;

[0011] The packaging device is arranged at the packaging station and is used for packaging the medicine box or the medicinal materials contained in the medicine box.

[0012] Optionally, a plurality of the longitudinal material moving members are arranged one-to-one corresponding to each of the storage racks, and a distance between each two longitudinally adjacent longitudinal material moving members is smaller than a corresponding size of the medicine box or the box body.

[0013] Optionally, each of the medicine weighing areas includes at least two box changing stations and at least two weighing stations arranged in sequence in the transverse direction;

[0014] The placement module, the weighing module, the lateral material transfer module and the longitudinal material transfer module are respectively suitable for being arranged at each of the box changing stations and each of the weighing stations.

[0015] Optionally, the proximal box changing station is spaced apart from the packaging station, and the distance at the spaced apart position is greater than corresponding sizes of at least two medicine boxes or box bodies;

[0016] The bulk Chinese medicine preparation packaging equipment also includes a third conveyor belt, two third pulleys arranged at intervals along the longitudinal direction, and a third rotary drive connected to at least one of the third pulleys. The third conveyor belt is connected between the proximal box changing station and the packaging station.

[0017] Optionally, the storage rack is frame-shaped;

[0018] The lateral material shifting modules are provided with two corresponding to the two racks in each of the storage modules, and are linked with the corresponding racks to move vertically; the lateral material shifting member comprises a plurality of rollers arranged in sequence and side by side in the lateral direction in the frame area of ​​the racks and a first conveyor belt arranged on the weighing frame, and each of the rollers extends in an elongated shape in the longitudinal direction; the lateral material shifting module also comprises two first pulleys arranged at intervals in the longitudinal direction, a first rotating driver drivingly connected to at least one of the first pulleys, and a fourth rotating driver, the first conveyor belt is wound around the outer sides of the two first pulleys in a closed loop, and the fourth rotating driver is drivingly connected to at least one of the rollers to drive each of the rollers to rotate forward and reverse around the longitudinal axis respectively;

[0019] The longitudinal material transfer module is respectively provided with a group on both lateral sides of each roller shaft in each storage module, and each longitudinal material transfer member includes a second conveyor belt. The longitudinal material transfer module also includes two second pulleys arranged at intervals along the longitudinal direction and a second rotating drive connected to at least one of the second pulleys, and the second conveyor belt is wound around the outside of the two second pulleys in a closed loop.

[0020] Optionally, the longitudinal translation directions of the two longitudinal material moving members are arranged in opposite directions.

[0021] Optionally, the medicine weighing device further comprises:

[0022] A first stopper is provided beside the box changing station and is located laterally downstream of the lateral material moving member, and the first stopper is fixed relative to the base; or has a telescopic movable stroke in the vertical, horizontal and / or longitudinal direction; and / or,

[0023] The second stopper is arranged beside the box changing station and located in the longitudinal downstream of the longitudinal material moving member. The second stopper is fixed relative to the base; or has a telescopic movable stroke in the vertical, horizontal and / or longitudinal direction.

[0024] Optionally, in each of the weighing modules, a plurality of weighing devices are provided at the bottom of the weighing frame, and the weighing devices are evenly arranged at least along the circumference of the weighing frame.

[0025] Optionally, the bulk Chinese medicine preparation packaging equipment also includes a control device, which is electrically connected to the first lifting mechanism, the weighing device, the lateral material transfer module, the longitudinal material transfer module, the driving mechanism and the packaging device.

[0026] In addition, to achieve the above-mentioned purpose, the present invention also provides a control method for bulk Chinese medicine dispensing packaging equipment, comprising:

[0027] When it is sensed that an empty box is placed on the weighing rack, the weighing device is controlled to measure the actual weight value of the medicinal materials placed in the empty box;

[0028] When the actual weight value reaches a preset target threshold, the lateral material transfer module is controlled to transfer the medicine box containing the medicinal materials to the first storage rack of the box changing station;

[0029] Control the first lifting mechanism to drive the second rack to move to the box changing station, and control the lateral material transfer module to transfer the empty boxes at the second rack to the weighing rack;

[0030] Controlling the first lifting mechanism to drive the first storage rack to return to the box changing station;

[0031] Controlling the longitudinal material transfer modules respectively to transfer the medicine boxes on the first storage rack toward the first storage rack at the near-side box changing station;

[0032] Controlling the picking mechanism to pick up the medicine box at the first shelf of the near-side box changing station to the packaging station, and pouring out the medicinal materials in the medicine box by rotating;

[0033] Control the packaging device to package the medicinal materials at the packaging station;

[0034] Controlling the picking mechanism to pick up the dumped empty boxes to the second storage rack of the near-side box changing station;

[0035] The longitudinal material transfer module is controlled to transfer the empty boxes at the second storage rack of the near-side box changing station toward the second storage rack of the far-side box changing station.

[0036] In the technical solution provided by the present invention, the weighing operation at each weighing area includes: manually or mechanically placing medicinal materials into an empty box, and the weighing device weighing the empty box and the medicinal materials in real time until the weight reaches the target, and the empty box is filled with the required medicinal materials to form a medicine box; the lateral material transfer module runs forward to transfer the medicine box from the weighing rack to the first storage rack waiting at the box changing station; the first lifting mechanism drives the second storage rack and another empty box placed thereon to move to the box changing station; the lateral material transfer module runs reversely to transfer the empty box from the box changing station to the weighing rack to wait for the next medicinal material to be loaded; when the weighing operation is completed When the medicine box is completed, the longitudinal material shifting module can realize the movement of the medicine box at each medicine weighing area toward the near box changing station, so that the first rack of each medicine weighing area is gradually empty; when the medicine box is moved to the near box changing station, the picking mechanism can pick up the medicine box and pour the medicinal materials to the packaging station for the packaging device to pack the medicinal materials, and then the picking mechanism retrieves the empty box after pouring and places it at the second rack corresponding to the near box changing station; the longitudinal material shifting module continues to realize the movement of the empty box at each medicine weighing area toward the far box changing station, so that the second rack of each medicine weighing area is gradually filled with empty boxes, so as to facilitate the next medicine weighing operation in a cycle. The present application helps to realize the synchronization and intelligent operation of multi-station medicine weighing, and makes the production rhythm orderly and compact, which helps to improve the packaging efficiency and yield of medicinal materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0038] Figure 1 A three-dimensional schematic diagram of an embodiment of a bulk Chinese medicine dispensing packaging device provided by the present invention;

[0039] Figure 2 for Figure 1 A top view of a bulk Chinese medicine dispensing and packaging equipment;

[0040] Figure 3 for Figure 1 The main schematic diagram of the center storage module and the weighing module;

[0041] Figure 4 for Figure 3 A three-dimensional schematic diagram of a first embodiment of a center storage module;

[0042] Figure 5 for Figure 3 A three-dimensional schematic diagram of a second embodiment of the center storage module;

[0043] Figure 6 for Figure 3 A three-dimensional schematic diagram of the weighing module;

[0044] Figure 7 for Figure 1 A three-dimensional schematic diagram of the pickup module;

[0045] Figure 8 A schematic flow chart of an embodiment of a control method for bulk Chinese medicine dispensing packaging equipment provided by the present invention.

