Automatic medicinal material dispensing system

Abstract

The invention discloses an automatic dispensing system for medicinal materials. The system comprises a medicinal material storing and taking cabinet which comprises a plurality of dispensing units, and each dispensing unit is used for storing medicinal materials and outputting the medicinal materials; the dispensing robot comprises a dispensing trolley, and the dispensing trolley is configured to be capable of moving to a target medicine falling position below the medicinal material storing and taking cabinet under the control of a control system; and the control system is connected with the multiple dispensing units and used for controlling the corresponding dispensing units in the multiple dispensing units to enable the medicine contained in the dispensing units to fall into the dispensing trolley running to the target medicine falling position according to the needed weight. The technical problem that in the prior art, a medicinal material dispensing system is low in working efficiency is solved.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to an automatic medicine dispensing system. Background Art

[0002] Traditional Chinese medicine dispensing systems mostly use a combination of manual sorting and semi-automatic equipment, which has significant efficiency bottlenecks. The existing system architecture usually relies on a vibrating discharging mechanism to perform the discharging action and cooperates with the conveyor belt to complete the transfer of medicinal materials. Its operation process needs to complete multiple serial links such as prescription reception, medicinal material positioning, vibrating discharging, and weighing calibration in sequence. Especially when facing the need to process multiple prescriptions concurrently, since the conveyor belt can only transport medicinal materials in sequence to complete the prescription adjustment, there are some prescription adjustment drug delivery timeouts, which affects the efficiency of the entire system adjustment, and the overall throughput of the system is difficult to break through the single-threaded operation mode.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiment of the present invention provides an automatic medicinal material dispensing system to at least solve the technical problem of low working efficiency of the medicinal material dispensing system in the prior art.

[0005] According to one aspect of an embodiment of the present invention, there is provided an automatic medicinal material dispensing system, comprising: a medicinal material storage cabinet, comprising a plurality of dispensing units, each dispensing unit being used to store and output medicinal materials; a dispensing robot, comprising a dispensing trolley, the dispensing trolley being configured to be able to move to a target medicine dropping position under the medicinal material storage cabinet under the control of a control system; a control system, respectively connected to the plurality of dispensing units, for controlling a corresponding dispensing unit among the plurality of dispensing units to cause the medicinal materials contained therein to drop according to the required weight into the dispensing trolley running to the target medicine dropping position.

[0006] In some embodiments, the medicinal material storage cabinet includes: a plurality of dispensing units for accommodating different types of medicinal materials, wherein each dispensing unit is provided with an independent medicine drop channel; a main frame including: an upper portion for supporting the plurality of dispensing units; a lower portion fixedly connected to the upper portion for providing a passage for a dispensing trolley to travel, wherein the dispensing trolley is used to receive the medicinal materials outputted from the corresponding medicine drop channel. This embodiment can effectively avoid cross contamination between different medicinal materials and improve the safety and accuracy of medicinal material storage and retrieval by equipping each dispensing unit with an independent medicine drop channel.

[0007] In some embodiments, the plurality of dispensing units are arranged in at least one upper and lower level, the dispensing units in each level are distributed in a matrix, and the medicine drop channels of the dispensing units corresponding to the upper and lower positions in different levels are staggered. This embodiment not only optimizes the space utilization rate by staggering the medicine drop channels, but also effectively avoids mutual interference between medicinal materials, reduces collisions during material flow, and further improves the accuracy and stability of the dispensing process.

[0008] In some embodiments, the lower loading portion is provided with at least one medicine drop opening enclosure structure, which is used to enclose the medicine drop openings of the medicine drop passages of some or all of the multiple dispensing units. In this embodiment, the medicine drop opening enclosure structure can effectively prevent the medicine from scattering or being contaminated during the storage and access process, ensuring that the medicine is in a closed environment during the medicine drop process, thereby improving the safety of the medicine.

[0009] In some embodiments, at least one side wall of each medicine drop opening enclosure structure is provided with a dust removal duct, which is used to clean the dust of the medicine dropped from the medicine drop opening in the corresponding medicine drop opening enclosure structure. In this embodiment, the provision of the dust removal duct can effectively clean the dust generated when the medicine drops, ensuring the hygiene of the medicine, and is particularly suitable for application environments with high requirements for the purity and cleanliness of the medicine.

[0010] In some embodiments, the medicine drop channel is an inclined guide groove, which helps the medicine to flow smoothly from the discharge port into the medicine drop channel, reduces the occurrence of material jamming, and ensures that the medicine drops accurately at a stable speed.

[0011] In some embodiments, the discharging machine includes: a primary silo for containing materials; a regulating mechanism connected to the primary silo, including: a pushing mechanism for pushing the materials into the interior of a drum; and a drum, wherein the drum quantitatively outputs the materials through its own rotation. In some embodiments, the inner wall of the drum is provided with a spiral blade integrally formed with the inner wall of the drum. The discharging machine of this embodiment achieves quantitative and uniform output of materials by combining a pushing mechanism and a drum, thereby solving the problem of material jamming in the discharging machine. In addition, since the inner wall of the drum and the spiral blade are integrally formed, the problem of material blockage existing in the traditional design is avoided, while the stability and efficiency of material output are improved.

[0012] In some embodiments, an axial distance is formed between the front end of the pushing mechanism and the feed port of the roller; or, the pushing mechanism includes: a pushing section with continuous spiral blades and a buffer section without blades connected in sequence along the axial direction, wherein the pushing section is located on the side away from the feed port of the roller.

[0013] Through the above structure, after the material leaves the pushing mechanism or the pushing section, it is squeezed to the roller entrance. Since there is no rigid structure between the pushing mechanism and the feed port of the roller, the extrusion and jamming problem caused by the direct connection between the pushing mechanism or the pushing section and the roller is avoided.

[0014] In some embodiments, the continuous spiral blades in the drum are connected to the inner wall of the drum by integral molding without gaps. In this embodiment, the continuous spiral blades in the drum are connected to the inner wall of the drum by integral molding without gaps, avoiding the connection gaps and material jamming problems existing in the traditional structure.

[0015] In some embodiments, the push mechanism and the roller are split structures, and the push mechanism and the roller are asynchronously driven by a single motor through different reduction ratios, or are asynchronously or synchronously driven by two independent motors. In this embodiment, the push mechanism and the roller adopt a split structure, and are asynchronously or synchronously driven by a single motor or two independent motors, and the operating speed and working state of the push mechanism and the roller can be flexibly adjusted as needed. This structure improves the adjustability and adaptability of the system, can better meet the processing requirements of different materials, and simplifies the structure of the drive system, improving the overall reliability and efficiency.

