Pharmacy goods shelf sorting device and sorting method thereof

Abstract

The invention relates to the technical field of pharmacy goods shelf sorting, in particular to a pharmacy goods shelf sorting device and a sorting method thereof. Comprising a plurality of medicine frame structures evenly distributed in the X direction, a plurality of translation frames arranged on the outer sides of the medicine frame structures in a surrounding mode, a translation driving assembly used for driving the translation frames to move in the Y direction to adjust the positions, and a moving supporting assembly used for supporting the medicine frame structures to move in the X direction in a guiding mode. The medicine taking gripper assembly is used for grabbing and transferring the medicines; through mutual cooperation and cooperation among the medicine frame structures, the translation frame, the linear driving assembly, the first conveyor, the second conveyor, the always accurate movement supporting assembly, the translation driving assembly, the medicine taking gripper assembly and the like, movable layout of the medicine frame structures can be achieved, all the medicine frame structures can share the medicine taking space, and the medicine taking efficiency is improved. And flexible adjustment can be achieved according to medicine storage requirements, all the assemblies work cooperatively to achieve full-process automation, and the overall sorting efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pharmacy shelf sorting, and in particular to a pharmacy shelf sorting device and a sorting method thereof. Background Art

[0002] With the continuous advancement of pharmaceutical technology, pharmaceuticals are experiencing not only qualitative improvements in efficacy but also increasing production. Traditional pharmacy shelf sorting relies on manual labor to locate, grab, and transport drugs. This severely limits sorting speed when faced with a massive number of drug varieties. For example, when there are more than 100 types of drugs, manual sorting can take 5-10 times longer than automated equipment, making it impossible to meet the pharmacy's high-frequency drug retrieval needs.

[0003] The pharmacy automatic sorting device with publication number CN215466237U includes a feeding channel for providing a moving space for the medicines to be sorted; a sorting channel 1 is opened in the middle of the feeding channel and is used for the first sorting of the medicines on the feeding channel; and a sorting channel 2 is set at the end of the feeding channel and is used for the second sorting of the medicines on the feeding channel.

[0004] Publication number CN104417986A discloses a sorting device for an automated pharmacy, comprising a shearing device and a conveying device, the sorting device further comprising a lifting mechanism connected to the conveying device, the shearing device comprising a cutting device, and the cutting device comprising one or more cutting knives.

[0005] Currently, shelf layouts are fixed, occupying large amounts of space and difficult to flexibly adjust to meet drug storage needs. Furthermore, the interoperability of equipment components is weak, impacting overall sorting efficiency. The transportation of drugs from shelves to sorting outlets can be cumbersome and involve inappropriate routing, leading to lengthy sorting times. Summary of the Invention

[0006] (1) Technical problems solved

[0007] The purpose of the present invention is to provide a pharmacy shelf sorting device and a sorting method thereof in order to solve the above problems.

[0008] (2) Technical solution

[0009] To achieve the above objectives, the present invention provides the following technical solutions:

[0010] The present invention provides a pharmacy shelf sorting device, comprising a plurality of medicine shelf structures evenly distributed along the X-direction, a plurality of translation frames arranged around the outside of the medicine shelf structures, a translation drive assembly for driving the translation frames to move and adjust their positions along the Y-direction, a mobile support assembly for supporting the medicine shelf structures for guided movement along the X-direction, a medicine grabbing gripper assembly for grabbing and transporting medicines, a linear drive assembly for driving the medicine grabbing gripper assembly for linear movement and elevation along the X-direction, a first conveyor for transporting medicines along the X-direction, a second conveyor for transporting medicines along the Y-direction, and a digital display control panel arranged at the bottom of the medicine shelf structures;

[0011] The first conveyor is arranged at the bottom side of the translation frame and can move along the Y direction with the translation frame, and the second conveyor is arranged below the medicine outlet of the first conveyor;

[0012] The linear drive assembly is arranged on the upper side of the translation frame.

[0013] Furthermore, side panels are respectively provided at the upper and lower corners of the medicine rack structure, and a group of medicine storage cavities distributed in a rectangular array are respectively opened on both sides of the medicine rack structure along the X direction. A medicine storage box is pulled out and installed in each medicine storage cavity, and a bump is provided on the top side of the medicine rack structure.

