Bulk chinese medicine dispensing and packaging apparatus and control method thereof

Abstract

The application discloses a 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 horizontal material transfer modules and a longitudinal material transfer module, a picking mechanism and a packaging device. The weighing device weighs the empty box and the medicinal material to a target weight to obtain a medicine box; the horizontal material transfer module transfers the medicine box to the first storage rack at the box changing station; the first lifting mechanism drives the second storage rack to be active to the box changing station; the horizontal material transfer module transfers the empty box from the box changing station to the weighing rack, and waits for the next medicinal material to be loaded; the longitudinal material transfer module moves the medicine box towards the proximal box changing station; the picking mechanism can pick up the medicine box and pour the medicinal material to the packaging station for the packaging device to package the medicinal material, and then the picking mechanism takes back the poured empty box to the second storage rack; the longitudinal material transfer module moves the empty box towards the distal box changing station. The application helps to improve the packaging efficiency and yield of medicinal materials.

Description

Technical Field

[0001] This invention relates to the field of bulk Chinese medicine dispensing and packaging equipment, specifically to a bulk Chinese medicine dispensing and packaging equipment and its control method. Background Technology

[0002] After the bulk Chinese medicine is prepared, the medicinal materials need to be packaged to facilitate transportation, handling, and preservation. However, the current packaging of medicinal materials generally relies entirely or mostly on manual operation, which easily leads to relatively low packaging efficiency and an increased error rate. Summary of the Invention

[0003] The main objective of this invention is to propose a bulk Chinese medicine dispensing and packaging equipment and its control method, which aims to solve the problems of low efficiency and high error rate in traditional medicine packaging due to excessive reliance on manual operation.

[0004] To achieve the above objectives, the present invention provides a bulk traditional Chinese medicine dispensing and packaging device, comprising:

[0005] The base is provided with multiple weighing areas and packaging stations arranged in a longitudinal direction. Each weighing area includes a box changing station and a weighing station arranged in a transverse direction. Among the box changing stations, the one farther away from the packaging station is the far-side box changing station, and the one closer to the packaging station is the near-side box changing station.

[0006] Multiple storage modules are provided, one for each of the box-changing stations. Among the storage racks, the one provided for the far box-changing station is the far storage module, and the one provided for the near box-changing station is the near storage module. Each storage module includes 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 each have a vertical translation stroke so that they can move sequentially to the box-changing station. The two storage racks are the first storage rack and the second storage rack.

[0007] Multiple weighing modules are set up one by one corresponding to each of the weighing stations. Each weighing module includes a weighing frame located at the weighing station and a weighing device connected to the weighing frame.

[0008] Multiple transverse transfer modules are arranged one-to-one along each of the weighing areas. Each transverse transfer module includes a transverse transfer component with a transverse translation stroke. The transverse transfer component is used to move the medicine box at the weighing rack into the first shelf that moves to the box changing station, and to move the empty box that moves to the second shelf that moves to the box changing station into the weighing rack.

[0009] A longitudinal transfer module includes a longitudinal transfer component having a longitudinal translational stroke, the longitudinal transfer component being used to transfer medicine boxes of the first shelf at each of the box changing stations toward the first shelf located at the near box changing station, and to transfer empty boxes of the second shelf at each of the box changing stations toward the second shelf located at the far box changing station.

[0010] The picking module includes a picking component and a driving mechanism connected to the picking component. The picking component has translational strokes along the vertical, longitudinal and transverse directions, and rotational strokes around the longitudinal axis, so as to pick up the medicine box that has been transferred to the first shelf of the near-side box changing station and then pick up the empty box to the second shelf of the near-side box changing station.

[0011] A packaging device is provided at the packaging station and is used to package medicine boxes or the medicinal materials contained in the medicine boxes.

[0012] Optionally, multiple longitudinal transfer components are configured to correspond one-to-one with each of the shelves, and the distance between any two adjacent longitudinal transfer components is less than the corresponding size of the medicine box or box body.

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

[0014] The loading module, the weighing module, the transverse material transfer module, and the longitudinal material transfer module are respectively adapted to be set up at each of the box changing stations and each of the weighing stations.

[0015] Optionally, the near-side box-changing station is spaced apart from the packaging station, and the distance at the interval is greater than the corresponding size of at least two medicine boxes or boxes.

[0016] The bulk Chinese medicine dispensing and packaging equipment also includes a third conveyor belt, two third pulleys arranged longitudinally at intervals, and a third rotary drive connected to at least one of the third pulleys. The third conveyor belt is connected between the near-side box changing station and the packaging station.

[0017] Optionally, the shelf is frame-shaped;

[0018] The transverse material transfer module is provided in pairs corresponding to the two shelves in each of the storage modules, and moves vertically in conjunction with the corresponding shelves. The transverse material transfer component includes multiple rollers arranged side by side in the frame area of ​​the shelf in the transverse direction and a first conveyor belt provided on the weighing frame. Each roller extends longitudinally in a long shape. The transverse material transfer module also includes two first pulleys arranged at intervals in the longitudinal direction, a first rotary driver driven by at least one of the first pulleys, and a fourth rotary driver. The first conveyor belt is arranged in a closed loop around the outside of the two first pulleys. The fourth rotary driver is driven by at least one of the rollers to drive each roller to rotate forward and reverse around the longitudinal axis, respectively.

[0019] The longitudinal material transfer module is provided on each of the two sides of each roller in each of the placement modules. Each longitudinal material transfer component 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 rotary driver that is drivenly connected to at least one of the second pulleys. The second conveyor belt is arranged in a closed loop around the outside of the two second pulleys.

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

[0021] Optionally, the weighing device further includes:

[0022] A first stop is located beside the box-changing station and downstream of the transverse transfer member, and the first stop is fixed relative to the base; or it has a telescopic travel along the vertical, transverse, and / or longitudinal direction; and / or,

[0023] The second stop is located beside the box changing station and downstream of the longitudinal transfer member. The second stop is fixed relative to the base; or it has a telescopic travel along the vertical, horizontal and / or longitudinal direction.