[0016] In some embodiments, the pushing mechanism is a hard screw, and the blades of the hard screw are rigid structures; or the pushing mechanism is a soft screw, including a screw and a flexible blade, wherein the flexible blade is spirally arranged on the screw, and can elastically deform to release the jam when the material is stuck. In this embodiment, the pushing mechanism can select a hard screw or a soft screw according to the material characteristics. The hard screw adopts a rigid blade structure to provide a stable material pushing force and ensure uniform material output; while the soft screw can automatically release the jam when the material is stuck through the elastic deformation of the flexible blade, effectively avoiding equipment damage and improving the adaptability and reliability of the system, so that the pushing mechanism can cope with the processing requirements of different materials and improve the stability and work efficiency of the equipment.

[0017] In some embodiments, the push mechanism and the roller are an integrated structure, and the push mechanism and the roller are synchronously driven by a single motor. This integrated structure effectively reduces mechanical connections and transmission components, and improves the stability and reliability of the discharge machine. At the same time, through synchronous drive, it can ensure that the push mechanism and the roller work in coordination, improve the accuracy and efficiency of material output, and reduce energy consumption and maintenance costs.

[0018] In some embodiments, the pushing mechanism is a hard screw, and the hard screw is fixedly connected to the inner wall of the drum to form the integrated structure; or the pushing mechanism is a soft screw, and the soft screw includes a screw and a flexible blade, and the screw is fixedly connected to the inner wall of the drum to form the integrated structure, wherein the flexible blade is spirally arranged on the screw, and can be elastically deformed to release the jam when the material is stuck. In this embodiment, the pushing mechanism and the drum form an integrated structure through a hard screw or a soft screw, ensuring the compactness and stability of the overall system. The hard screw is fixedly connected to the inner wall of the drum to provide strong and stable material pushing; and the soft screw can automatically elastically deform through the flexible blade when the material is stuck, thereby releasing the jam and preventing equipment damage.

[0019] In some embodiments, the discharge machine further includes an isolation component, which is installed in the primary silo and is used to support the material in the primary silo and transport the material in the primary silo to the push mechanism through the discharge port of the primary silo. In this embodiment, the setting of the isolation component effectively supports the material in the primary silo and ensures that the material is transported to the push mechanism. In addition, this structure avoids the accumulation or agglomeration of materials in the silo, and improves the fluidity and transportation efficiency of the material.

[0020] In some embodiments, the isolation assembly includes at least two isolation shafts, which are arranged in parallel along the length direction or width direction of the primary silo, and can rotate or swing in different directions under the drive of the drive motor to transport the material in the upper layer of the primary silo to the pushing mechanism. In some embodiments, the isolation assembly includes at least two blocking shafts, which are arranged in parallel along the width direction of the primary silo, and can rotate or swing within a preset angle range under the drive of the drive motor, wherein each blocking shaft is provided with a plurality of bridge-breaking rods for supporting the material in the primary silo and destroying the bridge formed when the material falls to the pushing mechanism.

[0021] In some embodiments, the isolation assembly includes a blocking long shaft, which is arranged directly above the pushing mechanism along the length direction of the primary silo, and can rotate or swing within a certain angle range under the drive of the driving motor, wherein a plurality of bridge-breaking rods are provided on the blocking long shaft, and the plurality of bridge-breaking rods are used to support the material in the primary silo and destroy the bridge formed when the material falls toward the pushing mechanism.

[0022] In some embodiments, the isolation assembly includes an arc-shaped isolation plate, the arc surface of which extends toward the pushing mechanism to guide the material to flow toward the pushing mechanism, and a plurality of through holes are provided on the edge of the arc-shaped isolation plate to adjust the flow rate of the material.

[0023] In this embodiment, the isolation component can effectively transport the material on the upper layer of the first-level silo to the pushing mechanism while supporting the material through any of the above structures, thereby improving the stability and efficiency of material transportation.

[0024] In some embodiments, the discharging machine further includes a weighing assembly, which is arranged below the discharging port of the drum, and includes: a weighing hopper for receiving the material output by the drum; a weighing sensor for detecting the weight of the material in the weighing hopper; wherein a discharge plate is arranged at the lower part of the weighing hopper, and the discharge plate is connected to the discharge plate motor through a rotating shaft, and can rotate along the rotating shaft under the drive of the discharge plate motor to form a discharge port with an adjustable opening. In this embodiment, the weighing assembly is arranged so that the discharging machine can monitor the output weight of the material in real time, thereby improving the accuracy of material management.

[0025] In some embodiments, the discharge machine further includes a secondary silo, which is detachably mounted on the primary silo, wherein the secondary silo includes: a detachable silo body, which is used to store the spare materials; a silo bottom plate, which is hinged to the silo body through a rotating shaft, and the silo bottom plate can be pulled out and can be rotated around the rotating shaft by a preset angle and then snapped onto the secondary silo to refill the primary silo. In this embodiment, the detachable secondary silo makes material replenishment more flexible and convenient. Through the rotatable silo bottom plate, it can be quickly docked with the primary silo during the refilling process to ensure the smooth flow of materials. This structure not only simplifies the material replenishment operation, but also improves the operating efficiency, reduces downtime, and enhances the automation and adaptability of the discharge machine.

[0026] In some embodiments, the dispensing robot includes: a dispensing trolley for carrying and conveying medicinal materials; a track device including: at least one guide rail assembly for carrying and guiding the dispensing trolley; and a track-changing mechanism for enabling the dispensing trolley to adjust its front-to-rear relative position with other dispensing trolleys on the at least one guide rail assembly. In the embodiments of the present application, the dynamic path planning and position adjustment of multiple dispensing trolleys can be realized through the setting of the track-changing mechanism, thus avoiding the scheduling congestion problem caused by a single track and significantly improving the overall operation efficiency of the medicinal material dispensing system.

[0027] In some embodiments, the at least one guide rail assembly includes a main guide rail and an overtaking guide rail; the track changing mechanism is arranged on the main guide rail and the overtaking guide rail, and includes a transverse movement assembly and a short guide rail assembly fixed on the transverse movement assembly, wherein the transverse movement assembly is configured to be able to transversely move between the main guide rail and the overtaking guide rail, and to align at least one short guide rail on the short guide rail assembly with the main guide rail and / or the overtaking guide rail. In the embodiment of the present application, through the dual-track design of the main guide rail and the overtaking guide rail and the dynamic alignment function of the short guide rail assembly, flexible overtaking and track changing of the trolley can be achieved without interrupting operation, greatly reducing the transmission delay caused by waiting.

