Multi-station medicine sorting method and system

Abstract

The invention provides a multi-station medicine sorting method and system. The multi-station medicine sorting method comprises the following steps that a medicine dispensing demand is obtained; controlling a medicine sorting device to sort medicines on a medicine sorting station in a sorting state based on the medicine dispensing demand, so that a medicine recognition device recognizes the medicines and feeds back a medicine sorting success signal; and meanwhile, the medicine carrying device is controlled to carry the medicine from the medicine storage device to any idle medicine sorting station based on the medicine dispensing requirement, so that the idle medicine sorting station enters a sorting state to wait for the medicine sorting device to sort the medicine. According to the multi-station medicine sorting method provided by the invention, medicine carrying can be synchronously carried out on other medicine sorting stations in the medicine sorting process, so that it is guaranteed that the medicine sorting device does not need to wait in the medicine sorting process, namely, medicine sorting, recognition, inventory checking and carrying can be synchronously carried out through the arrangement of the multiple stations; the medicine dispensing efficiency is remarkably improved, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medicine picking, and in particular to a multi-station medicine picking method and system. Background Art

[0002] Smart pharmacy is an intelligent medical service system based on advanced technology, which can provide people with convenient, efficient and safe medicine purchasing and health management services. It can accelerate the upgrading of pharmaceutical industry and retail terminals from traditional business models to innovative industrial models through innovative technologies such as the Internet, big data and artificial intelligence.

[0003] However, when picking and dispensing drugs, the existing smart pharmacy equipment has to pick and identify drugs in sequence because drugs of different specifications are stored in different locations. That is, the following process needs to be repeated: drug transportation, waiting for drug picking, waiting for drug identification, and waiting for inventory counting, which greatly affects the efficiency of drug distribution and the user experience is not good. In addition, drugs can only be dispensed for one prescription at a time, which obviously has the problem of insufficient efficiency in actual application. Summary of the invention

[0004] The present invention aims to provide a multi-station drug picking method and system to solve the above-mentioned technical problems. Through the setting of multiple stations, inventory counting and transportation can be carried out simultaneously during the process of drug picking and identification, which significantly improves the efficiency of drug distribution and enhances user experience.

[0005] In order to solve the above technical problems, the present invention provides a multi-station medicine picking method, comprising the following steps:

[0006] Obtain medication dispensing requirements;

[0007] Based on the drug delivery demand, the drug picking device is controlled to pick the drugs on the drug picking station in the picking state, so that the drug identification device identifies the drugs and feeds back a drug picking success signal;

[0008] At the same time, based on the demand for dispensing medicines, the medicine transporting device is controlled to transport the medicines from the medicine storage device to any idle medicine picking station, so that the idle medicine picking station enters the picking state and waits for the medicine picking device to pick the medicines.

[0009] The multi-station drug picking method provided by the above scheme can simultaneously transport drugs at other drug picking stations during the drug picking process to ensure that the drug picking device does not need to wait during the drug picking process. That is, through the multi-station setting, drug picking, identification and transportation can be carried out simultaneously, which significantly improves the efficiency of drug distribution and enhances the user experience.

[0010] It should be noted that, for a drug dispensing demand, through the cooperation of the drug handling device, the drug picking device and the drug identification device, the entire drug picking process presents a cycle of drug handling, drug picking, drug identification and drug storage, thereby completing the drug dispensing operation for the drug dispensing demand.

[0011] Furthermore, there are several drug dispensing requirements, and for the same drug with different drug dispensing requirements, the drug picking device is controlled based on the drug dispensing requirements to pick the drugs on the drug picking station in the picking state, so that the drug identification device identifies the drugs and feeds back a drug picking success signal, including:

[0012] Based on the drug delivery demand, the drug picking device is controlled to pick the drugs on the drug picking station in the picking state multiple times, so that the drug identification device can identify the drugs picked multiple times respectively and feedback the corresponding picking success signal;

[0013] Based on the picking success signal, the medicine picking device is controlled to transfer the medicines to the corresponding medicine dispensing chute in sequence.

[0014] The above scheme can respond to multiple drug dispensing demands at the same time. Since the same drug demand may exist in different drug dispensing demands, a certain drug at the drug picking station can be picked multiple times through the drug picking device. Multiple drugs can be picked out at one time and dispensed through the corresponding drug dispensing chute, which improves the efficiency of drug dispensing and avoids the need to repeatedly transport the drugs when picking the same drug.