[0014] Furthermore, the linear drive assembly includes a linear track fixedly arranged on the top side of the translation frame, a guide slide is formed on the linear track, a slider is slidably arranged in the guide slide, a lead screw is rotatably arranged in the guide slide, a threaded through-hole is penetrated on the slider and threadedly connected to the lead screw, a first motor for driving the lead screw to rotate is fixedly arranged at the end of the linear track, and the output end of the digital display control panel is electrically connected to the input end of the first motor.

[0015] Furthermore, an electric hoist is fixedly provided on the lower side of the slider through a fixed seat. The electric hoist is a double-rope electric hoist. The lower ends of the two lifting ropes of the electric hoist are connected to each other with the medicine grabbing gripper assembly. The lower side of the electric hoist is fixedly connected to two parallel docking shafts, and the output end of the digital display control panel is electrically connected to the input end of the electric hoist.

[0016] Furthermore, the medicine-taking gripper assembly includes a base plate, which is provided with docking holes corresponding to the docking shafts one by one, and a third motor is fixedly arranged on the base plate, with the output shaft end of the third motor facing downward and connected to a rotating frame, and the rotating frame is respectively provided with a positioning structure for fixing the abutment position between the two medicine rack structures, a push-pull structure for pushing and pulling the medicine storage box in the medicine storage cavity, a manipulator for taking and placing the medicine in the medicine storage box, and a medicine hopper structure for taking and placing the medicine, the head end of the manipulator is connected to the first vacuum suction head through a hanging spring, and the output end of the digital display control panel is electrically connected to the input end of the third motor, the manipulator and the first vacuum suction head respectively.

[0017] Furthermore, the said resisting structure comprises a second cylinder fixedly arranged on the rotating frame, the second cylinder is a double push rod cylinder, and the two push rod heads of the second cylinder are respectively fixedly connected with resisting blocks;

[0018] The push-pull structure includes an electric telescopic rod fixedly arranged on the rotating frame, and the push rod head end of the electric telescopic rod is connected to the second vacuum suction head;

[0019] The output end of the digital display control panel is electrically connected to the input end of the second cylinder, the electric telescopic rod and the second vacuum suction head respectively.

[0020] Furthermore, the medicine hopper picking and placing structure includes a supporting shaft rotatably arranged on a rotating frame, a fourth motor for driving the supporting shaft to rotate is fixedly arranged inside the supporting shaft, a medicine hopper is arranged on one side of the supporting shaft, and the output end of the digital display control panel is electrically connected to the input end of the fourth motor.

[0021] Furthermore, the movable support assembly includes guide rails corresponding to the four side panels respectively, and each guide rail is provided with a number of evenly distributed mounting rods. The side panels are rotatably provided with more than two rail wheels capable of rolling and abutting against the guide rails. A first cylinder is provided on the side panels, and a brake block is connected to the head end of the push rod of the first cylinder. When the push rod of the first cylinder reaches the maximum stroke, the brake block abuts against the guide rail. When the push rod of the first cylinder reaches the minimum stroke, the brake block and the guide rail are separated from each other. The output end of the digital display control panel is electrically connected to the input end of the first cylinder.

[0022] Furthermore, the translation drive assembly includes a rail rod, a rack is provided on the lower side of the rail rod, and a gear is meshed and connected to the lower side of the rack. The gear is rotatably provided on the translation frame and driven to rotate by a second motor. Two hanging wheels are provided on the upper side of the rail rod and are distributed on both sides of the gear. The hanging wheels are in rolling contact with the rail rod, and the output end of the digital display control panel is electrically connected to the input end of the second motor.

[0023] A sorting method for a pharmacy shelf sorting device comprises the following steps:

[0024] S1: When it is necessary to remove medicine from a medicine box in one of the medicine storage chambers, the translation drive assembly first drives one of the translation frames to move to the same vertical plane as the medicine storage chamber. At this time, the linear drive assembly is located directly above the medicine storage chamber, and the first conveyor is located directly below the medicine storage chamber. The linear drive assembly drives the medicine removal gripper assembly to separate the two adjacent closed medicine shelf structures along the X direction to form a gap for the medicine removal gripper assembly to move downward;

[0025] S2: When two adjacent closed medicine rack structures are separated along the X direction, the electric hoist first lowers the medicine grabbing gripper assembly to an initial height. While the docking shaft and the docking hole remain connected, the bottom of the medicine grabbing gripper assembly can push the medicine rack structure to move through the protrusion under the drive of the linear drive assembly. After the medicine rack structure moves, the first cylinder drives the brake block to abut against the guide rail to fix the position of the medicine rack structure.