[0028] In some embodiments, a cargo platform is used to carry the medicinal materials; a base is used to support the cargo platform; a plurality of support guide wheel groups are evenly divided into two groups of support guide wheel groups, and the two groups of support guide wheel groups are symmetrically arranged on both sides below the base, wherein the support guide wheel group on one side is fixedly connected to one side below the base, and the support guide wheel group on the other side is detachably connected to the other side below the base, and a drive assembly is used to drive the dispensing trolley to move on the at least one guide rail assembly. In the embodiment of the present application, the symmetrical detachable support guide wheel group design not only ensures the stability of the trolley structure, but also facilitates rapid disassembly and replacement during maintenance, while adapting to the compatibility requirements of different guide rail specifications.

[0029] In some embodiments, each support guide wheel group includes: a support seat; a support wheel, fixedly connected to the front of the support seat, used to support the dispensing trolley; an auxiliary wheel, fixedly connected to the lower part of the side of the support seat, used to assist in supporting the dispensing trolley; a plurality of guide wheels, respectively fixedly connected to the upper end face and the lower end face of the support seat, used to guide the dispensing trolley to move along the at least one guide rail assembly; a balance wheel, fixedly connected to the upper part of the side of the support seat, used to balance the dispensing trolley so that it can move smoothly. In the embodiment of the present application, the four-level wheel system structure (support wheel, auxiliary wheel, guide wheel, balance wheel) forms a three-dimensional constraint, which effectively suppresses the lateral shaking and longitudinal deviation of the trolley during operation, and ensures the high stability of the medicinal material transportation process.

[0030] In some embodiments, the driving assembly includes: a motor and a reducer, wherein the motor is used to provide driving force, and the reducer is used to adjust the driving force; a first bevel gear, mounted on the output shaft of the reducer, for transmitting the driving force from the reducer to the transmission shaft; a second bevel gear, meshing with the first bevel gear and mounted on the upper end of the transmission shaft, for transmitting the driving force to the transmission shaft; the transmission shaft, whose lower end is fixedly connected to a driving wheel through a tensioning sleeve, for transmitting the driving force to the driving wheel; the driving wheel, driven by the driving force, drives the adjustment trolley to move along the at least one guide rail assembly. In the embodiment of the present application, the bevel gear transmission combined with the driving scheme of the tensioning sleeve can not only realize the efficient transmission of power in the vertical direction, but also compensate for assembly errors through tensioning adjustment, thereby improving the reliability and service life of the transmission system.

[0031] In some embodiments, each guide rail assembly includes: a guide rail, the cross section of which is an I-shaped guide rail; and a rack installed on the inner side of the I-shaped guide rail, wherein the driving wheel rotates under the driving force and can continuously mesh with the rack to move. In the embodiment of the present application, the I-shaped guide rail and the rack meshing drive mode form a dual positioning mechanism, which not only limits the lateral displacement through the guide rail structure, but also eliminates the risk of slipping through the rack transmission, thereby achieving millimeter-level precision fixed-point parking control.

[0032] In some embodiments, the cargo platform includes: a medicine basket for carrying the medicinal materials; a cargo platform body, the top of which has a concave sinking structure, wherein the sinking structure is used to place the medicine basket; a sensor, which is arranged on the sinking structure, and is used to detect whether the medicine basket is placed on the sinking structure. In the embodiment of the present application, the sinking cargo platform is combined with a contact sensor to accurately detect the loading status of the medicine basket and prevent the medicine basket from shifting during transportation, while lowering the overall cargo center of gravity to improve mobile safety.

[0033] In some embodiments, the track device further includes a track switching mechanism, which is arranged at a corner position of the at least one guide rail assembly and is used to adjust the moving direction of the adjustment trolley at the corner position. In the embodiment of the present application, the setting of the corner track switching mechanism breaks through the layout limitations of traditional linear tracks, supports multi-directional path expansion, and enables the system to adapt to the circular or zigzag track layout under complex site conditions.

[0034] In some embodiments, the transfer mechanism includes: a swivel base, disposed at the corner position; a turntable, rotatably mounted on the swivel base; a straight guide rail assembly, disposed on the turntable, for changing the direction of the guide rail of at least one guide rail assembly at the corner position when the turntable rotates a preset angle. In the embodiment of the present application, the rotary transfer mechanism realizes automatic switching of the guide rail direction through mechanical linkage, without the need for an additional steering motor, which simplifies the control logic and reduces the equipment failure rate. In addition, the transfer mechanism can also be powered, such as: a pneumatic swing cylinder or an electric turntable.

[0035] The embodiments of the present application solve the technical problem of low working efficiency of the medicinal material dispensing system in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0037] Figure 1 is an architecture diagram of the automatic medicinal material dispensing system according to an embodiment of the present application;

[0038] Figure 2 is a three-dimensional structural diagram of a medicinal material storage and access cabinet according to an embodiment of the present application;

[0039] Figure 3 (a) is a cross-sectional view of the medicinal material storage cabinet according to an embodiment of the present application, and (b) is a front view of the medicinal material storage cabinet;

[0040] Figure 4 is a three-dimensional diagram of the upper part of the medicinal material storage and access cabinet according to an embodiment of the present application;

[0041] Figure 5 (a) is a three-dimensional structural diagram of a discharging machine according to an embodiment of the present application, and (b) is a right side view of the discharging machine;

[0042] Figure 6 (a) is a front view of the discharging machine according to an embodiment of the present application, and (b) is a left view of the discharging machine;

[0043] Figure 7 (a) is a side view of a primary silo according to an embodiment of the present application, and (b) is a front view of the primary silo;

[0044] Figure 8 The structure of the adjustment mechanism according to the embodiment of the present application is Figure 1 ;

[0045] Fig. 9 The structure of the adjustment mechanism according to the embodiment of the present application is Figure 2;

[0046] Fig.10 The structure of the adjustment mechanism according to the embodiment of the present application is Figure 3 ;

[0047] Fig.11 The structure of the adjustment mechanism according to the embodiment of the present application is Figure 4 ;

[0048] Fig.12 is a three-dimensional diagram of a weighing assembly according to an embodiment of the present application;

[0049] Fig.13 is a three-dimensional diagram of a discharging machine having an isolation assembly according to an embodiment of the present application;

[0050] Fig.14 The structure of the isolation component according to the embodiment of the present application is Figure 1 ;

[0051] Fig.15 is a perspective view of a discharging machine with another isolation assembly according to an embodiment of the present application;