[0046] Description of Figure Numbers:

[0047] 100 base; 110 box changing station; 120 weighing station; 130 packaging station; 200 storage module; 210 first storage rack; 220 second storage rack; 230 first lifting mechanism; 240 guide rod; 250 adjustment member; 261 first mounting rack; 262 second mounting rack; 300 weighing module; 310 weighing rack; 320 weighing device; 330 bottom frame; 400 lateral material transfer module; 411 roller shaft; 412 connecting plate; 413 connecting belt ; 421 first conveyor belt; 422 first pulley; 500 longitudinal material transfer module; 511 second conveyor belt; 512 second pulley; 600 picking module; 610 picking member; 611 clamping arm; 621 first linear drive module; 622 second linear drive module; 623 third linear drive module; 624 rotary drive module; 700 packaging device; 800 third conveyor belt; 910 first stop member; 920 second stop member; 930 third stop member.

[0048] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not 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.

[0050] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0052] See also Figures 1 to 7 , the present invention provides a bulk Chinese medicine dispensing packaging equipment. It should be noted that this design does not limit the actual application of the bulk Chinese medicine dispensing packaging equipment, but for ease of understanding, in the following embodiments, the bulk Chinese medicine dispensing packaging equipment is described as having vertical, longitudinal and transverse directions that are cross-set in pairs. Among them, the angle of the cross-setting can specifically be 90°, that is, perpendicular to each other. And in a specific application, the vertical direction can correspond to the direction of gravity, that is, the up and down direction; the transverse and longitudinal directions are both two directions that are roughly perpendicular to the horizontal plane.

[0053] The bulk Chinese medicine preparation packaging equipment includes a base 100 , a plurality of storage modules 200 , a plurality of weighing modules 300 , a plurality of lateral material transfer modules 400 , a longitudinal material transfer module 500 , a picking module 600 and a packaging device 700 .

[0054] The base 100 is provided with a plurality of medicine weighing areas and packaging stations 130 arranged in sequence along the longitudinal direction, each medicine weighing area includes a box changing station 110 and a weighing station 120 arranged in sequence along the transverse direction, and the box changing station 110 far away from the packaging station 130 is a far-side box changing station 110, and the box changing station 110 close to the packaging station 130 is a near-side box changing station 110;

[0055] A plurality of storage modules 200 are arranged corresponding to each box changing station 110, and the storage racks corresponding to the far-side box changing station 110 are the far-side storage modules 200, and the storage racks corresponding to the near-side box changing station 110 are the near-side storage modules 200. Each storage module 200 includes at least two storage racks arranged vertically at intervals at the box changing station 110 and a first lifting mechanism 230 connecting the storage racks. The two storage racks have a translation stroke in the vertical direction, so that they can move to the box changing station 110 in sequence. The two storage racks are respectively the first storage rack 210 and the second storage rack 220.

[0056] A plurality of weighing modules 300 are disposed corresponding to each weighing station 120 , and each weighing module 300 includes a weighing frame 310 located at the weighing station 120 , and a weighing device 320 connected to the weighing frame 310 ;

[0057] A plurality of lateral material shifting modules 400 are arranged one by one along each medicine weighing area, and each lateral material shifting module 400 includes a lateral material shifting member having a lateral translation stroke, and the lateral material shifting member is used to move the medicine box at the weighing rack 310 into the first storage rack 210 that moves to the box changing station 110, and to move the empty box at the second storage rack 220 that moves to the box changing station 110 into the weighing rack 310;

[0058] The longitudinal material moving module 500 includes a longitudinal material moving member having a translation stroke in the longitudinal direction, and the longitudinal material moving member is used to move the medicine boxes of the first rack 210 at each box changing station 110 toward the first rack 210 located at the near box changing station 110, and to move the empty boxes of the second rack 220 at each box changing station 110 toward the second rack 220 located at the far box changing station 110;

[0059] The picking module 600 includes a picking member 610 and a driving mechanism connected to the picking member 610. The picking member 610 has a translation stroke in the vertical, longitudinal and transverse directions, and a rotation stroke around the longitudinal axis, so as to pick up the medicine box transferred to the first storage rack 210 of the near-side box changing station 110 to the packaging station 130, and then pick up the empty box to the second storage rack 220 of the near-side box changing station 110.

[0060] The packaging device 700 is disposed at the packaging station 130 and is used to package the medicine box or the medicinal materials contained in the medicine box.

[0061] In the technical solution provided by the present invention, the weighing operation at each weighing area includes: manually or mechanically placing medicinal materials into an empty box, the weighing device 320 weighing the empty box and the medicinal materials in real time until the weight reaches the target, and the empty box is filled with the required medicinal materials to form a medicine box; the lateral material transfer module 400 runs forward to transfer the medicine box from the weighing rack 310 to the first storage rack 210 waiting at the box changing station 110; the first lifting mechanism 230 drives the second storage rack 220 and another empty box placed thereon to move to the box changing station 110; the lateral material transfer module 400 runs reversely to transfer the empty box from the box changing station 110 to the weighing rack 310 to wait for the next medicinal material to be loaded; when the weighing operation is completed When the medicine box is completed, the longitudinal material shifting module 500 can realize the movement of the medicine box at each medicine weighing area toward the near box changing station 110, so that the first rack 210 of each medicine weighing area is gradually empty; when the medicine box is moved to the near box changing station 110, the picking mechanism can pick up the medicine box and pour the medicinal materials to the packaging station 130 for the packaging device 700 to pack the medicinal materials, and then the picking mechanism retrieves the empty box after pouring and places it at the second rack 220 corresponding to the near box changing station 110; the longitudinal material shifting module 500 continues to realize the movement of the empty box at each medicine weighing area toward the far box changing station 110, so that the second rack 220 of each medicine weighing area is gradually filled with empty boxes, so as to facilitate the next medicine weighing operation in a cycle. The present application helps to realize the synchronization and intelligent operation of multi-station medicine weighing, and makes the production rhythm orderly and compact, which helps to improve the packaging efficiency and yield of medicinal materials.