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

[0025] Optionally, the bulk Chinese medicine dispensing and packaging equipment further includes a control device, which is electrically connected to each of the first lifting mechanisms, the weighing devices, the transverse material transfer module, the longitudinal material transfer module, the drive mechanism, and the packaging device.

[0026] Furthermore, to achieve the above objectives, the present invention also provides a control method for bulk Chinese medicine dispensing and packaging equipment, comprising:

[0027] When the weighing rack is detected to have an empty box, the weighing device is controlled to measure the actual weight of the medicinal materials placed in the empty box.

[0028] When the actual weight value reaches the preset target threshold, the horizontal material transfer module is controlled to transfer the medicine box containing the medicinal materials to the first shelf of the box changing station.

[0029] The first lifting mechanism is controlled to drive the second shelf to the box changing station, and the horizontal material transfer module is controlled to transfer the empty box at the second shelf to the weighing rack.

[0030] Control the first lifting mechanism to drive the first shelf back to the box changing station;

[0031] The vertical transfer modules are controlled to move the medicine boxes at the first shelf toward the first shelf at the nearby box changing station;

[0032] The control picking mechanism picks up the medicine box from the first shelf at the near-side box changing station and moves it to the packaging station, and then pours out the medicine inside the medicine box by rotating it.

[0033] The packaging device is controlled to package the medicinal materials at the packaging station;

[0034] The picking mechanism is controlled to pick up the tilted empty box and place it at the second shelf of the nearby box changing station;

[0035] The longitudinal transfer module is controlled to move the empty boxes at the second shelf of the near box changing station toward the second shelf of the far box changing station.

[0036] In the technical solution provided by this invention, the weighing operation at each weighing area includes: manually or automatically placing medicinal materials into an empty box; a weighing device weighing the empty box and medicinal materials in real time until the weight reaches the target; the empty box then contains the required medicinal materials to form a medicine box; a horizontal transfer module moves forward, transferring the medicine box from the weighing rack to a first shelf waiting at the box-changing station; a first lifting mechanism drives a second shelf and another empty box placed on it to move to the box-changing station; the horizontal transfer module moves in reverse, transferring the empty box from the box-changing station to the weighing rack, waiting for the next medicinal material to be loaded; when the weighing operation is completed... During operation, the longitudinal transfer module moves the medicine boxes in each weighing area toward the nearest box-changing station, gradually emptying the first shelf in each weighing area. When a medicine box is moved to the nearest box-changing station, the picking mechanism picks it up and pours the medicine onto the packaging station for the packaging device to pack it. The picking mechanism then retrieves the empty box and places it on the second shelf corresponding to the nearest box-changing station. The longitudinal transfer module continues to move the empty boxes in each weighing area toward the farthest box-changing station, gradually replenishing the second shelf in each weighing area with empty boxes to facilitate the next weighing operation. This application helps to achieve synchronous and intelligent multi-station weighing operations, making the production cycle orderly and compact, and helping to improve the packaging efficiency and yield of medicinal materials. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0038] Figure 1 A perspective view of an embodiment of the bulk Chinese medicine dispensing and packaging equipment provided by the present invention;

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

[0040] Figure 3 for Figure 1 Front view schematic diagram of the central loading module and the weighing module;

[0041] Figure 4 for Figure 3 A perspective view of the first embodiment of the centrally located module;

[0042] Figure 5 for Figure 3 A perspective view of the second embodiment of the centrally located module;

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

[0044] Figure 7 for Figure 1 A 3D schematic diagram of the pickup module;

[0045] Figure 8 This is a flowchart illustrating an embodiment of the control method for bulk Chinese medicine dispensing and packaging equipment provided by the present invention.

[0046] Explanation of icon numbers:

[0047] 100 Base; 110 Box Changing Station; 120 Weighing Station; 130 Packaging Station; 200 Storage Module; 210 First Storage Shelf; 220 Second Storage Shelf; 230 First Lifting Mechanism; 240 Guide Rod; 250 Adjusting Component; 261 First Mounting Frame; 262 Second Mounting Frame; 300 Weighing Module; 310 Weighing Rack; 320 Weighing Device; 330 Base Frame; 400 Lateral Transfer Module; 411 Roller; 412 Connecting Plate; 413 Connecting Belt ; 421 First conveyor belt; 422 First pulley; 500 Longitudinal transfer module; 511 Second conveyor belt; 512 Second pulley; 600 Pick-up module; 610 Pick-up component; 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; 920 Second stop; 930 Third stop.

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

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

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

[0051] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0052] Please see Figures 1 to 7 This invention provides a bulk traditional Chinese medicine dispensing and packaging device. It should be noted that this design does not limit the practical application of the bulk traditional Chinese medicine dispensing and packaging device; however, for ease of understanding, the following embodiments will use examples of a bulk traditional Chinese medicine dispensing and packaging device with two intersecting vertical, longitudinal, and transverse directions. Specifically, the included angle of the intersecting directions can be 90°, i.e., mutually perpendicular. Furthermore, in a specific application, the vertical direction can correspond to the direction of gravity, i.e., the up-down direction; the transverse and longitudinal directions are two approximately perpendicular directions on a horizontal plane.

[0053] The bulk Chinese medicine dispensing and packaging equipment includes a base 100, multiple placement modules 200, multiple weighing modules 300, multiple horizontal material transfer modules 400, a vertical material transfer module 500, a picking module 600, and a packaging device 700.

[0054] The base 100 is provided with multiple weighing areas and packaging stations 130 arranged in the longitudinal direction. Each weighing area includes a box changing station 110 and a weighing station 120 arranged in the transverse direction. Among the box changing stations 110, the ones farther away from the packaging station 130 are called the far-side box changing stations 110, and the ones closer to the packaging station 130 are called the near-side box changing stations 110.

[0055] Multiple storage modules 200 are set one-to-one with each box changing station 110, and the storage module 200 is set for the far box changing station 110 and the storage module 200 is set for the near box changing station 110. Each storage module 200 includes at least two shelves arranged vertically at intervals in the box changing station 110 and a first lifting mechanism 230 connecting the shelves. The two shelves have a vertical translation stroke so that they can move to the box changing station 110 in sequence. The two shelves are the first shelf 210 and the second shelf 220.