[0052] Fig.16 is a perspective view of a discharging machine with another isolation assembly according to an embodiment of the present application;

[0053] Fig.17 is a stereoscopic view of a discharging machine having an isolation component as a curved isolation plate according to an embodiment of the present application;

[0054] Fig.18 is a structural diagram of a curved isolation plate according to an embodiment of the present application;

[0055] Fig.19 is a three-dimensional diagram of a discharging machine with a secondary silo according to an embodiment of the present application;

[0056] Fig. 20 is a structural diagram of a dispensing robot according to an embodiment of the present application;

[0057] Fig.21 is a three-dimensional structural diagram of a dispensing trolley according to an embodiment of the present application;

[0058] Fig. 22 is a three-dimensional structural diagram of a cargo platform according to an embodiment of the present application;

[0059] Fig.23 is a front view of a support guide wheel assembly according to an embodiment of the present application;

[0060] Fig.24 is a schematic diagram of the structure of a drive assembly according to an embodiment of the present application;

[0061] Fig.25is a structural diagram of a guide rail assembly according to an embodiment of the present application;

[0062] Fig.26 is a structural diagram of a track-changing mechanism according to an embodiment of the present application;

[0063] Fig. 27 is a structural diagram of a transfer mechanism according to an embodiment of the present application;

[0064] Fig.28 is a combined layout diagram of a medicinal material storage and access cabinet according to an embodiment of the present application;

[0065] The above drawings include the following reference numerals:

[0066] 10. Medicinal material storage cabinet; 12. Dispensing robot; 14. Control system; 101. Main frame; 102. Dispensing unit; 103. Dust removal duct; 104. Drug drop port enclosure structure; 105. Drug drop channel; 201. Primary silo; 202. Dispensing mechanism; 203. Weighing assembly; 204. Isolation assembly; 205. Secondary silo; 2021. Screw drive motor; 2022. Hard screw; 2023. Roller; 2024. Roller drive motor; 2025. Drive gear; 2026. Soft screw; 2027. Flexible Blade; 2028, hard screw and roller integrated structure; 2029, screw and roller integrated; 2031, discharge plate motor; 2032, rotating shaft; 2033, weighing hopper; 2034, discharge plate; 2035, weighing sensor; 2041, drive motor; 2042, isolation component meshing gear; 2043, isolation shaft; 2044, isolation plate; 2045, blocking shaft; 2046, bridge breaking rod; 2047, blocking long shaft; 2048, arc isolation plate; 2051, silo body; 2052, silo bottom plate; 2053, silo Rotating shaft; 301, adjustment trolley; 302, guide rail assembly; 303, track changing mechanism; 304, track transfer mechanism; 3011, base; 3012, vertical bracket; 3013, quick release bracket; 3014, support guide wheel group; 3015, driving assembly; 3016, cargo platform; 30141, support seat; 30142, support wheel; 30143, auxiliary wheel; 30144, guide wheel; 30145, balance wheel; 30151, motor; 30152, reducer; 30153, bracket; 30154, bevel gear one; 3 0155, bevel gear 2; 30156, transmission shaft; 30157, bearing seat; 30158, tensioning sleeve; 30159, driving wheel; 30161, sinking structure; 30162, non-detection sensor; 3021, main guide line; 3022, overtaking guide line; 3023, guide rail; 3024, guide rail base; 3025, rack; 3031, lower base; 3032, transverse movement assembly; 3033, short guide rail assembly; 3041, slewing base; 3042, slewing table; 3043, straight guide rail assembly; 305, medicine basket. DETAILED DESCRIPTION

[0067] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0068] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0069] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0070] The present application provides a medicinal material automatic dispensing system, such as Figure 1 As shown, the system includes a medicinal material storage cabinet 10 , a dispensing robot 12 , and a control system 14 .

[0071] The medicinal material storage and retrieval cabinet will be described in detail below.

[0072] The existing medicine storage cabinet consists of multiple tilted dispensing units. Each dispensing unit is provided with a medicine adding port at the rear and a medicine dropping port at the front and bottom. Multiple dispensing units share a medicine dropping channel. The medicine receiving frame is evenly transported under the medicine dropping channel through conveyor lines and other equipment. Since multiple dispensing units share a medicine dropping channel in the existing design, once medicine residues occur in the channel, it is easy to cause cross-contamination between different dispensing prescriptions, thereby causing medical safety hazards.

[0073] The present application embodiment provides a medicinal material storage cabinet, such as Figures 2 to 4 As shown, the medicinal material storage cabinet includes a main frame 101 and a plurality of dispensing units 102 .

[0074] The main frame 101 is hollow inside and includes an upper part and a lower part. The upper part is used to install and fix the dispensing unit 102. The dispensing unit 102 is distributed in multiple layers from top to bottom in the upper part. Each layer is installed in two rows in front and back, and each layer is distributed in multiple columns from left to right. The lower part is located below the upper part and is fixed to the upper part, and is used to provide a passage for the dispensing trolley to move, wherein the dispensing trolley is used to receive the medicine output from the medicine drop channel 105 of the corresponding dispensing unit 102. The lower part is provided with at least one medicine drop port enclosure structure 104, which is used to enclose the medicine drop ports of the medicine drop channels 105 of some or all dispensing units 102. A dust removal duct 103 is provided on at least one side wall of each medicine drop port enclosure structure 104, which is used to clean the dust of the medicinal materials dropped from the medicine drop port in the corresponding medicine drop port enclosure structure 104.

[0075] The dispensing unit in the medicinal material storage and retrieval cabinet will be described in detail below. The dispensing unit includes a discharging machine and a medicine dropping channel.

[0076] Existing discharging methods of discharging machines include staggered teeth with brushes, vibration discharging and single screw discharging. These methods generally have problems such as material jamming, poor precision, low efficiency and high cost. For example, when the outer screw rotates, there needs to be a certain gap between it and the silo wall, resulting in an obvious risk of material jamming at the outlet.

[0077] In order to solve the above problems, the embodiment of the present invention provides a discharging machine, such as Figures 5 to 19 As shown, there is no blade on the screw between the front end of the pushing mechanism (e.g., screw) of the discharging machine and the roller, or an axial spacing (gap) is provided between the front end of the screw and the roller. In this way, there is no rigid structure between the front end of the screw and the roller, forming a buffer area, and the material in the screw pushes the material at the front end into the roller. In addition, the spiral blade inside the roller is integrated with the roller without a gap. The above structure solves the problem of material jamming in the discharging machine in the prior art.