[0015] It should be noted that under different drug delivery requirements, some drugs may be special requirements. For these independent drugs, only one drug picking is required. This picking method can greatly improve the drug delivery efficiency for the same drugs in multiple drug delivery requirements.

[0016] Furthermore, the multi-station drug picking method also includes: controlling the drug transport device to transport the drugs on the idle drug picking stations to the drug storage device; the idle drug picking stations are determined by switching to drug picking stations in any picking state when drug picking is completed.

[0017] Furthermore, the controlling of the drug transporting device to transport the drugs on the idle drug picking station to the drug storage device includes: controlling the inventory counting device to inventory the drugs so that the inventory counting device feeds back the real-time drug quantity; and updating the drug storage quantity in the drug storage device based on the real-time drug quantity.

[0018] In the above scheme, by setting up an inventory counting device, the remaining medicines picked can be conveniently counted during the transportation process, which is convenient for updating the storage quantity of medicines in the medicine storage device. When the storage quantity of medicines is insufficient, timely replenishment can be carried out.

[0019] Furthermore, the obtaining of drug dispensing requirements includes: obtaining the types and quantities of drugs required in the prescription; and obtaining the drug dispensing requirements based on the types and quantities of drugs.

[0020] In the above scheme, the pharmacy can be identified through external devices, such as a barcode reader, so as to obtain the type and quantity of medicines required in the prescription; then, the drug dispensing demand can be obtained based on the type and quantity of medicines, and responsive instructions can be generated to orderly control the drug handling device, drug picking device and drug identification device to perform corresponding operations to realize drug dispensing.

[0021] Furthermore, in the process of controlling the drug picking device based on the drug dispensing demand to pick the drugs on the drug picking station in the picking state, so that the drug identification device identifies the drugs and feeds back a drug picking success signal, if the drug identification device feeds back a drug picking failure signal after identifying the drugs, the drug picking device is controlled to move the drugs corresponding to the drug picking failure signal to the recovery chute.

[0022] In the above scheme, the drug identification device can identify abnormal drugs, such as damaged barcodes, wrong drug models, etc., and automatically transport abnormal drugs to the recycling slide for recycling, which is convenient for subsequent processing. This method can avoid the occurrence of incorrect placement of drugs or defective drugs, and can improve user experience.

[0023] The present invention also proposes a multi-station drug picking system, comprising a control device, a drug picking device, a drug conveying device, a drug storage device, a drug identification device and a plurality of drug picking stations; the plurality of drug picking stations include idle drug picking stations and drug picking stations in a picking state; wherein: the control device is used to obtain drug dispensing requirements and control the drug picking device to pick drugs on the drug picking stations in a picking state based on the drug dispensing requirements, so that the drug identification device can identify the drugs and feed back a drug picking success signal; at the same time, the control device is also used to control the drug conveying device to convey drugs from the drug storage device to any idle drug picking station based on the drug dispensing requirements, so that the idle drug picking station enters a picking state and waits for the drug picking device to pick the drugs.

[0024] The drug picking system provided in the above scheme, under the control of the control device, can simultaneously transport drugs at other drug picking stations during the drug picking process to ensure that the drug picking device does not need to wait during the drug picking process. That is, through the setting of multiple stations, drug picking, identification and transportation can be carried out simultaneously, which significantly improves the efficiency of drug distribution and enhances user experience.

[0025] Furthermore, the multi-station drug picking system also includes a plurality of drug dispensing chutes, one drug dispensing chute corresponding to one drug dispensing demand; the control device is also used to control the drug picking device to pick the drugs on the drug picking station in the picking state multiple times based on the drug dispensing demand, so that the drug identification device can identify the drugs picked multiple times respectively and feed back corresponding picking success signals; based on the picking success signals, the drug picking device is controlled to transfer the drugs to the corresponding drug dispensing chutes in sequence.

[0026] Furthermore, the multi-station drug picking system also includes an inventory counting device; the control device is also used to control the drug transport device to transport the drugs on the idle drug picking station to the drug storage device; the idle drug picking station is determined by the drug picking station in any picking state when the drug picking is completed; when the drug transport device is controlled to transport the drugs on the idle drug picking station to the drug storage device, the control device is used to control the inventory counting device to inventory the drugs, so that the inventory counting device can feedback the real-time drug quantity and update the drug storage quantity in the drug storage device based on the real-time drug quantity.

[0027] Furthermore, the medicine picking device adopts an electric gripper.