[0062] In this design, the base 100 is a structure fixed relative to a fixed reference object such as the ground, and can be, but not limited to, a box, a plate, a block, a frame, etc. Figure 1 As shown, the base 100 generally includes a flat plate extending in the horizontal and longitudinal directions, and side plates extending in the vertical direction and connected to each side of the flat plate. The flat plate and the side plates together enclose a storage space. The flat plate is defined by a first through hole extending in the vertical direction to form a box changing station 110, and is defined by a second through hole extending in the vertical direction to form a weighing station 120. Among them, the first through hole and the second through hole can be independently set as two through hole structures, or can be interconnected to present a whole through hole structure. In this way, while the platform provides upward support of sufficient strength for the storage module 200, the weighing module 300, etc., sufficient installation space and activity space can be reserved for the storage module 200, the weighing module 300, etc. inside and outside the storage space to avoid the storage module 200, the weighing module 300, etc. being set too high on the upper side of the flat plate.

[0063] The first through hole and the second through hole arranged in the transverse direction jointly define the medicine weighing area. The medicine weighing area is arranged in multiple in the longitudinal direction, so that the placement module 200, the weighing module 300 and the lateral material transfer module 400 at each medicine weighing area can operate independently to perform the medicine weighing operation; and the placement module 200, the weighing module 300 and the lateral material transfer module 400 at each medicine weighing area can operate simultaneously to perform each medicine weighing operation. The two first through holes of each two adjacent medicine weighing areas can be independently set as two through hole structures, or they can be interconnected to present a whole through hole structure.

[0064] In addition, it should be noted that the box changing station 110 and / or weighing station 120 in the same medicine weighing area can be set to one or at least two respectively. The storage module 200, the weighing module 300, the lateral material shifting module 400 and the longitudinal material shifting module 500 are respectively suitable for each box changing station 110 and each weighing station 120. That is, for example, when it is set to multiple, the corresponding storage module 200 and / or weighing module 300 can be set to multiple in a one-to-one correspondence, or the corresponding storage module 200 and / or weighing module 300 can be set to one, but the same storage module 200 and / or weighing module 300 can be used for multiple empty boxes and medicine boxes to be placed and translated.

[0065] Specific as Figure 1 to Figure 2 As shown, two box changing stations 110 are arranged in the same medicine weighing area in the horizontal direction, and two storage modules 200 are arranged accordingly. Two weighing stations 120 are arranged in the same medicine weighing area, and one weighing module 300 is arranged.

[0066] The following first takes a box changing station 110 and a weighing station 120 in the same medicine weighing area as an example for explanation:

[0067] The storage module 200 includes at least two storage racks. Figures 3 to 5 For example, the two racks in the embodiment of the present invention may be a first rack 210 and a second rack 220. The first rack 210 and the second rack 220 are arranged at the box changing station 110 of the base 100 along a vertical interval. Specifically, the first rack 210 may be arranged vertically above or vertically below the second rack 220. For ease of understanding, the first rack 210 shown in the figure is located vertically below the second rack 220 as an example for description.

[0068] In the initial state, the first rack 210 can be directly moved to be located at the box changing station 110 (i.e., its plate surface is substantially flush with the first through hole), and the second rack 220 can be located vertically above the first rack 210. Or conversely, the second rack 220 can be directly moved to be located at the box changing station 110, and the first rack 210 can be located vertically below the second rack 220. Of course, the first rack 210 and the second rack 220 can also be arranged on both sides of the box changing station 110 in the vertical direction.

[0069] The first rack 210 and the second rack 220 are spaced apart in the vertical direction, and specifically, for example, can be connected by an adjusting member 250 extending vertically. Among them, the adjusting member 250 can be, for example, in the shape of a rod, and can be set to one or more. The adjusting member 250 can specifically be a structural member of fixed length, so that the spacing distance between the first rack 210 and the second rack 220 is a fixed value and cannot be adjusted. Or the adjusting member 250 can specifically be a structural member that can be telescopically movable in the vertical direction, so that the spacing distance between the first rack 210 and the second rack 220 is a range value and can be specifically adjusted. At this time, the adjusting member 250 can specifically be, for example, a plurality of telescopic joints that are adjusted in sequence, an assembly composed of, for example, a lead screw nut, a gear rack, etc., without limitation. When the distance between the first rack 210 and the second rack 220 is adjustable, it helps to flexibly set the size of the space between the first rack 210 and the second rack 220, and helps to flexibly apply the bulk Chinese medicine dispensing packaging equipment to empty boxes and medicine boxes of various specifications.

[0070] The first rack 210 and the second rack 220 can be roughly arranged in a frame shape, that is, they are composed of a plurality of rods or plates that are sequentially connected and enclosed in the horizontal and vertical directions. The frame-shaped arrangement allows the first rack 210 and the second rack 220 to define a frame area, and then at least a portion of the lateral material transfer module 400 and / or the longitudinal material transfer module 500 can be reasonably arranged using the frame area, which is more conducive to a compact structure.

[0071] The specific scheme of the first lifting mechanism 230 is not limited, and any power mechanism that can achieve the purpose of driving each rack to have a vertical translation stroke can be used. For example, the first lifting mechanism 230 includes a driver such as a telescopic cylinder, or the first lifting mechanism 230 is composed of a driver such as a telescopic cylinder, a motor, and a transmission assembly such as a gear set, a gear rack assembly, and a lead screw nut assembly.

[0072] Specific as Figures 3 to 5As shown, the storage module 200 also includes a first mounting frame 261 and a second mounting frame 262. The first mounting frame 261 is arranged in the storage space, and is roughly U-shaped and connected and fixed to the base 100; the second mounting frame 262 is arranged above the first mounting frame 261, and can also be roughly U-shaped and connected and fixed to each storage rack. Among them, the first lifting mechanism 230 is arranged below the first mounting frame 261, and the main part of the first lifting mechanism 230 (that is, the part without translation output, such as the main body of the telescopic cylinder) is connected and fixed to the first mounting frame 261; the power part of the first lifting mechanism 230 (that is, the part with translation output, such as the telescopic rod of the telescopic cylinder) is connected and fixed to the second mounting frame 262. In addition, in order to provide the lifting stability of each storage rack, a guide rod 240 extending vertically can be provided on one of the first mounting frame 261 and the second mounting frame 262, and the other one is provided with a guide hole, and the guide hole is slidably connected and matched with the guide rod 240. The guide holes and guide rods 240 may be provided in groups of one or more.