[0078] like Figure 5 As shown, the discharging machine mainly includes a primary silo 201, a dispensing mechanism 202, a weighing assembly 203, an isolation assembly 204 and a secondary silo 205, wherein the dispensing mechanism 202 includes a pushing mechanism and a roller. The discharging machine conveys materials such as medicinal materials to the inside of the roller through a screw or other pushing mechanism, and realizes quantitative output of the materials through the rotation of the roller. When the material precision requirement is not high, the quantitative discharging of the roller can be directly carried out; when the precision requirement is high, the weighing hopper of the weighing assembly 203 can be used to achieve accurate quantitative discharging.

[0079] First-level silo 201 Figure 6The silo shown is mainly used to store or buffer materials. In addition, it also supports the weight of the material for the screw that conveys the material, so that most of the weight of the material can be pressed on the side wall of the first-level silo. The first-level silo is also shielded directly above the screw and along the direction of the screw's rotation. This can reduce the material's resistance to the screw, improve the discharge accuracy, and thus reduce the driving force of the screw. For lightweight materials with low density, there is no need for excessive support for the material, so a silo that does not need to shield the screw can be used, such as Figure 7 As shown. There is no obvious boundary between the two structures, and they can be used according to different working conditions and requirements. Through the above structure, the problems of material jamming, poor precision, low efficiency and high cost in the existing adjustment unit can be solved. The silo can be an integral silo or a two-stage silo. For example, in addition to the primary silo, it can also include a secondary silo 205. The secondary silo 205 is for the convenience of refilling or automatic loading.

[0080] The adjusting mechanism includes a pushing mechanism and a roller. The pushing mechanism can be, for example, a screw, or other pushing structures. The roller is a spiral blade combined with the outer wall of the roller. The shape of the roller can be cylindrical, conical, or other through-shaped shapes as long as the material can be output. The roller can be arranged in a horizontal direction with the screw, or the placement can be changed, for example, tilted or vertically placed, or the roller can be deformed into a roller silo.

[0081] In order to solve the problems of material jamming, poor precision, low efficiency and high cost, the roller and the screw can adopt different forms according to different materials. For example, the embodiments of the present application provide the following four structures.

[0082] Form 1: A combination of a hard screw and a roller, both of which are split structures with different rotation speeds.

[0083] like Figure 8As shown, the hard screw 2022, driven by the screw drive motor 2021, conveys the material to the mouth of the drum 2023 (i.e., the drum feed port). At the mouth, there is no connection between the front end of the hard screw 2022 and the drum, and the material at the mouth is conveyed to the inside of the drum by pushing the material. The drum drive motor 2024 drives the drum 2023 by driving the gear 2025, and the drum 2023 rotates to output the material quantitatively. In this embodiment, the hard screw and the drum are driven asynchronously by two motors, so that the rotation speeds of the two are different. In other embodiments, one motor can also be used to achieve power transmission and the speed difference between the drum and the screw through different deceleration arms. In the case where some materials are accumulated at the drum mouth, the drum and the screw are driven asynchronously so that the rotation speed of the drum is greater than the rotation speed of the screw, so that the material can be quickly conveyed out, thereby reducing the accumulation of the material. Of course, in some other embodiments, the same motor can also be used for synchronous driving so that the rotation speeds of the two are the same.

[0084] Form 2: A combination of a soft screw and a roller, both of which are split structures with different rotation speeds.

[0085] Considering that some materials may get stuck between the hard screw and the silo, in this embodiment, the hard screw is replaced with a soft screw. Fig. 9 As shown, the soft screw 2026 includes a screw and a flexible blade 2027 spirally arranged on the screw. When the material is stuck, the flexible blade 2027 will automatically deform and automatically eliminate the stuck fault, so that it can continue to rotate. The driving form in this embodiment can be the same as the driving form in form 1, and will not be repeated here.

[0086] Form 3: The hard screw and the drum are integrally formed and have the same rotation speed.

[0087] like Fig.10 As shown, the blades of the hard screw or other methods are connected to the inside of the drum to form a hard screw drum integrated structure 2028 as a regulating mechanism. Under the action of the screw drive motor 2021, it performs a constant speed rotation motion. This hard screw drum integrated structure 2028 only needs one driving force, the driving structure is simple, the integrated design is more convenient to install, and the cost is reduced.

[0088] Form 4: The soft screw and the drum are integrally formed and have the same rotation speed.

[0089] like Fig.11 As shown, the pushing mechanism is composed of a screw-drum integrated 2029 and a flexible blade 2027, wherein the screw-drum integrated 2029 is a screw and a drum fixed together by a fixing member. When the flexible blade 2027 encounters a stuck material, the soft blade will be forced to deform to prevent the material from getting stuck and improving the stability of the equipment.

[0090] The embodiment of the present application combines the drum and the screw to discharge the material. The screw conveys the material and the drum discharges the material quantitatively, thereby solving the problem of material jamming. In other embodiments, in addition to the screw method, the material conveying of the pushing mechanism can also be in other forms such as vibration and silo tilting. As long as the material is conveyed to the inside of the drum, the purpose of discharging can be achieved.

[0091] like Fig.12 As shown, the weighing assembly includes a weighing hopper 2033 and a weighing sensor 2035, wherein a discharge plate 2034 is provided at the side bottom of the weighing hopper 2033, which is rotatably connected to the body of the weighing hopper 2033 through a rotating shaft 2032. The weighing assembly is used in conjunction with quantitative discharging when high material accuracy and efficiency are required. When low discharging accuracy is required, the screw roller can be directly used for quantitative discharging without setting a weighing assembly. The use of the weighing assembly can improve the dispensing efficiency. When receiving an instruction, the material can be first transported to the weighing hopper, thereby saving discharging time.

[0092] The material is outputted into the weighing hopper 2033 by the screw and the roller, and the weight is accurately controlled by the weighing sensor 2035, and the weight is fed back to the control system in real time. When the real-time weight reaches the required weight required by the prescription, the discharge plate 2034 rotates along the rotating shaft 2032 under the drive of the discharge plate motor 2031 (controlled by the control system), and an opening is formed between the discharge plate 2034 and the body of the weighing hopper 2033, and the material can fall through the opening into the medicine frame of the dispensing trolley below.