[0056] Multiple weighing modules 300 are set up one-to-one with each weighing station 120. 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] Multiple transverse transfer modules 400 are arranged one-to-one with each weighing area. Each transverse transfer module 400 includes a transverse transfer component with a transverse translation stroke. The transverse transfer component is used to move the medicine box at the weighing rack 310 into the first shelf 210 that moves to the box changing station 110, and to move the empty box at the second shelf 220 that moves to the box changing station 110 into the weighing rack 310.

[0058] The longitudinal transfer module 500 includes a longitudinal transfer member having a translational stroke along the longitudinal direction. The longitudinal transfer member is used to transfer medicine boxes from the first shelf 210 at each box changing station 110 toward the first shelf 210 located near the box changing station 110, and to transfer empty boxes from the second shelf 220 at each box changing station 110 toward the second shelf 220 located far from the box changing station 110.

[0059] The pickup module 600 includes a pickup component 610 and a drive mechanism connecting the pickup component 610. The pickup component 610 has translational strokes along the vertical, longitudinal and transverse directions, and rotational strokes around the longitudinal axis, so as to pick up the medicine box transferred to the first shelf 210 of the near box changing station 110 and then pick up the empty box to the second shelf 220 of the near box changing station 110.

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

[0061] In the technical solution provided by this invention, the weighing operation at each weighing area includes: manually or automatically placing medicinal materials into an empty box; the weighing device 320 weighing the empty box and medicinal materials in real time until the weight reaches the target; the empty box then contains the required medicinal materials to form a medicine box; the lateral transfer module 400 moves forward, transferring the medicine box from the weighing rack 310 to the first shelf 210 waiting at the box changing station 110; the first lifting mechanism 230 drives the second shelf 220 and another empty box placed on it to move to the box changing station 110; the lateral transfer module 400 moves in reverse, transferring the empty box from the box changing station 110 to the weighing rack 310, waiting for the next medicinal material to be loaded; when the weighing operation is completed... During operation, the longitudinal transfer module 500 moves the medicine boxes in each weighing area toward the nearby box-changing station 110, gradually emptying the first shelf 210 of each weighing area. When a medicine box is moved to the nearby box-changing station 110, the picking mechanism picks it up and pours the medicine onto the packaging station 130 for the packaging device 700 to pack it. The picking mechanism then retrieves the empty box and places it on the second shelf 220 corresponding to the nearby box-changing station 110. The longitudinal transfer module 500 continues to move the empty boxes in each weighing area toward the distant box-changing station 110, gradually replenishing the second shelf 220 of each weighing area with empty boxes to facilitate the next weighing operation. This application helps to achieve synchronous and intelligent multi-station weighing operations, making the production cycle orderly and compact, and helping 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 is not limited to, a box, a plate, a block, a frame, etc. For example, see attached... Figure 1 As shown, the base 100 generally includes a flat plate extending laterally and longitudinally, and side plates extending vertically and connected to each side of the flat plate. The flat plate and the side plates together enclose a storage space. The flat plate defines a box-changing station 110 by having a first through hole extending vertically, and a weighing station 120 by having a second through hole extending vertically. The first and second through holes can be independently configured as two through hole structures, or they can be connected to each other to form a single through hole structure. In this way, while the platform provides sufficient upward support for the storage module 200, the weighing module 300, etc., sufficient installation and movement space can be reserved for the storage module 200, the weighing module 300, etc. inside and outside the storage space, avoiding the storage module 200, the weighing module 300, etc. being set too high on the upper side of the flat plate.

[0063] The first and second through holes arranged laterally together define the weighing area. Multiple weighing areas are arranged longitudinally, allowing the placement module 200, weighing module 300, and lateral transfer module 400 in each weighing area to operate independently and perform weighing operations; and the placement module 200, weighing module 300, and lateral transfer module 400 in each weighing area can operate simultaneously to perform their respective weighing operations. The two first through holes between any two adjacent weighing areas can be independently configured as two through-hole structures, or they can be interconnected to form a single through-hole structure.

[0064] Furthermore, it should be noted that the box-changing station 110 and / or weighing station 120 in the same weighing area can be set to one or at least two. The placement module 200, weighing module 300, lateral transfer module 400, and longitudinal transfer module 500 are respectively suitable for setting up each box-changing station 110 and each weighing station 120. That is, for example, when multiple are set up, the corresponding placement module 200 and / or weighing module 300 can be set up one-to-one, or the corresponding placement module 200 and / or weighing module 300 can be set to one, but multiple empty boxes and medicine boxes can be placed and moved on the same placement module 200 and / or weighing module 300.

[0065] Specifically, such as Figures 1 to 2 As shown, there are two box-changing stations 110 in the same weighing area along the horizontal direction, and two corresponding placement modules 200. There are two weighing stations 120 in the same weighing area, and one weighing module 300.

[0066] The following explanation will first take a box-changing station 110 and a weighing station 120 in the same weighing area as examples:

[0067] The storage module 200 includes at least two shelves. See attached document for details. Figures 3 to 5 Taking two shelves as an example, the two shelves can be a first shelf 210 and a second shelf 220. The first shelf 210 and the second shelf 220 are arranged vertically at a distance from each other at the box-changing station 110 of the base 100. Specifically, the first shelf 210 can be located vertically above or below the second shelf 220. For ease of understanding, the example shown in the attached figure, where the first shelf 210 is located vertically below the second shelf 220, will be used for explanation.

[0068] In its initial state, the first shelf 210 can be moved directly to the box-changing station 110 (i.e., its surface is basically flush with the first through hole), at which point the second shelf 220 can be located vertically above the first shelf 210. Alternatively, the second shelf 220 can be moved directly to the box-changing station 110, at which point the first shelf 210 can be located vertically below the second shelf 220. Of course, it is also possible that the first shelf 210 and the second shelf 220 are positioned on opposite vertical sides of the box-changing station 110.