[0028] The above solution uses electric grippers as drug picking devices. Compared with existing pneumatic grippers, it does not require pneumatic devices such as air pumps, various valve groups and air pipes, and has a simple overall structure. While simplifying the structure, it can avoid the harsh pneumatic noise caused by pneumatic grippers, improving the adaptability of the system and user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of a multi-station medicine picking method according to an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of the connection of modules of a multi-station medicine picking system provided by one embodiment of the present invention;

[0031] Figure 3 A three-dimensional schematic diagram of a dual-station medicine picking system provided by one embodiment of the present invention;

[0032] Figure 4 A front view of a dual-station medicine picking system provided by one embodiment of the present invention;

[0033] Figure 5 A right view of a double-station medicine picking system provided by one embodiment of the present invention;

[0034] Figure 6 A top view of a dual-station medicine picking system provided by one embodiment of the present invention;

[0035] Among them: 1. Control equipment; 2. Drug picking device; 3. Drug handling device; 31. Robotic arm; 32. Fork; 4. Inventory counting device; 5. Drug identification device; 6. Drug storage device; 7. Drug picking station; 8. Pharmacy rack; 9. Recycling box; 10. Drug delivery box; 11. Drug delivery port. DETAILED DESCRIPTION

[0036] 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.

[0037] See also Figure 1 , this embodiment provides a multi-station medicine picking method, comprising the following steps:

[0038] Obtain medication dispensing requirements;

[0039] Based on the drug delivery demand, the drug picking device is controlled to pick the drugs on the drug picking station in the picking state, so that the drug identification device identifies the drugs and feeds back a drug picking success signal;

[0040] At the same time, based on the demand for dispensing medicines, the medicine transporting device is controlled to transport the medicines from the medicine storage device to any idle medicine picking station, so that the idle medicine picking station enters the picking state and waits for the medicine picking device to pick the medicines.

[0041] The multi-station drug picking method provided in this embodiment can simultaneously transport drugs at other drug picking stations during the drug picking process to ensure that the drug picking device does not need to wait during the drug picking process. That is, through the multi-station setting, drug picking, identification and transportation can be carried out simultaneously, which significantly improves the efficiency of drug distribution and enhances the user experience.

[0042] It should be noted that, for a drug dispensing demand, through the cooperation of the drug handling device, the drug picking device and the drug identification device, the entire drug picking process presents a cycle of drug handling, drug picking, drug identification and drug storage, thereby completing the drug dispensing operation for the drug dispensing demand.

[0043] Furthermore, there are several drug dispensing requirements, and for the same drug with different drug dispensing requirements, the drug picking device is controlled based on the drug dispensing requirements to pick the drugs on the drug picking station in the picking state, so that the drug identification device identifies the drugs and feeds back a drug picking success signal, including:

[0044] Based on the drug delivery demand, the drug picking device is controlled to pick the drugs on the drug picking station in the picking state multiple times, so that the drug identification device can identify the drugs picked multiple times respectively and feedback the corresponding picking success signal;

[0045] Based on the picking success signal, the medicine picking device is controlled to transfer the medicines to the corresponding medicine dispensing chute in sequence.

[0046] This embodiment can respond to multiple drug dispensing demands at the same time. Since the same drug demand may exist among different drug dispensing demands, a certain drug at the drug picking station can be picked multiple times by the drug picking device. Multiple drugs can be picked out at one time and dispensed through the corresponding drug dispensing chute, thereby improving the efficiency of drug dispensing and avoiding the need to repeatedly transport the drugs when picking the same drug.

[0047] It should be noted that under different drug delivery requirements, some drugs may be special requirements. For these independent drugs, only one drug picking is required. This picking method can greatly improve the drug delivery efficiency for the same drugs in multiple drug delivery requirements.

[0048] Furthermore, the multi-station drug picking method also includes: controlling the drug transport device to transport the drugs on the idle drug picking stations to the drug storage device; the idle drug picking stations are determined by switching to drug picking stations in any picking state when drug picking is completed.

[0049] Furthermore, the controlling of the drug transporting device to transport the drugs on the idle drug picking station to the drug storage device includes: controlling the inventory counting device to inventory the drugs so that the inventory counting device feeds back the real-time drug quantity; and updating the drug storage quantity in the drug storage device based on the real-time drug quantity.

[0050] In this embodiment, by setting up an inventory counting device, the remaining picked medicines can be conveniently counted during the transportation process, which facilitates the updating of the storage quantity of medicines in the medicine storage device. When the storage quantity of medicines is insufficient, timely replenishment can be carried out.

[0051] Furthermore, the obtaining of drug dispensing requirements includes: obtaining the types and quantities of drugs required in the prescription; and obtaining the drug dispensing requirements based on the types and quantities of drugs.