[0026] S3: The electric hoist of the linear drive assembly lifts the medicine picking gripper assembly and moves it downward to the medicine storage chamber position. The third motor adjusts the medicine picking direction of the second vacuum suction head. The second cylinder drives the two abutments to be fixed at the abutment position between the two medicine rack structures. The electric telescopic rod drives the second vacuum suction head to pull the medicine storage box out of the medicine storage chamber. The manipulator takes out the medicine in the medicine storage box through the first vacuum suction head, and then pushes the medicine storage box back into the medicine storage chamber. The manipulator puts the medicine into the medicine picking and placing hopper. The electric hoist of the linear drive assembly lifts the medicine picking gripper assembly and continues to move downward. The medicine picking and placing hopper rotates to place the medicine on the first conveyor. The medicine on the first conveyor falls on the second conveyor after transmission and continues to be transported.

[0027] (3) Beneficial effects

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. Through the mutual coordination and cooperation among the medicine shelf structure, translation frame, linear drive component, first conveyor, second conveyor, mobile support component, translation drive component and medicine picking gripper component, the mobile layout of the medicine shelf structure can be realized. Each medicine shelf structure can share the medicine picking space and can be flexibly adjusted according to the storage needs of medicines. In addition, the coordinated work of each component realizes the automation of the entire process, greatly improving the overall sorting efficiency.

[0030] 2. By arranging the linear drive assembly and the first conveyor on the upper and lower sides of the translation frame respectively, the linear drive assembly can be moved by the X-axis linear track and the lifting of the electric hoist to realize the dynamic positioning of the medicine grabbing gripper assembly in three-dimensional space. The first conveyor moves with the translation frame to the bottom of the medicine storage cavity, ensuring that the medicine can fall directly into the first conveyor after being taken out of the medicine storage box, avoiding the problem of misalignment between medicine retrieval and transportation caused by the fixed conveyor in traditional devices.

[0031] 3. The first conveyor moves with the translation frame and always precisely docks with the second conveyor, achieving higher efficiency, automation, and improved reliability of the conveying process. This not only solves the layout limitations and efficiency bottlenecks of traditional fixed conveyors, but also provides technical support for the compactness and high adaptability of pharmacy sorting equipment through structural simplification and compact design.

[0032] 4. The medicine grabbing assembly has two functions. The first function is to cooperate with the linear drive assembly to adjust the position of the medicine rack structure under the support of the mobile support assembly. The second function is to realize the integrated push, pull and adsorption of medicines in the medicine storage box. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 This invention Figure 1 Schematic diagram of the main structure;

[0035] Figure 2 This invention Figure 1 Schematic diagram of the left view structure;

[0036] Figure 3 This invention Figure 1 Schematic diagram of the three-dimensional structure;

[0037] Figure 4 This invention Figure 3 A schematic diagram of a three-dimensional partial cross-sectional structure;

[0038] Figure 5 This invention Figure 4 A local enlarged structural diagram of point A;

[0039] Figure 6 This invention Figure 4 A schematic diagram of the partially enlarged structure at point B;

[0040] Figure 7 This invention Figure 4 A schematic diagram of the partially enlarged structure at point C;

[0041] Figure 8 This is a schematic diagram of the three-dimensional structure of the medicine grabbing handle assembly of the present invention in the first direction;

[0042] Figure 9 This is a schematic diagram of the three-dimensional structure of the medicine grabbing handle assembly of the present invention in the second direction;

[0043] Figure 10 This is a schematic diagram of a three-dimensional cross-sectional structure of the medicine rack structure of the present invention;

[0044] Figure 11 It is a schematic diagram of the cross-sectional structure of the support shaft of the present invention;

[0045] Figure 12 It is a schematic diagram of the practical state of two translation frames of the present invention.