[0073] The weighing frame 310 in the weighing module 300 can also be set to be frame-shaped, extending in the horizontal and longitudinal directions to form a bearing area of ​​the required size. The weighing device 320 can be a sensor capable of sensing pressure, such as a weight sensor, a pressure sensor, etc. At this time, the weighing module 300 can also include a base frame 330, which is arranged in the storage space and connected and fixed to the base 100. The weighing frame 310 is arranged above the base frame 330. And specifically, the weighing device 320 can be arranged between the weighing frame 310 and the base frame 330. Of course, in other embodiments, the weighing device 320 can specifically be a sensor capable of sensing tension. At this time, the weighing device 320 can be arranged above the weighing frame 310, and the weighing frame 310 and the empty box and medicine box placed therein are all suspended below the weighing device 320.

[0074] In practical applications, the weighing device 320 may be one or more. When the weighing device 320 is multiple, the connection points between each weighing device 320 and the weighing frame 310 may be evenly dispersed in the horizontal and vertical directions, for example, evenly spaced along the circumference of the weighing frame 310.

[0075] It can be understood that when an empty box is placed on the weighing frame 310, the empty box is generally open, and the operator can manually or automatically load the medicinal materials into the empty box based on a mechanical mechanism. The medicinal materials loaded into the same empty box can be of the same type or can be configured in multiple types. When the medicinal materials are loaded into the empty box, the weighing device 320 can sense the weight change on the weighing frame 310 in real time. When the weight reaches the preset target threshold, it means that the loading amount of the medicinal materials has reached the target, and the empty box and the medicinal materials together constitute the medicine box.

[0076] The lateral material moving parts in the lateral material moving module 400 are mainly used to realize the reciprocating movement of materials (specifically, empty boxes and medicine boxes) between the box changing station 110 and the weighing station 120. Specifically, the lateral material moving parts can be set as one, and it is enough to connect the box changing station 110 and the weighing station 120. Or the lateral material moving parts can be set at the box changing station 110 and the weighing station 120 respectively, and they are connected together. And at this time, the two lateral material moving parts can be the same structure or different structures.

[0077] See also Figures 4 to 6 In one embodiment, the transverse material moving member includes a plurality of rollers 411 arranged in a row in the frame area of ​​the rack in the transverse direction and a first conveyor belt 421 arranged on the weighing frame 310, and each roller 411 extends in a longitudinal direction in an elongated shape. The transverse material moving module 400 also includes two first pulleys 422 arranged at intervals in the longitudinal direction, a first rotating driver drivingly connected to at least one of the first pulleys 422, and a fourth rotating driver, the first conveyor belt 421 is arranged in a closed loop around the outer sides of the two first pulleys 422, and the fourth rotating driver is drivingly connected to at least one roller 411 to drive each roller 411 to rotate forward and reverse around the longitudinal axis.

[0078] Specifically, the transverse material shifting module 400 may further include two connecting plates 412, which are arranged at intervals in the longitudinal direction. Each roller 411 is rotatably installed between the two connecting plates 412 around its own axis. In specific applications, the fourth rotary driver may be connected to a roller 411 for driving. At this time, the remaining rollers 411 can be driven by rolling cooperation between two rollers. Or when each roller 411 is kept at intervals in the radial direction, the transverse material shifting module 400 may further include a plurality of connecting belts 413, and each two adjacent rollers 411 are driven by the connecting belts 413. When each roller 411 rotates toward the weighing station 120 under the drive of the fourth rotary driver, the material at the box changing station 110 can be transferred to the weighing station 120; conversely, when each roller 411 rotates in the direction away from the weighing station 120 under the drive of the fourth rotary driver, the material at the weighing station 120 can be transferred to the box changing station 110.

[0079] When the rack is arranged in a frame shape, each roller 411, connecting plate 412 and connecting belt 413 etc. can be connected as one and then arranged together in the frame area of ​​the rack. In practical application, when the first rack 210 moves to the box changing station 110, it is necessary to transfer the medicine box at the weighing station 120 to the first rack 210 with the help of the lateral material shifting module 400; on the contrary, when the second rack 220 moves to the box changing station 110, it is necessary to transfer the empty box of the second rack 220 to the weighing station 120 with the help of the lateral material shifting module 400. For this reason, in terms of the lateral material shifting member arranged as the roller 411, the lateral material shifting module 400 can be arranged one by one for two racks, and it can be linked with the corresponding racks to move vertically. Alternatively, the lateral material shifting module 400 can be arranged at the box changing station 110, and it can be arranged independently of each rack. At this time, for example, the lateral material shifting member is connected to the base 100 and is approximately located at the box changing station 110. Since the racks are all frame-shaped, the setting of the lateral material shifting module 400 does not interfere with the lifting and lowering activities of the two racks. When the first rack 210 moves to the box changing station 110, the lateral material shifting module 400 is used for the lateral transfer of the materials of the first rack 210; conversely, when the second rack 220 moves to the box changing station 110, the lateral material shifting module 400 is used for the lateral transfer of the materials of the second rack 220.

[0080] The first conveyor belt 421 extends in the transverse direction. The first rotary driver is connected to the at least one first pulley 422 to drive the first pulley 422 to rotate, and then the first pulley 422 drives the first conveyor belt 421 to rotate in the transverse direction in the positive and negative directions. The positive rotation may refer to the rotation from the weighing station 120 toward the box changing station 110; the negative rotation may refer to the rotation from the box changing station 110 toward the weighing station 120. When rotating in the positive direction, the first conveyor belt 421 may drive the material at the weighing station 120 to transfer to the box changing station 110; conversely, when rotating in the negative direction, the first conveyor belt 421 may drive the material at the box changing station 110 to transfer to the weighing station 120.

[0081] It should be noted that the first conveyor belt 421 can be set to one or at least two. When the first conveyor belt 421 is set to one, its width and layout position can be set to be sufficient to support the empty box or medicine box. When the first conveyor belt 421 is set to at least two, each first conveyor belt 421 can be arranged in sequence along the longitudinal direction, and each first conveyor belt 421 can be set synchronously. Figures 4 to 5As shown, the first conveyor belt 421 can be specifically provided in two pieces, and the two first conveyor belts 421 are provided on both sides of the weighing frame 310 in the longitudinal direction. In this case, the first pulley 422 has an axis body that can be shown as extending in the longitudinal direction, and the same axis body can be used for the two first conveyor belts 421 to be wound together. In this way, the synchronous driving of the two first conveyor belts 421 can be achieved through the same first rotary drive and the two first pulleys 422.