[0052] In this embodiment, the pharmacy can be identified through external devices, such as a barcode reader, so as to obtain the type and quantity of medicines required in the prescription; then, the drug dispensing demand can be obtained based on the type and quantity of medicines, and responsive instructions can be generated to orderly control the drug transport device, drug picking device and drug identification device to perform corresponding operations to realize drug dispensing.

[0053] Furthermore, in the process of controlling the drug picking device based on the drug dispensing demand to pick the drugs on the drug picking station in the picking state, so that the drug identification device identifies the drugs and feeds back a drug picking success signal, if the drug identification device feeds back a drug picking failure signal after identifying the drugs, the drug picking device is controlled to move the drugs corresponding to the drug picking failure signal to the recovery chute.

[0054] In this embodiment, the drug identification device can identify abnormal drugs, such as damaged barcodes, wrong drug models, etc., and automatically transport the abnormal drugs to the recycling slide for recycling, which is convenient for subsequent processing. This method can avoid the occurrence of incorrect placement of drugs or defective drugs, and can improve user experience.

[0055] See also Figure 2 The present embodiment also proposes a multi-station drug picking system, comprising a control device 1, a drug picking device 2, a drug conveying device 3, a drug storage device, a drug identification device 5 and a plurality of drug picking stations; the plurality of drug picking stations include idle drug picking stations and drug picking stations in a picking state; wherein: the control device 1 is used to obtain drug dispensing requirements and control the drug picking device 2 to pick drugs on the drug picking stations in a picking state based on the drug dispensing requirements, so that the drug identification device 5 can identify the drugs and feed back a drug picking success signal; at the same time, the control device 1 is also used to control the drug conveying device 3 to convey the drugs from the drug storage device to any idle drug picking station based on the drug dispensing requirements, so that the idle drug picking station enters a picking state, waiting for the drug picking device 2 to pick the drugs.

[0056] The drug picking system provided in this embodiment, under the control of the control device 1, can simultaneously transport drugs at other drug picking stations during the drug picking process to ensure that the drug picking device 2 does not need to wait during the drug picking process. That is, through the setting of multiple stations, drug picking, identification and transportation can be carried out simultaneously, which significantly improves the efficiency of drug distribution and enhances the user experience.

[0057] Furthermore, the multi-station drug picking system also includes a plurality of drug dispensing chutes, one drug dispensing chute corresponding to one drug dispensing demand; the control device 1 is also used to control the drug picking device 2 to pick the drugs on the drug picking station in the picking state multiple times based on the drug dispensing demand, so that the drug identification device 5 can identify the drugs picked multiple times respectively and feed back corresponding picking success signals; based on the picking success signal, the drug picking device 2 is controlled to transfer the drugs to the corresponding drug dispensing chutes in turn.

[0058] Furthermore, the multi-station drug picking system also includes an inventory counting device 4; the control device 1 is also used to control the drug transport device 3 to transport the drugs on the idle drug picking station to the drug storage device; the idle drug picking station is determined by the drug picking station in any picking state when the drug picking is completed; when the drug transport device 3 is controlled to transport the drugs on the idle drug picking station to the drug storage device, the control device 1 is used to control the inventory counting device 4 to inventory the drugs, so that the inventory counting device 4 can feedback the real-time drug quantity and update the drug storage quantity in the drug storage device based on the real-time drug quantity.

[0059] Furthermore, the medicine picking device 2 adopts an electric gripper.

[0060] This embodiment uses an electric gripper as the medicine picking device 2. Compared with the existing pneumatic gripper, it does not require pneumatic devices such as air pumps, various valve groups and air pipes, and the overall structure is simple. While simplifying the structure, it can avoid the harsh pneumatic noise caused by the pneumatic gripper, and improve the adaptability of the system and user experience.

[0061] In order to further illustrate the technical points of the present invention and highlight its technical effects, this embodiment provides a Figure 3-Figure 6 The double-station drug picking system shown in the figure has a drug picking device 2, a drug transport device 3, an inventory counting device 4, a drug identification device 5, a drug storage device 6, two drug picking stations 7, a recycling box 9 and a drug delivery box 10 installed on a pharmacy bracket 8. Under the control of the control device 1, the above-mentioned drug picking method can be executed cyclically, which improves the integrity and flexibility of the drug picking system, reduces the space occupied by the system, and facilitates the actual use of the drug picking system. Among them:

[0062] It should be noted that the medicines can be stored on a pallet, on which a socket is provided, and the medicine handling device 3 can include a mechanical arm 31 and a fork 32. The control device 1 controls the movement of the mechanical arm 31, and when the mechanical arm 31 moves to a preset position, the mechanical arm 31 rotates and plugs the fork 32 into the socket of the pallet, thereby realizing the handling of the medicines. The medicine picking device 2 can be a four-axis electric gripper, and the medicine storage device 6 can be a medicine shelf storage position.