[0069] The first shelf 210 and the second shelf 220 are vertically spaced apart, specifically, for example, by being connected by an adjusting member 250 extending vertically. The adjusting member 250 can be, for example, rod-shaped, and can be one or more. Specifically, the adjusting member 250 can be a fixed-length structural member, such that the distance between the first shelf 210 and the second shelf 220 is a fixed value and cannot be adjusted. Alternatively, the adjusting member 250 can be a vertically telescopic structural member, such that the distance between the first shelf 210 and the second shelf 220 is adjustable within a range. In this case, the adjusting member 250 can be, for example, a combination of multiple sequentially adjustable telescopic joints, or a combination of, for example, a lead screw and nut, a gear and rack, etc., without limitation. When the distance between the first shelf 210 and the second shelf 220 is adjustable, it helps to flexibly set the space between the first shelf 210 and the second shelf 220, and helps to make the bulk Chinese medicine dispensing and packaging equipment flexible for various sizes of empty boxes and medicine boxes.

[0070] Both the first shelf 210 and the second shelf 220 can be generally configured as a frame, that is, composed of multiple rods or plates connected sequentially along the horizontal and vertical directions. The frame-like configuration allows the first shelf 210 and the second shelf 220 to define an inner area, thereby enabling at least a portion of the horizontal transfer module 400 and / or the vertical transfer module 500 to make reasonable use of this inner area, which is more conducive to a compact structure.

[0071] The specific design of the first lifting mechanism 230 is not limited, and any power mechanism capable of driving each shelf to have a vertical translational stroke is acceptable. For example, the first lifting mechanism 230 may include a driver such as a telescopic cylinder, or the first lifting mechanism 230 may be composed of a driver such as a telescopic cylinder and a motor, and a transmission assembly such as a gear set, a gear rack assembly, and a lead screw and nut assembly.

[0072] Specifically, such as Figures 3 to 5As shown, the storage module 200 also includes a first mounting bracket 261 and a second mounting bracket 262. The first mounting bracket 261 is disposed within the storage space, is generally U-shaped, and is connected and fixed to the base 100; the second mounting bracket 262 is disposed above the first mounting bracket 261, is also generally U-shaped, and is connected and fixed to each shelf. A first lifting mechanism 230 is disposed below the first mounting bracket 261, and the main body of the first lifting mechanism 230 (i.e., the part without translation output, such as the body of a telescopic cylinder) is connected and fixed to the first mounting bracket 261; the power part of the first lifting mechanism 230 (i.e., the part with translation output, such as the telescopic rod of a telescopic cylinder) is connected and fixed to the second mounting bracket 262. Furthermore, to provide stable lifting of each shelf, a guide rod 240 extending vertically may be provided in one of the first mounting bracket 261 and the second mounting bracket 262, and the other may have a guide hole, which is slidably connected to the guide rod 240. The guide hole and guide rod 240 can be set as one or more in a group.

[0073] Similarly, the weighing frame 310 in the weighing module 300 can also be configured as a frame, extending laterally and longitudinally 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 or a pressure sensor. In this case, the weighing module 300 may also include a base frame 330, which is disposed within a storage space and connected and fixed to the base 100. The weighing frame 310 is disposed above the base frame 330. Specifically, the weighing device 320 can be disposed 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 tensile force. In this case, the weighing device 320 can be disposed above the weighing frame 310, and the weighing frame 310 and the empty box and medicine box placed on it are suspended below the weighing device 320.

[0074] In practical applications, the weighing device 320 can be set as one or more. When there are multiple weighing devices 320, the connection points between each weighing device 320 and the weighing frame 310 can be evenly distributed in the horizontal and vertical directions, for example, evenly spaced along the circumference of the weighing frame 310.

[0075] It is understandable that when an empty box is placed on the weighing frame 310, the box is generally open, allowing the operator to manually or automatically fill it with medicinal materials using a mechanical mechanism. The medicinal materials filled into the same empty box can be of the same type or multiple types. When medicinal materials are filled 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 a preset target threshold, it indicates that the amount of medicinal material filled has reached the target, and the empty box and the medicinal material together constitute a medicine box.

[0076] The lateral transfer component in the lateral transfer module 400 is 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, one lateral transfer component can be set, sufficient to connect the box changing station 110 and the weighing station 120. Alternatively, two lateral transfer components can be set at the box changing station 110 and the weighing station 120 respectively, and both can be connected to the box changing station 110 and the weighing station 120. In this case, the two lateral transfer components can have the same structure or different structures.

[0077] Please see Figures 4 to 6 In one embodiment, the transverse transfer component includes a plurality of rollers 411 arranged side-by-side in the transverse direction within the frame area of ​​the shelf, and a first conveyor belt 421 disposed on the weighing frame 310. Each roller 411 extends longitudinally in an elongated manner. The transverse transfer module 400 also includes two first pulleys 422 spaced apart longitudinally, a first rotary driver drivenly connected to at least one of the first pulleys 422, and a fourth rotary driver. The first conveyor belt 421 is arranged in a closed loop around the outside of the two first pulleys 422. The fourth rotary driver is drivenly connected to at least one roller 411 to drive each roller 411 to rotate forward and reverse around the longitudinal axis, respectively.

[0078] Specifically, the transverse material transfer module 400 may further include two connecting plates 412, which are arranged longitudinally at intervals. Each roller 411 is rotatably mounted between the two connecting plates 412 around its own axis. In practical applications, a fourth rotary driver may be driven to connect with one roller 411. In this case, the remaining rollers 411 can achieve transmission through rolling engagement between each other. Alternatively, when each roller 411 is radially spaced, the transverse material transfer module 400 may further include multiple connecting belts 413, with each pair of adjacent rollers 411 achieving transmission through 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 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 shelving unit is frame-shaped, the rollers 411, connecting plates 412, and connecting belts 413 can be connected as a single unit and placed together within the frame area of ​​the shelving unit. In practical applications, when the first shelving unit 210 moves to the box-changing station 110, the transverse transfer module 400 is needed to transfer the medicine boxes at the weighing station 120 to the first shelving unit 210; conversely, when the second shelving unit 220 moves to the box-changing station 110, the transverse transfer module 400 is needed to transfer the empty boxes of the second shelving unit 220 to the weighing station 120. Therefore, taking the transverse transfer component, which is set as roller 411, as an example, two transverse transfer modules 400 can be provided corresponding to each of the two shelving units, and they can move vertically in conjunction with the corresponding shelving unit. Alternatively, one transverse transfer module 400 can be provided at the box-changing station 110, and it can be set independently of each shelving unit. At this time, for example, the lateral transfer component is connected to the base 100 and is approximately located at the box changing station 110. Since the shelves are all frame-shaped, the setting of the lateral transfer module 400 does not interfere with the lifting and lowering movements of the two shelves. When the first shelf 210 moves to the box changing station 110, the lateral transfer module 400 is used for the lateral transfer of materials in the first shelf 210; conversely, when the second shelf 220 moves to the box changing station 110, the lateral transfer module 400 is used instead for the lateral transfer of materials in the second shelf 220.