[0093] The adjustment unit in the embodiment of the present application further includes an isolation component 204, such as Figures 13 to 17 As shown, the isolation component 204 can adopt a variety of structures. In order to ensure that the material can be smoothly transported into the straight drum by the screw, so that the material can be discharged continuously and evenly to ensure accuracy, an isolation component 204 is set in the first-level silo just above the screw in the embodiment of the present application, and the first-level silo is separated into an upper layer and a lower layer. On the one hand, the setting of the isolation component can reduce the resistance of the material to the screw. On the other hand, since the material will form a bridge in the first-level silo, the isolation component can destroy the bridge, so that the material falls evenly on the screw below. Taking into account the actual effect and cost reasons, different materials require different types of isolation components 204, and their power source can be a separate power drive, or a power drive can be used on the discharge machine through a transmission structure. In addition, the rotation mode of the isolation component 204 can also rotate relative to the inside, relative to the outside, or swing within a certain preset angle according to different materials. In this way, orderly transportation of materials can be achieved.

[0094] Method 1: If Fig.13 and 14As shown, the isolation component 204 is installed on the primary silo 201, and the isolation component meshing gear 2042 is driven by the driving motor 2041 to rotate. The isolation plate 2044 is installed on the isolation shaft 2043. Under the drive of the driving motor 2041, the two isolation shafts make opposite movements to transport the material falling on the isolation component 204 to the screw below. The rotation speed of the isolation component 204 is proportional to the material output by the screw below.

[0095] Method 2: If Fig.15 As shown, the isolation assembly 204 is installed in the width direction of the primary silo 201, and the isolation assembly meshing gear 2042 is driven by the driving motor 2041 to rotate. A bridge-breaking rod 2046 is installed on the blocking shaft 2045, and the blocking shaft 2045 rotates under the drive of the driving motor 2041. Since the blocking shaft 2045 is installed just above the screw, it supports the material, thereby reducing the pressure of the material on the screw. The material will form a bridge during the free fall process. After the bridge is formed, the material cannot fall. By rotating the isolation assembly 204, the bridge can be broken, so that the material falls.

[0096] Method 3: If Fig.16 As shown, the isolation assembly is installed in the length direction of the first-level silo 201, and the blocking long shaft 2047 is directly driven by the driving motor 2041. The blocking long shaft 2047 is installed with a bridge-breaking rod 2046. The blocking long shaft 2047 rotates under the drive of the driving motor 2041. The blocking long shaft 2047 is installed just above the screw to support the material and reduce the pressure of the material on the screw. The material will form a bridge during the free fall process. After the bridge is formed, the material cannot fall. By rotating the isolation assembly 204, the bridge can be broken, so that the material falls. In this embodiment, the blocking long shaft 2047 is installed in the length direction of the first-level silo, which is relatively installed in the width direction of the first-level silo. The advantages are convenient power installation and space saving.

[0097] Method 4: If Fig.17 and 18 As shown, the isolation component is an arc isolation plate 2048, and a gap or through hole is formed between the edge of the arc isolation plate 2048 and the side wall of the primary silo 201. The arc isolation plate 2048 is installed just above the screw. This isolation method is mainly used for materials with good fluidity. The material flows along the arc surface to the screw below. The isolation plate also supports the weight of the material to reduce the resistance of the material to the screw.

[0098] In some embodiments, the adjustment unit can also be Fig.19The secondary silo 205 is shown as including the secondary silo 205, which is used to replenish the primary silo 201 with materials online and / or replenish materials during off-peak hours. If there is no secondary silo 205, when the system is working, directly replenishing materials to the primary silo 201 will pour out of the primary silo 201 or cause cross contamination, while the online automatic replenishment of materials through the secondary silo 205 can solve the above-mentioned pollution problem and is easy to operate. In addition, the number of secondary silos is often more, and during off-peak hours, the spare secondary silo is filled with materials, and when needed, the empty secondary silo is removed and the secondary silo filled with materials is installed, which can also have the beneficial effect of online replenishment.

[0099] Specifically, the secondary silo 205 is composed of a silo body 2051, a silo bottom plate 2052, and a silo rotating shaft 2053. The silo bottom plate 2052 is installed at the bottom of the silo body 2051 to seal the silo body 2051 so that the material in the silo body 2051 will not leak out. When there is no material in the silo body 2051, the secondary silo 205 is placed above the primary silo 201, and the silo bottom plate 2052 is pulled out. After being pulled out, the silo bottom plate 2052 rotates around the silo rotating shaft 2053 and is buckled. After the silo bottom plate 2052 is pulled out, an opening is formed at the bottom of the silo body 2051, and the material falls from the secondary silo 205 into the primary silo 201 below to achieve refilling. This refilling method is simple and easy to operate, and the material will not be scattered outside during the refilling process to cause cross contamination.

[0100] The adjustment robot will be described in detail below.

[0101] When using ground rail trolleys to take medicine, two parallel rails are mostly used. The trolley chassis is composed of four sets of left and right guides and running wheels. The trolley mainly drives the running wheels on the two rails through motors. The installation of the two rails requires adjustment of mutual parallelism, flatness, and center distance, and the factory floor needs to design pre-buried installation bases at certain intervals. In addition, the vehicle body structure is complex and maintenance is inconvenient. Once the trolley fails, it cannot be quickly moved off the track, affecting the operation of the entire system. The trolley slips when it travels, the positioning accuracy is poor, the rail installation process is complex, and the construction cost is high.

[0102] An embodiment of the present application provides a dispensing robot for grasping and carrying medicinal materials such as Chinese herbal medicine slices.

[0103] like Figures 20 to 27As shown, the adjustment robot includes an adjustment trolley 301 and a track device, wherein the track device includes at least one guide rail assembly 302, a track changing mechanism 303, and a track switching mechanism 304, wherein the guide rail assembly is used to carry and guide the adjustment trolley. The adjustment trolley is slidably connected to the main track line for material handling and transportation. The track changing mechanism can be distributed in the middle of two parallel guide rails, and is used for the trolley to switch between parallel guide rail assemblies. The track switching mechanism is distributed at the intersection of two vertical guide rails, and is used to enable the trolley to switch between the vertical guide rails.

[0104] like Figure 21 to Figure 23 As shown, the transfer trolley 301 includes a base 3011, a vertical bracket 3012, a quick-release bracket 3013, a support guide wheel group 3014, a drive assembly 3015, and a cargo platform 3016. The support guide wheel group 3014 is installed on the lower surface of the base 3011 through the vertical bracket 3012 and the quick-release bracket 3013, the drive assembly 3015 is located on the upper surface of the base 3011, and the cargo platform is located above the base 3011.