[0046] The accompanying drawings are described as follows: 1. medicine rack structure; 101. side plate; 102. medicine storage chamber; 103. medicine storage box; 104. bump; 2. translation frame; 3. linear drive assembly; 301. linear track; 302. first motor; 303. slider; 304. lead screw; 305. fixed seat; 306. electric hoist; 307. lifting rope; 308. docking shaft; 4. first conveyor; 5. second conveyor; 6. mobile support assembly; 601. guide rail; 602. mounting rod; 603. rail wheel; 604. first cylinder; 605. brake block ;7. Translation drive assembly;701. Rail rod;702. Rack;703. Hanging wheel;704. Gear;705. Second motor;8. Digital display control panel;9. Medicine picking gripper assembly;901. Seat plate;902. Docking hole;903. Third motor;904. Second cylinder;905. Block;906. Rotating frame;907. Manipulator;908. Hanging spring;909. First vacuum suction head;910. Electric telescopic rod;911. Second vacuum suction head;912. Support shaft;913. Medicine picking and placing hopper;914. Fourth motor. DETAILED DESCRIPTION

[0047] To make the purpose, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be described in detail below. Obviously, the embodiments described are only some of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0048] See also Figures 1-12As shown, the present invention provides a pharmacy shelf sorting device, including a plurality of medicine shelf structures 1 evenly distributed along the X direction, a plurality of translation frames 2 arranged around the outside of the medicine shelf structure 1, a translation drive assembly 7 for driving the translation frame 2 to move and adjust the position along the Y direction, a mobile support assembly 6 for supporting the medicine shelf structure 1 to move along the X direction, a medicine grabbing gripper assembly 9 for performing medicine grabbing and transportation, a linear drive assembly 3 for driving the medicine grabbing gripper assembly 9 to move linearly and lift along the X direction, a first conveyor 4 for transmission along the X direction and a second conveyor 5 for transmission along the Y direction, and a digital display control panel 8 arranged at the bottom of the medicine shelf structure 1; the first conveyor 4 is arranged on the bottom side of the translation frame 2 and can move along the Y direction with the translation frame 2, and the second conveyor 5 is arranged below the medicine outlet of the first conveyor 4; the linear drive assembly 3 is arranged on the upper side of the translation frame 2.

[0049] See the instructions attached Figure 10 As shown, the medicine shelf structure 1 adopts a frame-type rectangular three-dimensional structure, and side panels 101 are symmetrically arranged at the four corners of the upper and lower sides. A group of medicine storage cavities 102 distributed in a rectangular array are respectively opened on the left and right sides of the medicine shelf structure 1 along the X direction. The medicine storage cavities 102 are evenly arranged in rows and columns to form a standardized storage unit. The coordinates of the medicine position can be preset through the digital display control panel 8 to facilitate automatic sorting and positioning. A pull-out medicine storage box 103 is provided in each medicine storage cavity 102. The medicine storage box 103 and the inner wall of the medicine storage cavity 102 can be slidably matched with a slide rail to ensure that the second vacuum suction head 911 of the medicine grabbing gripper assembly 9 can accurately adsorb and push and pull the medicine storage box 103. A protrusion 104 is provided at the central position of the top side of the medicine shelf structure 1. Its cross-section is trapezoidal or rectangular and is made of high-strength engineering plastic or metal. The main function of the protrusion 104 is to provide a contact reference surface for the downward pressing action of the medicine grabbing gripper assembly 9 to ensure the displacement accuracy of the medicine shelf structure 1 when it is separated along the X direction.

[0050] See the instructions attached Figure 4 and Figure 6As shown, the linear drive assembly 3 includes a linear rail 301 fixedly mounted on the top side of the translation frame 2. The linear rail 301 is fixedly mounted on the top side of the translation frame 2, and a guide slide is machined inside the linear rail to provide a linear motion trajectory for the slider 303. A lead screw 304 is arranged in parallel in the guide slide, and rotation support is achieved through bearing seats at both ends. A first motor 302 is fixedly mounted at the end of the linear rail 301, and its output shaft is coaxially connected to the lead screw 304, and electrical signal control is achieved through the digital display control panel 8. A threaded through hole is provided on the slider 303 to form a threaded transmission pair with the lead screw 304. When the first motor 302 drives the lead screw to rotate, the slider 303 performs precise linear motion along the guide slide, and a double-rope electric hoist 306 is suspended on the lower side of the slider 303 through a fixed seat 305. The lower end of its suspension rope 307 is rigidly connected to the medicine grabbing assembly 9, which can achieve vertical lifting and lowering movements. Two parallel docking shafts 308 extend from the underside of the electric hoist 306, ensuring precise docking with the docking holes 902 of the medicine-removing gripper assembly, ensuring stable grasping. A digital display control panel 8 is electrically connected to the first motor 302 and the electric hoist 306, controlling the coordinated horizontal displacement and vertical lift through a pre-set program to achieve precise positioning and grasping of the medicine box.