[0080] The first conveyor belt 421 extends laterally. A first rotary driver is driven to rotate at least one first pulley 422, which in turn drives the first conveyor belt 421 to rotate laterally in both forward and reverse directions. Forward rotation can refer to rotation from the weighing station 120 toward the box-changing station 110; reverse rotation can refer to rotation from the box-changing station 110 toward the weighing station 120. When rotating forward, the first conveyor belt 421 can transfer material from the weighing station 120 to the box-changing station 110; conversely, when rotating in reverse, the first conveyor belt 421 can transfer material from the box-changing station 110 to the weighing station 120.

[0081] It should be noted that the first conveyor belt 421 can be one or at least two. When there is only one first conveyor belt 421, its width and placement can be sufficient to support the empty box or medicine box. When there are at least two first conveyor belts 421, they can be arranged sequentially along the longitudinal direction, and they can be set up synchronously. (See attached diagram) Figures 4 to 5As shown, there can be two first conveyor belts 421, which are arranged on both sides of the weighing frame 310. The first pulley 422 has a shaft that extends longitudinally, and both first conveyor belts 421 can be wound around the same shaft. Thus, synchronous driving of the two first conveyor belts 421 can be achieved through the same first rotary driver and the same two first pulleys 422.

[0082] In one embodiment, the longitudinal material transfer component includes a second conveyor belt 511 extending longitudinally. The longitudinal material transfer module 500 also includes two second pulleys 512 spaced apart longitudinally and a second rotary driver drivenly connected to at least one of the second pulleys 512. 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 pulleys 512 to rotate, and then the second pulleys 512 drive the second conveyor belt 511 to rotate forward and in reverse longitudinally. Forward rotation can refer to rotation from the shelf outward; reverse rotation can refer to rotation from the outside inward. When rotating forward, the second conveyor belt 511 can move materials outward from the shelf; conversely, when rotating in reverse, the second conveyor belt 511 can move external materials into the shelf.

[0083] Next, the longitudinal transfer module 500 is generally arranged one-to-one with each shelf in the same storage module 200. That is, each shelf is independently equipped with a longitudinal transfer module 500. (See attached...) Figures 3 to 5 Taking a storage module 200 with two shelves as an example, two vertical transfer modules 500 are provided corresponding to the two shelves, and they move vertically in conjunction with the corresponding shelves. It should be noted that the vertical translation directions of the two vertical transfer components on the two shelves can be the same, that is, the direction in which the medicine boxes are moved out of the first shelf 210 is the same as the direction in which the empty boxes are moved into the second shelf 220. Alternatively, the vertical translation directions of the two vertical transfer components on the two shelves can be opposite, that is, the direction in which the medicine boxes are moved out of the first shelf 210 is opposite to the direction in which the empty boxes are moved into the second shelf 220.

[0084] Similarly, the second conveyor belt 511 can be configured as one or at least two. When there is only one second conveyor belt 511, its width and placement can be sufficient to support the empty box or medicine box. When there are at least two second conveyor belts 511, they can be arranged sequentially along the transverse direction, and they can be installed synchronously. (See attached diagram) Figures 4 to 5As shown, there can be two second conveyor belts 511, which are arranged on both sides of the shelf. The second pulley 512 has a shaft that extends laterally, and both second conveyor belts 511 can be wound around the same shaft. Thus, synchronous driving of the two second conveyor belts 511 can be achieved through the same second rotary drive and the same two second pulleys 512.

[0085] When the shelf is arranged in a frame configuration, as described above, each roller 411 can be positioned within the frame area of ​​the shelf. Further, taking the longitudinal material transfer module 500, which includes a second conveyor belt 511 as an example, when there is only one second conveyor belt 511, it can be positioned at any location within the frame area, for example, beside each roller 411, or interspersed between each roller 411, specifically, it can be positioned in the middle of the frame area. When there are at least two second conveyor belts 511, one set can be provided on each of the lateral sides of each roller 411.

[0086] In view of the above, since the transverse transfer module 400 and the longitudinal transfer module 500 need to operate simultaneously or at different times in the shelf at the box changing station 110, in order to reduce the mutual interference between the transverse transfer module 400 and the longitudinal transfer module 500 during operation, in one embodiment, at least one of the transverse transfer component and the longitudinal transfer component has a relative vertical translational stroke relative to the other. The bulk Chinese medicine dispensing and packaging equipment also includes a second lifting mechanism, which is connected to the transverse transfer component and the longitudinal transfer component respectively. The second lifting mechanism is used to drive the longitudinal transfer component lower than the transverse transfer component when the transverse transfer module 400 is started, and to drive the transverse transfer component lower than the longitudinal transfer component when the longitudinal transfer module 500 is started.

[0087] It should be noted that the above mainly refers to the lateral and longitudinal material transfer components installed at the shelf, such as the rollers 411 and the second conveyor belt 511 mentioned above. The rollers 411 are connected as a whole by the connecting plate 412 and the connecting belt 413, and this whole can move up or down relative to the second conveyor belt 511. Specifically, when the lateral material transfer module 400 needs to be operated, the second lifting mechanism can drive the rollers 411 to move up and / or the second conveyor belt 511 to move down, so that the rollers 411 are approximately flush with the first conveyor belt 421, and the second conveyor belt 511 is lower than the first conveyor belt 421. Conversely, when the longitudinal material transfer module 500 needs to be operated, the second lifting mechanism can drive the rollers 411 to move down and / or the second conveyor belt 511 to move up, so that the rollers 411 do not contact the empty boxes or medicine boxes, and only the second conveyor belt 511 contacts the empty boxes or medicine boxes, achieving the purpose of longitudinal material transfer.