[0105] The support and guide wheel group 3014 is composed of a support seat 30141, a support wheel 30142, an auxiliary wheel 30143, a guide wheel 30144, and a balancing wheel 30145. The support and guide wheel group 3014 plays the role of adjusting the support of the trolley 301 and ensuring that the trolley slides forward and backward along the guide rail; the support wheel 30142 is fixedly connected to the front side of the support seat 30141, and plays the main supporting role of the trolley; the auxiliary wheel 30143 is fixedly connected to the lower side of the support seat 30141 for auxiliary support of the trolley; the guide wheel 30144 is fixedly connected to the upper and lower end surfaces of the support seat 30141 for ensuring that the adjustment trolley 301 slides forward and backward; the balancing wheel 30145 is fixedly connected to the upper side of the support seat 30141 for ensuring smooth sliding of the trolley.

[0106] There can be four supporting guide wheel groups 3014, which are distributed on both sides at a certain distance from front to back. The two supporting guide wheel groups 3014 on one side are fixedly connected to the base through vertical brackets, and the two supporting guide wheel groups 3014 on the other side are fixedly connected to the base 3011 through quick-release brackets. The cargo platform 3016 is fixedly connected to the top of the base; by loosening the quick-release bracket, the supporting guide wheel group 3014 on one side of the trolley can be quickly removed, making it convenient to move the trolley out of the guide rail assembly 302.

[0107] The driving assembly 3015 consists of a motor 30151, a reducer 30152, a bracket 30153, a bevel gear 1 30154, a bevel gear 2 30155, a transmission shaft 30156, a bearing seat 30157, a tensioning sleeve 30158, and a driving wheel 30159; the motor 30151 is connected to the rear end of the reducer 30152, the reducer 30152 is installed on the bracket, the bracket is installed on the upper surface of the base 3011, the bevel gear 1 30154 is installed on the front end shaft of the reducer 30152, the bevel gear 2 30155 is installed on the upper end of the transmission shaft 30156, the transmission shaft 30156 is installed on the bearing seat 30157, the bearing seat 30157 is embedded in the base 3011, and the driving wheel 30159 is fixed to the lower end of the transmission shaft 30156 through the tensioning sleeve 30158.

[0108] The cargo platform 3016 is provided with a sinking structure 30161 for placing the medicine basket 305, and a detection sensor 30162 is installed on the plane of the lower structure for judging whether the medicine basket 305 is on the cargo platform.

[0109] The guide rail assembly 302 includes a main guide rail 3021 and an overtaking guide rail 3022. Both the main guide rail 3021 and the overtaking guide rail 3022 include a guide rail 3023, a guide rail base 3024, and a rack 3025. The guide rail 3023 may be in an I-shape, the guide rail 3023 is mounted on the upper surface of the guide rail base 3024, and the rack 3025 is mounted on the inner side of the guide rail. The main guide rail 3021 and the overtaking guide rail 3022 may be arranged parallel to each other.

[0110] The track changing mechanism 303 includes a lower base 3031 , a transverse moving assembly 3032 , and a short guide rail assembly 3033 . The transverse moving assembly 3032 is fixedly connected to the lower base 3031 , and the short guide rail assembly 3033 is fixed to the transverse moving assembly 3032 .

[0111] The transfer mechanism 304 includes a rotating base 3041 , a rotating table 3042 , and a straight rail assembly 3043 . The rotating table 3042 is fixed on the rotating base 3041 . The rotating table 3042 can rotate 360 ​​degrees. The straight rail assembly 3043 is fixedly connected to the top of the rotating table 3042 .

[0112] In the embodiment of the present invention, when the trolley is moving, there is only one guide rail for support and guidance. The guide rail is simple to lay. The trolley is driven to move by a gear rack transmission method, and with the servo drive, the walking positioning accuracy is high. The adjustment trolley is provided with a quick-release structure. Once the trolley fails, the supporting guide wheel group on one side of the trolley can be quickly removed to move the trolley out of the guide rail. The trolley guide rail is an I-shaped structure. Guide wheels are installed on both sides of the trolley and clamped on the upper and lower edges of the I-shaped guide rail to ensure that the trolley does not overturn when walking. The trolley contacts the upper and lower surfaces of the guide rail through the support wheels and the balance wheels to ensure that the trolley runs smoothly.

[0113] The following describes the walking and track-changing principles of the adjustment trolley: the trolley is driven by a motor to drive the reducer to drive the driving wheel to rotate and continuously mesh with the rack in the guide rail to achieve walking; the left and right and front and rear four sets of guide wheels ensure that the trolley moves along the extension direction of the guide rail, and the support wheels, auxiliary wheels and balance wheels limit the movement of the trolley in the vertical direction to ensure that the trolley moves smoothly; when the trolley needs to change tracks, it first moves to the short guide rail assembly of the track-changing mechanism, and the transverse movement assembly moves the short guide rail assembly to the position aligned with the main track line. When the overtaking guide line is aligned with the position, the trolley on the short guide rail assembly is transferred to the overtaking guide line. Conversely, the trolley can also move from the overtaking guide line to the main guide line. When the trolley reaches the end of the main guide line or the overtaking guide line, it needs to change to another perpendicular guide rail. The trolley first moves to the straight guide rail assembly, the turntable rotates 90 degrees, and the trolley on the straight guide rail assembly also rotates 90 degrees. The trolley moves from the original parallel guide line to another guide line perpendicular to the original guide line and moves in parallel.

[0114] The main shortcoming of the existing dispensing system is that the conveyor belt needs to transport the medicine baskets forward at equal intervals at a fixed time to complete the prescription dispensing, and the dispensing efficiency is low. In this application, the dispensing cart can catch up and overtake, thereby improving the efficiency of taking medicine.

[0115] The control system will be described in detail below.

[0116] The control system of the present invention comprises a dispensing management system, a medicine replenishment management system, a robot driving system and a dust removal and safety system.

[0117] The dispensing management system includes a prescription scheduling module, a path planning module, a collaborative control module, and a medicinal material dispensing control module. The prescription scheduling module is used to receive prescription instructions, analyze the type, quantity and priority of medicinal materials, generate a dispensing task queue, and dynamically allocate it to idle dispensing robots. The path planning module is based on the layout of the drug storage and access cabinet (for example, Fig.28 The robot can be arranged in a straight line, double row, U-shaped or L-shaped as shown in the figure and in real time. A dynamic path planning algorithm (such as A* algorithm or conflict avoidance algorithm) is used to plan the optimal walking path for each dispatching robot, supporting overtaking, track changing and catching up operations.

[0118] The collaborative control module monitors the motion status of multiple adjustment robots and coordinates the robots' switching between the adjustment main track and the overtaking track through a reversing mechanism (such as a guide rail switching device) to avoid path conflicts.