[0082] In addition, in one embodiment, the longitudinal material moving member includes a second conveyor belt 511, and the second conveyor belt 511 extends in the longitudinal direction; the longitudinal material moving module 500 also includes two second pulleys 512 arranged at intervals in the longitudinal direction and a second rotary driver connected to at least one second pulley 512, and the second conveyor belt 511 is arranged in a closed loop around the outside of the two second pulleys 512. The second rotary driver drives the second pulley 512 to rotate, and then the second pulley 512 drives the second conveyor belt 511 to rotate forward and reversely in the longitudinal direction. Among them, forward rotation can refer to rotation from the rack to the outside; reverse rotation can refer to rotation from the outside to the inside of the rack. When rotating forward, the second conveyor belt 511 can drive the material at the rack to move outward; conversely, when rotating reversely, the second conveyor belt 511 can drive external materials to move into the rack.

[0083] Next, the longitudinal material transfer module 500 is generally arranged one by one corresponding to each rack in the same rack module 200. That is, each rack is independently provided with a longitudinal material transfer module 500. Figures 3 to 5 Taking the example that the same storage module 200 is provided with two racks, two longitudinal material moving modules 500 are provided corresponding to the two racks one by one, and are linked with the corresponding racks to perform vertical translation. It should be noted that the longitudinal translation directions of the two longitudinal material moving members on the two racks can be set in the same way, that is, the moving-out direction of the medicine box on the first rack 210 is the same as the moving-in direction of the empty box on the second rack 220. Alternatively, the longitudinal translation directions of the two longitudinal material moving members on the two racks are set in opposite directions. That is, the moving-out direction of the medicine box on the first rack 210 is opposite to the moving-in direction of the empty box on the second rack 220.

[0084] Similarly to the above, the second conveyor belt 511 can be set to one or at least two. When the second conveyor belt 511 is set to one, its width and layout position can be set to be sufficient to support the empty box or medicine box. When the second conveyor belt 511 is set to at least two, each second conveyor belt 511 can be arranged in sequence in the horizontal direction, and each second conveyor belt 511 can be set synchronously. Figures 4 to 5As shown, the second conveyor belt 511 can be specifically provided in two pieces, and the two second conveyor belts 511 are provided on both sides of the rack in the horizontal direction. In this case, the second pulley 512 has a shaft body that can be shown as extending in the horizontal direction, and the same shaft body can be used for the two second conveyor belts 511 to be wound together. In this way, the two second conveyor belts 511 can be synchronously driven by the same second rotary driver and the two second pulleys 512.

[0085] When the rack is arranged in a frame, each roller 411 can be arranged in the frame area of ​​the rack as described above. At this time, further, taking the longitudinal material transfer module 500 as described above including the second conveyor belt 511 as an example, when the second conveyor belt 511 is set to one, the second conveyor belt 511 can be set at any position in the frame area, for example, set beside each roller 411, or inserted between each roller 411, specifically, it can be inserted in the middle of the frame area. When the second conveyor belt 511 is set to at least two, one group can be set on each lateral side of each roller 411.

[0086] In view of the above, since in the storage rack at the box changing station 110, the lateral material shifting module 400 and the longitudinal material shifting module 500 need to be operated simultaneously or staggered. Therefore, in order to reduce the mutual interference between the lateral material shifting module 400 and the longitudinal material shifting module 500 during operation, in one embodiment, at least one of the lateral material shifting member and the longitudinal material shifting member has a relative translation stroke along the vertical direction relative to the other. The bulk Chinese medicine dispensing packaging equipment also includes a second lifting mechanism, which is respectively connected to the lateral material shifting member and the longitudinal material shifting member, and the second lifting mechanism is used to drive the longitudinal material shifting member to be lower than the lateral material shifting member when the lateral material shifting module 400 starts to run, and to drive the lateral material shifting member to be lower than the longitudinal material shifting member when the longitudinal material shifting module 500 starts to run.

[0087] It should be noted that the above mainly refers to the lateral material shifting member and the longitudinal material shifting member arranged at the rack, such as the above-mentioned rollers 411 and the second conveyor belt 511. Each roller 411 is connected to the connecting plate 412 and the connecting belt 413 to form an integral body, and the integral body can be moved up or down relative to the second conveyor belt 511. Wherein, when it is necessary to run the lateral material shifting module 400, the second lifting mechanism can drive each roller 411 to move up and / or the second conveyor belt 511 to move down, so that each roller 411 is roughly flush with the first conveyor belt 421, and the second conveyor belt 511 is lower than the first conveyor belt 421. On the contrary, when it is necessary to run the longitudinal material shifting module 500, the second lifting mechanism can drive each roller 411 to move down and / or the second conveyor belt 511 to move up, so that each roller 411 does not contact the empty box or the medicine box, and only the second conveyor belt 511 contacts the empty box or the medicine box, so as to achieve the purpose of longitudinal material shifting.

[0088] In view of the above, it can be known that the box changing stations 110 in each medicine weighing area are arranged in sequence along the longitudinal direction. That is, the first racks 210 in each storage module 200 are arranged in sequence along the longitudinal direction; the second racks 220 in each storage module 200 are arranged in sequence along the longitudinal direction. Taking each of the first racks 210 as an example, at this time, the longitudinal material moving member of each first rack 210 can be set to one, and its translation stroke is sufficient from the distal storage module 200 to the proximal storage module 200, and at this time, each first rack 210 is connected by a longitudinal material moving member. Alternatively, the longitudinal material moving members of each first rack 210 correspond to each other one by one, and each first rack 210 is set to multiple, and the spacing between each two longitudinal material moving members adjacent in the longitudinal direction is less than the corresponding size of the medicine box or the box body. In this way, the vertical lifting stroke of each first rack 210 and the longitudinal translation stroke of each first rack 210 can be kept independently without necessarily keeping the linkage consistent. By specifically setting the spacing between each two adjacent longitudinal translations, the medicine box or box body can be translated from the longitudinal translation of one rack to the longitudinal translation of the next rack while the two longitudinal translations are kept apart, and then finally the purpose of transferring the medicine box or empty box between the near-side storage module 200 and the far-side storage module 200 is achieved.

[0089] In view of the above, it can be known that the packaging station 130 is arranged on one longitudinal side of each medicine weighing area. The packaging device 700 is arranged at the packaging station 130 and can directly package the medicinal materials or medicine boxes. The packaging device 700 can be selected and arranged according to actual needs, and its specific structure and operation method are not limited.