[0063] See also Figure 3, the four-axis electric gripper is placed in the left area of ​​the pharmacy bracket 8, and the medicine shelf storage position is placed in the right area of ​​the pharmacy bracket 8, which is divided into the front medicine shelf storage position and the rear medicine shelf storage position. The robotic arm 31 and the fork 32 are installed between the front medicine shelf storage position and the rear medicine shelf storage position. When the prescription contains multiple categories or specifications of medicines at the same time, a cycle of medicine transportation, picking, category identification and inventory counting is formed between the robotic arm 31, the fork 32, the two medicine picking stations 7, the medicine identification device 5, the electric gripper and the inventory counting device 4, realizing an uninterrupted cycle of medicine storage, transportation, picking, medicine identification and inventory counting, which not only greatly speeds up the speed and efficiency of medicine delivery, improves the accuracy of medicine distribution, but also improves the accuracy and inventory counting efficiency of the pharmacy inventory. The specific execution process of the system can be:

[0064] 1) Identify the type and quantity of drugs required for the prescription through external devices such as barcode readers to obtain drug dispensing requirements;

[0065] 2) The control device 1 self-checks and identifies the quantity of the required medicine and the storage location of the medicine on the medicine shelf based on the medicine dispensing demand;

[0066] 3) The robot arm 31 carries the medicine tray to the first medicine picking station 7. The inventory counting device 4 located directly above the picking station can be an inventory counting camera, which performs inventory re-inspection and inventory verification through image recognition; then the four-axis electric gripper grabs the required medicine and completes the process of grabbing-lifting-moving to the medicine outlet 11 position-circular rotation. While rotating, the recognition camera of the medicine recognition device 5 installed on the left side of the medicine picking station 7 will perform image recognition on the medicine to compare and judge whether it is normal. Normal medicines go to the medicine box 10 through the front medicine outlet 11, and abnormal medicine bottles go to the recycling box 9 through the rear medicine outlet 11. Among them:

[0067] When the medicine picking at the first medicine picking station 7 is completed, the four-axis electric gripper moves to the second medicine picking station 7 and picks the next medicine. At this time, the space above the first medicine picking station 7 is completely vacant. At this time, the inventory camera on the top starts image recognition and counts the latest inventory quantity.

[0068] While the four-axis electric gripper grips the medicines at the first medicine picking station 7, the robot arm 31 fork 32 moves the next medicine pallet and places it at the second medicine picking station 7. After the first medicine picking station 7 completes the medicine picking and counts the latest inventory, the robot arm 31 fork 32 takes away the medicine pallet from the first medicine picking station 7 and returns it to the original medicine storage rack storage position.

[0069] In this embodiment, the robotic arm 31 and the four-axis electric gripper work independently, reducing mutual waiting, which not only improves the efficiency of the robotic arm 31 in retrieving and returning the medicine tray, but also improves the efficiency of the four-axis electric gripper in picking medicines; combined with the collaborative work of the recognition camera and the inventory camera, the efficiency of picking medicines is greatly improved.

[0070] It should be noted that the drug identification device 5 can be an image recognition device such as a camera. By taking an image of the drug being picked and performing image recognition, when it is determined to be a normal drug, a picking success signal is sent to the control device 1, so that the control device 1 controls the drug picking device 2 to transfer the drug to the drug outlet 11 and the drug dispensing chute to the drug outlet box 10. After the entire drug dispensing demand is completed, the user can directly get the corresponding drug from the drug outlet box 10. If the drug identification device 5 determines that it is an abnormal drug, a picking failure signal is sent to the control device 1, so that the control device 1 controls the drug picking device 2 to transfer the drug to the recycling box 9 through the drug outlet 11 and the recovery chute. Among them, the drug outlet 11 of the recovery chute and the drug dispensing chute are independently set.

[0071] In this embodiment, the system improves the accuracy of drug distribution through dual recognition of drug category identification at the medicine shelf storage location and image category identification by the post-picking recognition camera; and improves the accuracy and efficiency of pharmacy inventory through dual inventory recognition of drug inventory at the medicine shelf storage location and real-time inventory counting through images by the post-picking inventory counting camera.