[0088] As described above, the box-changing stations 110 in each weighing area are arranged sequentially along the longitudinal direction. That is, the first shelves 210 in each storage module 200 are arranged sequentially along the longitudinal direction; the second shelves 220 in each storage module 200 are arranged sequentially along the longitudinal direction. Taking each of the first shelves 210 as an example, the longitudinal transfer component of each first shelf 210 can be set to one, and its translational stroke is sufficient to move from the far side storage module 200 to the near side storage module 200. In this case, the first shelves 210 are connected by the longitudinal transfer component. Alternatively, multiple longitudinal transfer components can be set for each first shelf 210, with the distance between any two adjacent longitudinal transfer components being less than the corresponding size of the medicine box or box body. In this way, the vertical lifting stroke of each first shelf 210 and the longitudinal translation stroke of each longitudinal transfer component on the first shelf 210 can operate independently without necessarily maintaining a synchronized movement. By specifically setting the spacing between each pair of adjacent longitudinal transfer components, while the two longitudinal transfer components maintain a distance, the medicine box or box body can be smoothly transferred from the longitudinal transfer component of one shelf to the longitudinal transfer component of the next shelf, thereby ultimately achieving the purpose of transferring the medicine box or empty box between the near-side storage module 200 and the far-side storage module 200.

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

[0090] The pickup component 610 in the pickup module 600 can be a structure that picks up medicine boxes and empty boxes in any form, such as, but not limited to, a suction cup component that uses vacuum to achieve adsorption, or a claw plate that uses gripping force to achieve gripping, etc. (See attached image) Figure 7 As shown, the pickup 610 includes at least two gripping arms 611, which are spaced apart and movable in directions of approaching and moving away from each other, and have a gripping state when they are close to each other and a releasing state when they are far apart from each other.

[0091] In addition, the drive mechanism includes a rotary drive module 624, which is connected to two clamping arms 611 to enable both clamping arms 611 to be rotatably movably arranged around an axis extending laterally or longitudinally. During rotation, the medicine in the medicine box held by the two clamping arms 611 can be flipped over and poured out to obtain an empty box; the empty box can also be flipped back to its original position, i.e., in an open-facing state.

[0092] In addition, the drive mechanism includes three linear drive modules: a first linear drive module 621, a second linear drive module 622, and a third linear drive module 623. Each 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 configured to extend laterally, longitudinally, and vertically, respectively, so that, driven by their respective power sources, their respective sliders can perform lateral linear translation, longitudinal linear translation, and vertical linear translation movements. Specifically, the rotary drive module 624 is fixedly connected to, for example, the slider of the first linear drive module 621; the first linear drive module 621 is fixedly connected to, for example, the slider of the second linear drive module 622; the second linear drive module 622 is fixedly connected to 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 located 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 for medicine boxes on the first replacement rack and the initial insertion area for empty boxes on the second replacement rack, in specific applications, under the drive of the drive mechanism, the picking component 610 first picks up the medicine box from the first shelf 210 at the near-side box-changing station 110, and then tilts the medicine inside the medicine box to the packaging station 130, where the packaging device 700 automatically packages the medicine. Finally, the picking component 610 picks up the tilted empty box and places it on the second shelf 220 at the near-side box-changing station 110.

[0094] Furthermore, the aforementioned proximal box-changing station 110 can be located adjacent to the packaging station 130, so that after each batch of medicinal materials is poured into the packaging station 130, the packaging device 700 has already completed the packaging operation for that medicinal material before the next batch of medicinal materials is poured into the packaging station 130. Alternatively, the proximal box-changing station 110 and the packaging station 130 can be spaced apart, with the distance between them being greater than the corresponding dimensions of at least two medicine boxes or box bodies. The bulk Chinese medicine dispensing and packaging equipment also includes a third conveyor belt 800, two third pulleys arranged longitudinally at intervals, and a third rotary drive drive driven by at least one of the third pulleys. The third conveyor belt 800 connects 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 to transport at least two batches of medicinal materials. The picking unit 610 can sequentially and orderly pour the medicinal materials from multiple medicine boxes to the third conveyor belt 800, and then the third conveyor belt 800 will sequentially transfer the medicinal materials to the packaging station 130 for packaging by the packaging device 700. In this way, the operating rhythm between the longitudinal transfer module 500, the picking module 600, and the packaging device 700 can be relatively free and unrestricted.

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

[0096] The first stop 910 is located beside the box-changing station 110 and downstream of the lateral transfer member during its lateral movement from the weighing station 120 to the box-changing station 110. This allows for stopping and positioning of the medicine box as the lateral transfer member moves it from the weighing rack 310 to the first shelf 210. Alternatively, in other embodiments, the first stop 910 may also be located beside the weighing station 120 and downstream of the lateral transfer member during its lateral movement from the box-changing station 110 to the weighing station 120. This allows for stopping and positioning of the empty box as the lateral transfer member moves it from the second shelf 220 to the weighing rack 310.

[0097] Specifically, the first stop 910 can be fixed relative to the base 100, that is, directly fixedly connected to the base 100. Alternatively, the first stop 910 can be movably installed on the base 100 and has a telescopic travel in the vertical, horizontal and / or longitudinal directions. In this way, it can have adjustable freedom in the vertical, horizontal and / or longitudinal directions, making the whole machine more adaptable to processing production lines of different specifications and different operating modes.

[0098] The second stop 920 is located beside the box-changing station 110 and downstream of the longitudinal transfer component. In this way, it can stop and position the box when the longitudinal transfer component moves the medicine box out or moves the empty box in.