[0090] The pick-up member 610 in the pick-up module 600 can be a structure that can pick up medicine boxes and empty boxes in any form, such as, but not limited to, a suction cup that uses vacuum to achieve adsorption, a claw plate that uses gripping force to achieve gripping, etc. Figure 7 As shown, the picking member 610 includes at least two clamping arms 611, which are spaced apart and can be movably arranged in directions of approaching and moving away from each other, and have a grasping state when approaching each other, and a releasing state when moving away from each other.

[0091] In addition, the driving mechanism includes a rotating driving module 624, which is connected to the two clamping arms 611 to achieve the purpose of rotatably movably setting the two clamping arms 611 around the axis extending in the horizontal direction or the longitudinal direction. During the rotation process, the medicinal materials in the medicine box clamped by the two clamping arms 611 can be turned over and poured out to obtain an empty box; the empty box can also be turned over and reset, that is, in a state where the opening is facing upward.

[0092] In addition, the driving mechanism also includes three linear drive modules, namely the first linear drive module 621, the second linear drive module 622 and the third linear drive module 623. Among them, the linear drive module generally includes a power source, a slide rail and a slider. The slide rails in the first linear drive module 621, the second linear drive module 622 and the third linear drive module 623 can be respectively set to extend in the horizontal direction, in the longitudinal direction and in the vertical direction, so that under the drive of the respective power sources, the respective sliders can be driven in the horizontal linear translation movement, in the longitudinal linear translation movement and in the vertical linear translation movement. Specifically, the rotation drive module 624 is connected and fixed with the slider of the first linear drive module 621, the first linear drive module 621 is connected and fixed with the slider of the second linear drive module 622, the second linear drive module 622 is connected and fixed with the slider of the remaining third linear drive module 623, and the slide rail of the third linear drive module 623 is fixed relative to the base 100.

[0093] Since the picking module 600 is arranged between the near-side box changing station 110 and the packaging station 130, and the near-side box changing station 110 is the final removal area of ​​the medicine boxes on the first replacement rack and the initial entry area of ​​the empty boxes on the second replacement rack. Therefore, in specific applications, the picking member 610 can first pick up the medicine boxes on the first storage rack 210 at the near-side box changing station 110 under the drive of the driving mechanism, and then pour the medicinal materials in the medicine boxes to the packaging station 130 by rotation, and the packaging device 700 automatically packages the medicinal materials. Finally, the picking member 610 picks up the empty boxes after pouring and puts them on the second storage rack 220 at the near-side box changing station 110.

[0094] In addition, the proximal box changing station 110 can be arranged adjacent to the packaging station 130, so that after each batch of medicinal materials is poured into the packaging station 130, before the next batch of medicinal materials is poured into the packaging station 130, the packaging device 700 has completed the packaging operation for the medicinal materials. Alternatively, the proximal box changing station 110 and the packaging station 130 are arranged at intervals, and the distance at the intervals is greater than the corresponding sizes of at least two medicine boxes or box bodies; the bulk Chinese medicine preparation packaging equipment also includes a third conveyor belt 800, two third pulleys arranged at intervals in the longitudinal direction, and a third rotary drive connected to at least one third pulley, and the third conveyor belt 800 is connected between the proximal box changing station 110 and the packaging station 130. In this way, the extension length of the third conveyor belt 800 is sufficient for at least two batches of medicinal materials to be conveyed. The picking member 610 can sequentially and orderly pour the medicinal materials in the multiple medicine boxes to the third conveyor belt 800, and then the third conveyor belt 800 sequentially transfers the medicinal materials to the packaging station 130 for packaging by the packaging device 700. In this way, the action rhythm between the longitudinal material transfer module 500, the picking module 600 and the packaging device 700 can be relatively free and not restricted to each other.

[0095] In view of the above, in a further solution, the bulk Chinese medicine preparation packaging equipment also includes a first stopper 910 and / or a second stopper 920 .

[0096] Among them, the first stopper 910 is arranged beside the box changing station 110, and is located downstream when the lateral material moving member moves horizontally from the weighing station 120 to the box changing station 110. In this way, when the lateral material moving member drives the medicine box to move horizontally from the weighing rack 310 to the first storage rack 210, the medicine box can be stopped, limited and positioned. Of course, in other embodiments, the first stopper 910 can also be arranged beside the weighing station 120, and is located downstream when the lateral material moving member moves horizontally from the box changing station 110 to the weighing station 120. In this way, when the lateral material moving member drives the empty box to move horizontally from the second storage rack 220 to the weighing rack 310, the empty box can be stopped, limited and positioned.

[0097] The first stopper 910 can be fixed relative to the base 100, that is, directly fixedly connected to the base 100. Alternatively, the first stopper 910 can be movably mounted on the base 100 and have a telescopic movable stroke in the vertical, horizontal and / or longitudinal directions. In this way, the first stopper 910 can have adjustment freedom in the vertical, horizontal and / or longitudinal directions, so that the whole machine is more suitable for processing production lines with different specifications and different operating modes.

[0098] The second stopper 920 is arranged beside the box changing station 110 and is located in the longitudinal downstream of the longitudinal material moving member. In this way, when the longitudinal material moving member drives the medicine box to move out or drives the empty box to move in, the stopper 920 can be used for positioning.

[0099] The second stopper 920 can be fixed relative to the base 100, that is, directly fixedly connected to the base 100. Alternatively, the second stopper 920 can be movably mounted on the base 100 and have a telescopic movable stroke in the vertical, horizontal and / or longitudinal directions. In this way, the second stopper 920 can have adjustment freedom in the vertical, horizontal and / or longitudinal directions, so that the whole machine is more suitable for processing production lines with different specifications and different operating modes.

[0100] In addition, the bulk Chinese medicine preparation packaging equipment may further include a third stopper 930, which may be disposed beside the third conveyor belt 800 to limit the position of the medicinal materials during the conveying process.

[0101] In order to realize a more intelligent and automated operation of each of the above-mentioned functional modules, in one embodiment, the bulk Chinese medicine preparation packaging equipment also includes a control device, which is electrically connected to each of the first lifting mechanisms 230, the weighing device 320, the lateral material transfer module 400, the longitudinal material transfer module 500, the driving mechanism and the packaging device 700.

[0102] The control device may include: a processor, such as a central processing unit (CPU), a communication bus, a user interface, a network interface, and a memory. The communication bus is used to realize the connection and communication between these components. The user interface may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface may also include a standard wired interface and a wireless interface. The network interface may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory may also be a storage device independent of the aforementioned processor.

[0103] Those skilled in the art will appreciate that the above structure does not constitute a limitation on the control device, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0104] The memory as a storage medium may include an operating system, a network communication module, a user interface module, and a control program for bulk Chinese medicine dispensing and packaging equipment.