[0051] See the instructions attached Figure 4 、 Figure 8 、 Figure 9 and Figure 11 As shown, the medicine grabbing gripper assembly 9 includes a base plate 901, a docking hole 902 matching the docking shaft 308 is formed through the top surface of the base plate 901, and a third motor 903 is fixed on the bottom surface of the base plate 901, whose output shaft drives the rotating frame 906 vertically downward, which can achieve angle adjustment within a range of 360° to meet the grabbing requirements of different medicine shelf orientations.

[0052] The digital display control panel 8 is electrically connected to the third motor 903, the manipulator 907, the first vacuum suction head 909, the second cylinder 904, the electric telescopic rod 910, the second vacuum suction head 911 and the fourth motor 914 respectively to realize the coordinated control of multiple actions. The second cylinder 904 adopts a double push rod design and is fixed to the side of the rotating frame 906. The two push rod heads are respectively installed with rubber blocks 905. When the medicine picking gripper assembly 9 approaches the medicine picking position, the digital display control panel 8 triggers the second cylinder 904 to extend the push rod, and the block 905 is synchronously pressed against the side plate of the medicine rack to form a rigid positioning and eliminate the shaking error during grasping. The electric telescopic rod 910 is fixed on the rotating frame 906, and the end of the push rod is connected to the second vacuum suction head 911. The electric telescopic rod 910 drives the second vacuum suction head 911 close to the outer surface of the medicine storage box 103. The second vacuum suction head 911 generates negative pressure to absorb the medicine storage box 103. The reciprocating motion of the telescopic rod of the electric telescopic rod 910 realizes the pulling out and pushing in of the medicine storage box. The end of the manipulator 907 is connected to the first vacuum suction head 909 via the suspension spring 908. The suspension spring cushions the impact of the grasping and the downward drooping of the first vacuum suction head 909, preventing the medicine from being squeezed and damaged. The first vacuum suction head 909 is controlled to start and stop by the digital display control panel 8 and is suitable for precise suction and picking of medicines. The support shaft 912 is rotatably mounted on the rotating frame 906. The fourth motor 914 is integrated in the shaft to drive the medicine hopper 913 to perform a 180° flip.

[0053] See the instructions attached Figure 3 and Figure 5 As shown, the mobile support assembly 6 includes guide rails 601 corresponding to each of the four side panels 101. These rails are machined with smooth guide rail surfaces, providing a rolling path for rail wheels 603. Mounting rods 602 are evenly distributed on the guide rails 601 and bolted to the pharmacy floor or wall, forming a rigid support frame. Each side panel 101 is pivotally mounted on its inward-facing side with two or more rail wheels 603. These wheels have V-shaped grooves that align with the guide rails 601, enabling horizontal movement of the medicine racks through rolling friction. A first pneumatic cylinder 604 is fixed to the inner side of each side panel 101. The axis of the push rod is perpendicular to the guide rail 601, and the end is connected to a wedge-shaped brake block 605 with a non-slip rubber coating. The digital display control panel 8 controls the cylinder push rod to retract to its minimum stroke, disengaging the brake block 605 from the guide rail 601 and allowing the medicine rack structure 1 to move freely. The push rod is extended to its maximum stroke, causing the brake block 605 to contact the guide rail 601, securing the position of the medicine rack structure 1 through friction. After receiving the displacement instruction, the digital display control panel 8 first drives the first cylinder 604 to unlock, and after the medicine rack structure 1 moves to the target position, the first cylinder 604 is triggered to lock. In actual application, the first cylinder 604 has a built-in displacement sensor to provide real-time feedback on the brake block position.