[0072] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A multi-station medicine picking method, characterized in that: The following steps are involved: Obtain medication dispensing requirements; Based on the drug delivery demand, the drug picking device is controlled to pick the drugs on the drug picking station in the picking state, so that the drug identification device identifies the drugs and feeds back a drug picking success signal; At the same time, based on the demand for dispensing medicines, the medicine transporting device is controlled to transport the medicines from the medicine storage device to any idle medicine picking station, so that the idle medicine picking station enters the picking state and waits for the medicine picking device to pick the medicines.

2. A multi-station medicine picking method according to claim 1, characterized in that: There are several drug dispensing requirements. For the same drug with different drug dispensing requirements, the drug picking device is controlled based on the drug dispensing requirements to pick the drugs on the drug picking station in the picking state, so that the drug identification device identifies the drugs and feeds back a drug picking success signal, including: Based on the drug delivery demand, the drug picking device is controlled to pick the drugs on the drug picking station in the picking state multiple times, so that the drug identification device can identify the drugs picked multiple times respectively and feedback the corresponding picking success signal; Based on the picking success signal, the medicine picking device is controlled to transfer the medicines to the corresponding medicine dispensing chute in sequence.

3. A multi-station medicine picking method according to claim 1, characterized in that: Also includes: The medicine transport device is controlled to transport the medicines on the idle medicine picking station to the medicine storage device; the idle medicine picking station is determined by switching the medicine picking station in any picking state when the medicine picking is completed.

4. A multi-station medicine picking method according to claim 3, characterized in that: The controlling of the medicine transporting device to transport the medicines on the idle medicine picking station to the medicine storage device includes: Controlling the inventory counting device to count the drugs, so that the inventory counting device can feedback the real-time drug quantity; The drug storage quantity in the drug storage device is updated based on the real-time drug quantity.

5. A multi-station medicine picking method according to claim 1, characterized in that: The obtaining of the drug dispensing requirements includes: Obtain the types and quantities of drugs required in the prescription; Obtain dispensing requirements based on drug type and quantity.

6. A multi-station medicine picking method according to any one of claims 1 to 5, characterized in that: In the process of controlling the drug picking device based on the drug dispensing demand to pick the drugs on the drug picking station in the picking state, so that the drug identification device identifies the drugs and feeds back a drug picking success signal, if the drug identification device feeds back a drug picking failure signal after identifying the drugs, the drug picking device is controlled to move the drugs corresponding to the drug picking failure signal to the recovery chute.

7. A multi-station medicine picking system, characterized in that: It includes a control device, a drug picking device, a drug transport device, a drug storage device, a drug identification device and a plurality of drug picking stations; the plurality of drug picking stations include idle drug picking stations and drug picking stations in a picking state; wherein: The control device is used to obtain the drug dispensing demand and control the drug picking device to pick the drugs on the drug picking station in the picking state based on the drug dispensing demand, so that the drug identification device can identify the drugs and feedback the drug picking success signal; At the same time, the control device is also used to control the medicine transporting device to transport the medicine from the medicine storage device to any idle medicine picking station based on the medicine dispensing needs, so that the idle medicine picking station enters the picking state and waits for the medicine picking device to pick the medicine.

8. The multi-station medicine picking system according to claim 7, characterized in that: It also includes several medicine dispensing chutes, one medicine dispensing chute corresponds to one medicine dispensing demand; the control device is also used to control the medicine picking device to pick the medicines on the medicine picking station in the picking state multiple times based on the medicine dispensing demand, so that the medicine identification device can identify the medicines picked multiple times respectively and feedback the corresponding picking success signals; based on the picking success signals, the medicine picking device is controlled to transfer the medicines to the corresponding medicine dispensing chutes in sequence.

9. The multi-station medicine picking system according to claim 7, characterized in that: It also includes an inventory counting device; the control device is also used to control the medicine transporting device to transport the medicines on the idle medicine picking station to the medicine storage device; the idle medicine picking station is determined by the medicine picking station in any picking state when the medicine picking is completed; when the medicine transporting device is controlled to transport the medicines on the idle medicine picking station to the medicine storage device, the control device is used to control the inventory counting device to inventory the medicines, so that the inventory counting device can feedback the real-time medicine quantity and update the medicine storage quantity in the medicine storage device based on the real-time medicine quantity.

10. The multi-station medicine picking system according to claim 7, characterized in that: The medicine picking device adopts an electric gripper.

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