[0105] In the above-mentioned control device, the network interface is mainly used for data communication with the network server; the user interface is mainly used for data interaction with the user; the processor and memory in the control device of the present invention can be set in the bulk Chinese medicine dispensing packaging, and the control device calls the control program of the bulk Chinese medicine dispensing packaging equipment stored in the memory through the processor, and executes the control method of the bulk Chinese medicine dispensing packaging equipment provided by the embodiment of the present invention.

[0106] The embodiment of the present invention provides a control method for bulk Chinese medicine dispensing packaging equipment, referring to Figure 8 , Figure 8 The present invention is a flow chart of an embodiment of a control method for bulk Chinese medicine dispensing and packaging equipment.

[0107] The control method of the bulk Chinese medicine dispensing packaging equipment specifically includes:

[0108] Step S100: When it is sensed that an empty box is placed on the weighing rack 310, the weighing device 320 is controlled to measure the actual weight of the medicinal materials placed in the empty box;

[0109] Step S200: When the actual weight value reaches a preset target threshold, the lateral material transfer module 400 is controlled to transfer the medicine box containing the medicinal materials to the first storage rack 210 of the box changing station 110;

[0110] Step S300: Control the first lifting mechanism 230 to drive the second rack 220 to move to the box changing station 110, and control the lateral material transfer module 400 to transfer the empty boxes at the second rack 220 to the weighing rack 310;

[0111] Step S400: Control the first lifting mechanism 230 to drive the first rack 210 to return to the box changing station 110;

[0112] Step S500: Control the longitudinal material transfer modules 500 to transfer the medicine boxes on the first storage rack 210 toward the first storage rack 210 of the near-side box changing station 110;

[0113] Step S600: Control the picking mechanism to pick up the medicine box at the first shelf 210 of the near-side box changing station 110 to the packaging station 130, and pour out the medicinal materials in the medicine box by rotating;

[0114] Step S700: Control the packaging device 700 to package the medicinal materials at the packaging station 130;

[0115] Step S800: Control the picking mechanism to pick up the dumped empty box to the second storage rack 220 of the near-side box changing station 110;

[0116] Step S900 : controlling the longitudinal material transfer module 500 to transfer the empty boxes at the second storage rack 220 of the near-side box changing station 110 toward the second storage rack 220 of the far-side box changing station 110 .

[0117] In this embodiment, under the control of the control device, the placement module 200, the weighing module 300, the lateral material transfer module 400 and the longitudinal material transfer module 500 in each medicine weighing area operate independently.

[0118] Specifically, in each medicine weighing area, one or more empty boxes are placed on the weighing rack 310. When medicinal materials are placed into each empty box manually or automatically, the weighing device 320 measures the actual weight of each empty box and the medicinal materials contained therein.

[0119] Since each bulk Chinese medicine dispensing packaging device may need to package different types of bulk Chinese medicine dispensing at different time points. Therefore, in order to improve the accuracy of bulk Chinese medicine dispensing configuration and packaging, in one embodiment, before step S100, the identity information of the bulk Chinese medicine dispensing that needs to be packaged at the moment can also be identified, confirmed and entered based on recognition modules such as scanners. The identity information can be specifically associated with information such as the type of medicinal materials in each bulk Chinese medicine dispensing, the target threshold of the weight corresponding to each medicine box, the number of bulk Chinese medicine dispensings required to be packaged, and the packaging method corresponding to the bulk Chinese medicine dispensing. Of course, information such as the target threshold of the weight corresponding to each medicine box, the number of bulk Chinese medicine dispensings required to be packaged, etc. can also be actively input through input modules such as keyboards.

[0120] In addition, the bulk Chinese medicine dispensing packaging equipment may also include a protection module. The protection module can protect the environment of the bulk Chinese medicine dispensing packaging process according to the requirements of different bulk Chinese medicine dispensings for environmental parameters. For example, the protection module may include a temperature adjustment module, which can be used to adjust the temperature range within a certain space; the protection module may also include a humidity adjustment module, which can be used to adjust the humidity range within a certain space; the protection module may also include a light adjustment module, which can be used to adjust the brightness range within a certain space, etc. Based on this, before step S100, and after determining the identity information of the bulk Chinese medicine dispensing, the operation of the relevant modules in the protection module can also be controlled so that the corresponding environmental parameters are adjusted in place.

[0121] When the progress of loading medicinal materials into multiple empty boxes on the weighing rack 310 is basically the same, the same weighing device 320 can weigh multiple empty boxes and medicinal materials at the same time, and ensure that the actual weight value of each medicine box is measured accurately. When the progress of loading medicinal materials into multiple empty boxes on the weighing rack 310 may be different, the weighing device 320 can be set to measure the weight of different empty boxes and medicinal materials at different weighing stations 120 in different areas, until the actual weight value of each medicine box reaches the preset target threshold, and then start the operation of the lateral material transfer module 400.

[0122] When the transverse material transfer module 400 is started, each medicine box is transferred to each first rack 210 of the box changing station 110. When each medicine box is placed in place on the first rack 210, the first lifting mechanism 230 drives each second rack 220 to move to the box changing station 110. Then the transverse material transfer module 400 is operated to transfer each empty box on each second rack 220 to each weighing station 120, so as to remove the medicine box and add the empty box.

[0123] When the removal of medicine boxes and the replenishment of empty boxes at each medicine weighing area are completed, the longitudinal material transfer module 500 can be started to transfer the medicine boxes on the first racks 210 at each medicine weighing area to the near box changing station 110 in sequence and in an orderly manner. Then the picking module 600 operates in an orderly manner, picks up the medicine boxes at the first rack 210 at the near box changing station 110, and after pouring the medicinal materials to the third conveyor belt 800 or the packaging station 130, picks up the empty boxes to the second rack 220 at the near box changing station 110, and the longitudinal material transfer module 500 transfers the empty boxes on the second rack 220 at the near box changing station 110 to the second rack 220 at each box changing station 110 in sequence and in an orderly manner.

[0124] Then the above steps are executed in a cycle.