[0099] Specifically, the second stop 920 can be fixed relative to the base 100, that is, directly fixedly connected to the base 100. Alternatively, the second stop 920 can be movably installed on the base 100 and has a telescopic travel in the vertical, horizontal, and / or longitudinal directions. In this way, it can have adjustable degrees of freedom in the vertical, horizontal, and / or longitudinal directions, making the whole machine more adaptable to processing production lines of different specifications and different operating modes.

[0100] In addition, the bulk Chinese medicine dispensing and packaging equipment may also include a third stop 930, which may be set on the side of the third conveyor belt 800 to limit the movement of the medicinal materials during the conveying process.

[0101] In order to make the operation of the above-mentioned functional modules more intelligent and automated, in one embodiment, the bulk Chinese medicine dispensing and packaging equipment also includes a control device, which is electrically connected to each of the first lifting mechanism 230, weighing device 320, horizontal material transfer module 400, vertical material transfer module 500, drive mechanism and 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 memory. The communication bus is used to enable communication between these components. The user interface may include a display screen and an input unit such as a keyboard; optionally, the user interface may also include a standard wired interface or a wireless interface. The network interface may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk drive. Alternatively, the memory may be a storage device independent of the aforementioned processor.

[0103] Those skilled in the art will understand 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 combine certain components, or have different component arrangements.

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

[0105] In the aforementioned 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 and packaging. The control device calls the control program of the bulk Chinese medicine dispensing and packaging equipment stored in the memory through the processor, and executes the control method of the bulk Chinese medicine dispensing and packaging equipment provided in the embodiments of the present invention.

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

[0107] The specific control methods for this bulk Chinese medicine dispensing and packaging equipment include:

[0108] Step S100: When the weighing frame 310 is detected to have an empty box, the weighing device 320 is controlled to measure the actual weight of the medicinal materials in the empty box.

[0109] Step S200: When the actual weight value reaches the preset target threshold, control the horizontal material transfer module 400 to transfer the medicine box containing the medicine to the first shelf 210 of the box changing station 110.

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

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

[0112] Step S500: Control the longitudinal transfer module 500 to transfer the medicine box at the first shelf 210 toward the first shelf 210 of the nearby 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 box changing station 110 and place it at the packaging station 130, and pour out the medicine inside the medicine box by rotating it.

[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 tilted empty box and place it at the second shelf 220 near the box changing station 110;

[0116] Step S900: Control the longitudinal material transfer module 500 to transfer the empty box at the second shelf 220 of the near box changing station 110 to the second shelf 220 of the far box changing station 110.

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

[0118] Specifically, in each 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 and packaging device may need to package different types of bulk Chinese medicine at different times, in order to improve the accuracy of bulk Chinese medicine dispensing and packaging, in one embodiment, before step S100, the identity information of the bulk Chinese medicine dispensing that needs to be packaged can be identified, confirmed, and entered based on an identification module such as a barcode scanner. Specifically, the identity information may be associated with and stored information such as the type of medicinal materials in each bulk Chinese medicine dispensing, the target weight threshold corresponding to each medicine box, the quantity of bulk Chinese medicine dispensing to be packaged, and the packaging method corresponding to the bulk Chinese medicine dispensing. Of course, information such as the target weight threshold corresponding to each medicine box and the quantity of bulk Chinese medicine dispensing to be packaged can also be actively obtained through an input module such as a keyboard.

[0120] Furthermore, the bulk traditional Chinese medicine dispensing and packaging equipment may also include a protective module. This protective module can protect the environment during the bulk traditional Chinese medicine dispensing and packaging process according to the environmental parameter requirements of different dispensing methods. Specifically, for example, the protective module may include a temperature control module to regulate the temperature range within a certain space; a humidity control module to regulate the humidity range within a certain space; and a light control module to regulate the brightness range within a certain space. Based on this, before step S100, and after determining the identity information of the bulk traditional Chinese medicine dispensing, the operation of relevant modules within the protective module can be controlled to ensure that the corresponding environmental parameters are adjusted appropriately.

[0121] When the loading progress of 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 simultaneously, ensuring that the actual weight value of each box is accurately measured. When the loading progress of multiple empty boxes on the weighing rack 310 may differ, the weighing device 320 can be set to perform zoned weighing of different empty boxes and medicinal materials at different weighing stations 120 until the actual weight value of each box reaches the preset target threshold, at which point the horizontal material transfer module 400 is started.

[0122] When the transverse transfer module 400 starts running, it transfers each medicine box to the respective first shelf 210 of the box changing station 110. Once each medicine box is in place at its respective first shelf 210, the first lifting mechanism 230 drives each second shelf 220 to move to the box changing station 110. Then, the transverse transfer module 400 operates, transferring each empty box from the second shelf 220 to the respective weighing station 120, thus realizing the removal of medicine boxes and the replenishment of empty boxes.

[0123] Once the removal of medicine boxes and the replenishment of empty boxes at each weighing area are completed, the longitudinal transfer module 500 can be activated to sequentially transfer the medicine boxes on the first shelf 210 at each weighing area to the nearby box-changing station 110. Then, the picking module 600 operates sequentially, picking up the medicine boxes from the first shelf 210 at the nearby box-changing station 110, emptying the medicine boxes onto the third conveyor belt 800 or the packaging station 130, and then picking up the empty boxes to the second shelf 220 at the nearby box-changing station 110. The longitudinal transfer module 500 then sequentially transfers the empty boxes from the second shelf 220 at the nearby box-changing station 110 to the second shelf 220 at each box-changing station 110.

[0124] Then the above steps are repeated.