[0119] The medicinal material dispensing control module is used to send medicine dispensing instructions, control the dispensing unit to accurately dispense medicine according to the prescribed dosage, monitor the weight of medicinal materials in the weighing hopper, and trigger the opening and closing actions of the heavy hopper.

[0120] The medicine replenishment management system includes a shortage monitoring module, a replenishment guidance module, a motion control module and a carrier status detection module. The shortage monitoring module monitors the inventory of the secondary silo of the dispensing unit in real time. When the medicinal materials are lower than the threshold, the shortage alarm is triggered and the yellow indicator light is turned on. The replenishment guidance module generates replenishment task instructions, prompts the operator to fill the secondary silo with medicinal materials through the human-machine interface (HMI), quickly disassembles the empty silo components through the slide and lock pin, and installs the full secondary silo. After that, the replenishment completion signal is triggered, the green light is turned on and the inventory data is updated. Based on the positioning signal of the dispensing trolley, the motion control module drives the dispensing trolley to move precisely along the planned path, and supports acceleration and deceleration control and emergency braking. The carrier status detection module is used to monitor the loading status of the medicinal material carrier through sensors (such as weight sensors or visual detection devices) to ensure that the medicinal materials fall accurately into the specified position.

[0121] The dust removal and safety system includes a dust removal control unit and a fault redundancy module. The dust removal control unit is used to link the dust removal pipeline and start negative pressure dust removal during the medicine dropping process to prevent dust diffusion. When a dispensing trolley fails, the fault redundancy module automatically clears it out of the work area and reallocates tasks to other dispensing trolleys; if there is a partial failure of the guide rail or medicine cabinet, it supports dynamic adjustment of the cabinet layout priority.

[0122] The dispensing system of the present invention is highly efficient. Multiple dispensing carts can flexibly move to the bottom of the medicinal material storage cabinet to complete the grabbing of medicinal materials. The walking path of the dispensing cart is not fixed, and the dispensing robots can catch up and surpass each other, which significantly improves the dispensing efficiency. The system supports timeout dispensing and can automatically complete 100% of the amount of medicinal materials dropped. In addition, the dispensing units in the medicinal material storage cabinet each have an independent medicine dropping channel, avoiding the risk of cross contamination. The system also has strong redundancy and can adjust the number of dispensing carts according to the peak and off-peak periods of the prescription. When the dispensing cart fails, the system can quickly clean the dispensing area and automatically adjust other dispensing carts to re-execute the prescription dispensing task.

[0123] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0124] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0125] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A medicinal material automatic dispensing system, characterized in that: include: A medicinal material storage cabinet, comprising a plurality of dispensing units, each of which is used to store medicinal materials and output the medicinal materials; The dispensing robot includes a dispensing trolley configured to be able to move to a target medicine dropping position under the medicine storage and retrieval cabinet under the control of a control system; The control system is connected to the multiple dispensing units respectively, and is used to control the corresponding dispensing units among the multiple dispensing units to drop the medicinal materials contained therein into the dispensing trolley running to the target medicine dropping position according to the required weight.

2. The dispensing system according to claim 1, characterized in that: The dispensing robot further comprises a track device, and the track device comprises: At least one guide rail assembly, used for carrying and guiding the dispensing trolley, wherein at least part of the at least one guide rail assembly is located below the medicinal material storage and access cabinet; The track changing mechanism is used to enable the adjustment trolley to adjust its front-to-rear relative position with other adjustment trolleys on the at least one guide rail assembly.

3. The dispensing system according to claim 2, characterized in that: The at least one guide rail assembly includes a main guide rail line and an overtaking guide rail line; The track changing mechanism is arranged on the main track line and the overtaking track line, and comprises a transverse movement assembly and a short guide rail assembly fixed on the transverse movement assembly, wherein the transverse movement assembly is configured to be able to transversely move between the main track line and the overtaking track line, and to align at least one short guide rail on the short guide rail assembly with the main track line and / or the overtaking track line.

4. The dispensing system according to claim 3, characterized in that: The control system is also configured to: Determining the running track of the dispensing trolley on the main track line according to the type of medicinal materials required by the prescription; When the dispensing trolley runs along the running track to the target medicine dropping position below the dispensing unit corresponding to the type of medicinal material, the corresponding dispensing unit is controlled to drop the contained medicinal materials into the dispensing trolley according to the required weight.

5. The dispensing system according to claim 4, characterized in that: The adjusting trolley is combined with another adjusting trolley, and the combined adjusting trolley is driven by the power of one of the adjusting trolleys.

6. The dispensing system according to claim 1, characterized in that: Each of the adjustment units comprises: A primary silo, used to contain the medicinal materials; The adjustment mechanism is connected to the primary silo and includes: A pushing mechanism, used for pushing the medicinal materials into the drum; The drum is provided with continuous spiral blades integrally formed with the inner wall of the drum. The drum outputs the medicinal materials according to the required weight through its own rotation under the control of the control system.

7. The dispensing system according to claim 6, characterized in that: The pushing mechanism comprises a blade segment provided with blades and a transition segment not provided with blades, wherein the transition segment is close to the feed port of the drum, and the length of the transition segment is less than the length of the blade segment; and / or The continuous spiral blades in the drum are connected to the inner wall of the drum without gaps through integral molding.

8. The dispensing system according to claim 6 or 7, characterized in that: Each of the dispensing units also includes an isolation component, which is installed in the primary silo and is used to support the medicinal materials in the primary silo and transport the medicinal materials in the primary silo to the pushing mechanism.

9. The dispensing system according to claim 6 or 7, characterized in that: Each of the adjusting units further includes a weighing assembly, which is arranged below the discharge port of the drum and includes: A weighing hopper, used for receiving the medicinal materials outputted by the drum; A weighing sensor, used for detecting the weight of the medicinal material in the weighing hopper; Among them, a discharge plate is provided at the side bottom of the weighing hopper, and the discharge plate is connected to the discharge plate motor through a rotating shaft. It can rotate along the rotating shaft under the drive of the discharge plate motor to form an adjustable opening discharge port, so that when the weighing sensor detects that the weight of the medicinal materials reaches the required weight, the weighing hopper can discharge the medicinal materials therein.

10. The dispensing system according to claim 6 or 7, characterized in that: Each of the adjustment units also includes a secondary silo, which is detachably mounted on the primary silo, wherein the secondary silo includes a silo body, and a silo bottom plate that can be pulled horizontally is provided at the bottom of the silo body to control the opening and closing of the silo body.

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