[0125] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A bulk Chinese medicine dispensing packaging equipment, characterized in that: include: The base is provided with a plurality of medicine weighing areas and packaging stations arranged in sequence along the longitudinal direction, each of the medicine weighing areas comprises a box changing station and a weighing station arranged in sequence along the transverse direction, and the box changing station far away from the packaging station is a distal box changing station, and the box changing station close to the packaging station is a proximal box changing station; A plurality of storage modules are arranged corresponding to each of the box changing stations one by one, and among the storage racks, the one corresponding to the far-side box changing station is a far-side storage module, and the one corresponding to the near-side box changing station is a near-side storage module, each of the storage modules comprises at least two storage racks arranged vertically at intervals at the box changing station and a first lifting mechanism connecting the storage racks, the two storage racks respectively have a translation stroke in the vertical direction so as to be able to move to the box changing station in sequence, and the two storage racks are respectively a first storage rack and a second storage rack; A plurality of weighing modules, each of which is arranged corresponding to each of the weighing stations, and each of the weighing modules comprises a weighing frame located at the weighing station and a weighing device connected to the weighing frame; A plurality of transverse material shifting modules are arranged one by one along each of the medicine weighing areas, each of the transverse material shifting modules comprises a transverse material shifting member having a transverse translation stroke, the transverse material shifting member is used to move the medicine boxes at the weighing rack to the first rack at the box changing station, and to move the empty boxes at the second rack at the box changing station to the weighing rack; A longitudinal material moving module, comprising a longitudinal material moving member having a longitudinal translation stroke, the longitudinal material moving member being used to move the medicine boxes on the first rack at each of the box changing stations toward the first rack at the near box changing station, and to move the empty boxes on the second rack at each of the box changing stations toward the second rack at the far box changing station; A picking module, comprising a picking member and a driving mechanism connected to the picking member, wherein the picking member has a translation stroke in the vertical, longitudinal and transverse directions, and a rotation stroke around the longitudinal axis, so as to pick up the medicine box transferred to the first storage rack of the near-side box changing station to the packaging station, and then pick up the empty box to the second storage rack of the near-side box changing station; The packaging device is arranged at the packaging station and is used for packaging the medicine box or the medicinal materials contained in the medicine box.

2. The bulk Chinese medicine dispensing packaging equipment according to claim 1, characterized in that: The longitudinal material moving members are arranged in a plurality corresponding to each of the storage racks, and the distance between each two longitudinally adjacent longitudinal material moving members is smaller than the corresponding size of the medicine box or the box body.

3. The bulk Chinese medicine dispensing packaging equipment according to claim 1, characterized in that: Each of the medicine weighing areas comprises at least two box changing stations and at least two weighing stations arranged in sequence in the transverse direction; The placement module, the weighing module, the lateral material transfer module and the longitudinal material transfer module are respectively suitable for being arranged at each of the box changing stations and each of the weighing stations.

4. The bulk Chinese medicine dispensing packaging equipment according to claim 1, characterized in that: The near-side box changing station is spaced apart from the packaging station, and the distance at the spaced apart position is greater than the corresponding sizes of at least two medicine boxes or box bodies; The bulk Chinese medicine preparation packaging equipment also includes a third conveyor belt, two third pulleys arranged at intervals along the longitudinal direction, and a third rotary drive connected to at least one of the third pulleys. The third conveyor belt is connected between the proximal box changing station and the packaging station.

5. The bulk Chinese medicine dispensing packaging equipment according to claim 1, characterized in that: The storage rack is in the shape of a frame; The lateral material shifting modules are provided with two corresponding to the two racks in each of the storage modules, and are linked with the corresponding racks to move vertically; the lateral material shifting member comprises a plurality of rollers arranged in sequence and side by side in the lateral direction in the frame area of ​​the racks and a first conveyor belt arranged on the weighing frame, and each of the rollers extends in an elongated shape in the longitudinal direction; the lateral material shifting module also comprises two first pulleys arranged at intervals in the longitudinal direction, a first rotating driver drivingly connected to at least one of the first pulleys, and a fourth rotating driver, the first conveyor belt is wound around the outer sides of the two first pulleys in a closed loop, and the fourth rotating driver is drivingly connected to at least one of the rollers to drive each of the rollers to rotate forward and reverse around the longitudinal axis respectively; The longitudinal material transfer module is respectively provided with a group on both lateral sides of each roller shaft in each storage module, and each longitudinal material transfer member includes a second conveyor belt. The longitudinal material transfer module also includes two second pulleys arranged at intervals along the longitudinal direction and a second rotating drive connected to at least one of the second pulleys, and the second conveyor belt is wound around the outside of the two second pulleys in a closed loop.

6. The bulk Chinese medicine dispensing packaging equipment according to claim 1, characterized in that: The longitudinal translation directions of the two longitudinal material moving members are arranged in opposite directions.

7. The bulk Chinese medicine dispensing packaging equipment according to claim 1, characterized in that: The medicine weighing device also includes: A first stopper is provided beside the box changing station and is located laterally downstream of the lateral material moving member, and the first stopper is fixed relative to the base; or has a telescopic movable stroke in the vertical, horizontal and / or longitudinal direction; and / or, The second stopper is arranged beside the box changing station and located in the longitudinal downstream of the longitudinal material moving member. The second stopper is fixed relative to the base; or has a telescopic movable stroke in the vertical, horizontal and / or longitudinal direction.

8. The bulk Chinese medicine dispensing packaging equipment according to claim 1, characterized in that: In each of the weighing modules, a plurality of weighing devices are provided at the bottom of the weighing frame, and the weighing devices are evenly arranged at least along the circumference of the weighing frame.

9. The bulk Chinese medicine dispensing packaging equipment according to any one of claims 1 to 8, characterized in that: The bulk Chinese medicine preparation packaging equipment also includes a control device, which is electrically connected to the first lifting mechanism, the weighing device, the lateral material transfer module, the longitudinal material transfer module, the driving mechanism and the packaging device.

10. A control method for bulk Chinese medicine dispensing packaging equipment, characterized in that: include: When it is sensed that an empty box is placed on the weighing rack, the weighing device is controlled to measure the actual weight value of the medicinal materials placed in the empty box; When the actual weight value reaches a preset target threshold, the lateral material transfer module is controlled to transfer the medicine box containing the medicinal materials to the first storage rack of the box changing station; Control the first lifting mechanism to drive the second rack to move to the box changing station, and control the lateral material transfer module to transfer the empty boxes at the second rack to the weighing rack; Controlling the first lifting mechanism to drive the first storage rack to return to the box changing station; Controlling the longitudinal material transfer modules respectively to transfer the medicine boxes on the first storage rack toward the first storage rack at the near-side box changing station; Controlling the picking mechanism to pick up the medicine box at the first shelf of the near-side box changing station to the packaging station, and pouring out the medicinal materials in the medicine box by rotating; Control the packaging device to package the medicinal materials at the packaging station; Controlling the picking mechanism to pick up the dumped empty boxes to the second storage rack of the near-side box changing station; The longitudinal material transfer module is controlled to transfer the empty boxes at the second storage rack of the near-side box changing station toward the second storage rack of the far-side box changing station.

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