[0125] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A bulk Chinese medicine dispensing and packaging equipment, characterized in that, include: The base is provided with multiple weighing areas and packaging stations arranged in a longitudinal direction. Each weighing area includes a box changing station and a weighing station arranged in a transverse direction. Among the box changing stations, the one farther away from the packaging station is the far-side box changing station, and the one closer to the packaging station is the near-side box changing station. Multiple storage modules are provided, one for each of the box-changing stations. Among the storage modules, the one provided for the far box-changing station is the far storage module, and the one provided for the near box-changing station is the near storage module. Each storage module includes at least two shelves arranged vertically at intervals at the box-changing station and a first lifting mechanism connecting the shelves. The two shelves each have a vertical translation stroke so that they can move sequentially to the box-changing station. The two shelves are the first shelf and the second shelf. Multiple weighing modules are set up one by one corresponding to each of the weighing stations. Each weighing module includes a weighing frame located at the weighing station and a weighing device connected to the weighing frame. Multiple transverse transfer modules are arranged one-to-one along each of the weighing areas. Each transverse transfer module includes a transverse transfer component with a transverse translation stroke. The transverse transfer component is used to move the medicine box at the weighing rack into the first shelf that moves to the box changing station, and to move the empty box that moves to the second shelf that moves to the box changing station into the weighing rack. A longitudinal transfer module includes a longitudinal transfer component having a longitudinal translational stroke, the longitudinal transfer component being used to transfer medicine boxes of the first shelf at each of the box changing stations toward the first shelf located at the near box changing station, and to transfer empty boxes of the second shelf at each of the box changing stations toward the second shelf located at the far box changing station. The picking module includes a picking component and a driving mechanism connected to the picking component. The picking component has translational strokes along the vertical, longitudinal and transverse directions, and rotational strokes around the longitudinal axis, so as to pick up the medicine box that has been transferred to the first shelf of the near-side box changing station and then pick up the empty box to the second shelf of the near-side box changing station. A packaging device is provided at the packaging station and is used to package medicine boxes or the medicinal materials contained in the medicine boxes.

2. The bulk traditional Chinese medicine dispensing and packaging equipment as described in claim 1, characterized in that, The longitudinal transfer components are configured in multiple ways, each corresponding to one of the shelves, and the distance between any two adjacent longitudinal transfer components is less than the corresponding size of the medicine box or box body.

3. The bulk traditional Chinese medicine dispensing and packaging equipment as described in claim 1, characterized in that, Each of the aforementioned weighing areas includes at least two box-changing stations and at least two weighing stations arranged sequentially in the transverse direction; The loading module, the weighing module, the transverse material transfer module, and the longitudinal material transfer module are respectively adapted to be set up at each of the box changing stations and each of the weighing stations.

4. The bulk traditional Chinese medicine dispensing and packaging equipment as described in claim 1, characterized in that, The near-side box-changing station is spaced apart from the packaging station, and the distance at the interval is greater than the corresponding dimensions of at least two medicine boxes or boxes. The bulk Chinese medicine dispensing and packaging equipment also includes a third conveyor belt, two third pulleys arranged longitudinally at intervals, and a third rotary drive connected to at least one of the third pulleys. The third conveyor belt is connected between the near-side box changing station and the packaging station.

5. The bulk traditional Chinese medicine dispensing and packaging equipment as described in claim 1, characterized in that, The shelf is frame-shaped; The transverse material transfer module is provided in pairs corresponding to the two shelves in each of the storage modules, and moves vertically in conjunction with the corresponding shelves. The transverse material transfer component includes multiple rollers arranged side by side in the frame area of ​​the shelf in the transverse direction and a first conveyor belt provided on the weighing frame. Each roller extends longitudinally in a long shape. The transverse material transfer module also includes two first pulleys arranged at intervals in the longitudinal direction, a first rotary driver driven by at least one of the first pulleys, and a fourth rotary driver. The first conveyor belt is arranged in a closed loop around the outside of the two first pulleys. The fourth rotary driver is driven by at least one of the rollers to drive each roller to rotate forward and reverse around the longitudinal axis, respectively. The longitudinal material transfer module is provided on each of the two sides of each roller in each of the placement modules. Each longitudinal material transfer component 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 rotary driver that is drivenly connected to at least one of the second pulleys. The second conveyor belt is arranged in a closed loop around the outside of the two second pulleys.

6. The bulk traditional Chinese medicine dispensing and packaging equipment as described in claim 1, characterized in that, The two longitudinal transfer components are arranged in opposite longitudinal translation directions.

7. The bulk traditional Chinese medicine dispensing and packaging equipment as described in claim 1, characterized in that, The bulk Chinese medicine dispensing and packaging equipment also includes: A first stop is located beside the box-changing station and downstream of the transverse transfer member, and the first stop is fixed relative to the base; or it has a telescopic travel along the vertical, transverse, and / or longitudinal direction; and / or, The second stop is located beside the box changing station and downstream of the longitudinal transfer member. The second stop is fixed relative to the base; or it has a telescopic travel along the vertical, horizontal and / or longitudinal direction.

8. The bulk traditional Chinese medicine dispensing and packaging equipment as described in claim 1, characterized in that, In each of the weighing modules, multiple weighing devices are provided at the bottom of the weighing frame, and each weighing device is evenly arranged at least along the circumference of the weighing frame.

9. The bulk traditional Chinese medicine dispensing and packaging equipment as described in any one of claims 1 to 8, characterized in that, The bulk Chinese medicine dispensing and packaging equipment also includes a control device, which is electrically connected to each of the first lifting mechanisms, the weighing devices, the transverse material transfer module, the longitudinal material transfer module, the drive mechanism, and the packaging device.

10. A control method for bulk Chinese medicine dispensing and packaging equipment, characterized in that, include: When the weighing rack is detected to have an empty box, the weighing device is controlled to measure the actual weight of the medicinal materials placed in the empty box. When the actual weight value reaches the preset target threshold, the horizontal material transfer module is controlled to transfer the medicine box containing the medicinal materials to the first shelf of the box changing station. The first lifting mechanism is controlled to drive the second shelf to the box changing station, and the horizontal material transfer module is controlled to transfer the empty box at the second shelf to the weighing rack. Control the first lifting mechanism to drive the first shelf back to the box changing station; The vertical transfer modules are controlled to move the medicine boxes at the first shelf toward the first shelf at the nearby box changing station; The control picking mechanism picks up the medicine box from the first shelf at the near-side box changing station and moves it to the packaging station, and then pours out the medicine inside the medicine box by rotating it. The packaging device is controlled to package the medicinal materials at the packaging station; The picking mechanism is controlled to pick up the tilted empty box and place it at the second shelf of the nearby box changing station; The longitudinal transfer module is controlled to move the empty boxes at the second shelf of the near box changing station toward the second shelf of the far box changing station.

Images