[0054] See the instructions attached Figure 4 and Figure 7As shown, the translation drive assembly 7 includes a rail rod 701, a rack 702 is provided on the lower side of the rail rod 701, and a gear 704 is meshedly connected to the lower side of the rack 702. The gear 704 is rotatably mounted on the translation frame 2 and driven to rotate by a second motor 705. The upper side of the rail rod 701 is provided with two hanging wheels 703 distributed on both sides of the gear 704. The hanging wheels 703 are in rolling contact with the rail rod 701. The output end of the digital display control panel 8 is electrically connected to the input end of the second motor 705. The second motor 705 is fixedly mounted at the rotation axis of the gear 704 and can drive the gear 704 to rotate under the support of the translation frame 2, thereby driving the translation frame 2 to move along the rail rod 701.

[0055] Working principle:

[0056] During use, when it is necessary to remove medicine from a medicine box 103 in one of the medicine storage chambers 102, the translation drive assembly 7 first drives one of the translation frames 2 to the same vertical plane as the medicine storage chamber 102. At this time, the linear drive assembly 3 is located directly above the medicine storage chamber 102, and the first conveyor 4 is located directly below the medicine storage chamber 102. The linear drive assembly 3 drives the medicine removal gripper assembly 9 to separate the two adjacent closed medicine shelf structures 1 along the X-axis, thereby creating a gap for the medicine removal gripper assembly 9 to move downward. When separating the two adjacent closed medicine shelf structures 1 along the X-axis, the electric hoist 306 first lowers the medicine removal gripper assembly 9 to an initial height. While the docking shaft 308 remains connected to the docking hole 902, the bottom of the medicine removal gripper assembly 9 can be driven by the linear drive assembly 3 to push the medicine shelf structure 1 through the protrusion 104. After the medicine shelf structure 1 moves, the first cylinder 604 drives the brake block 605 to abut against the guide rail 601, thereby fixing the position of the medicine shelf structure 1. The electric hoist 306 of the linear drive assembly 3 hoists the medicine-taking gripper assembly 9 and moves it downward to the position of the medicine storage chamber 102. The third motor 903 adjusts the medicine-taking direction of the second vacuum suction head 911. The second cylinder 904 drives the two abutment blocks 905 to be fixed at the abutment position between the two medicine rack structures 1. The electric telescopic rod 910 drives the second vacuum suction head 911 to extract the medicine storage box 103 from the medicine storage chamber 102. The manipulator 907 takes out the medicine in the medicine storage box 103 through the first vacuum suction head 909, and then pushes the medicine storage box 103 back into the medicine storage chamber 102. The manipulator 907 puts the medicine into the medicine hopper 913. The electric hoist 306 of the linear drive assembly 3 hoists the medicine-taking gripper assembly 9 and continues to move downward. The medicine hopper 913 rotates to place the medicine on the first conveyor 4. The medicine on the first conveyor 4 falls on the second conveyor 5 after transmission and continues to be transmitted.

[0057] See the instructions attached Figure 12As shown, the number of translation frames 2 can be set to multiple as needed, and together with the linear drive components 3, the first conveyor 4 and the medicine picking gripper components 9 arranged thereon, multi-point medicine picking can be achieved, greatly improving the sorting efficiency.

[0058] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A pharmacy shelf sorting device, characterized by: The invention comprises a plurality of medicine shelf structures (1) uniformly distributed along the X direction, a plurality of translation frames (2) arranged around the outside of the medicine shelf structures (1), a translation drive assembly (7) for driving the translation frames (2) to move and adjust positions along the Y direction, a moving support assembly (6) for supporting the medicine shelf structures (1) to move along the X direction, a medicine grabbing hand assembly (9) for grabbing and transporting medicines, a linear drive assembly (3) for driving the medicine grabbing hand assembly (9) to move linearly and lift along the X direction, a first conveyor (4) for transmitting along the X direction, a second conveyor (5) for transmitting along the Y direction, and a digital display control panel (8) arranged at the bottom of the medicine shelf structures (1); The first conveyor (4) is arranged on the bottom side of the translation frame (2) and can move along the Y direction with the translation frame (2), and the second conveyor (5) is arranged below the medicine outlet of the first conveyor (4); The linear drive assembly (3) is arranged on the upper side of the translation frame (2).

2. A pharmacy shelf sorting device according to claim 1, characterized in that: Side panels (101) are respectively provided at the four corners of the upper and lower sides of the medicine shelf structure (1). A group of medicine storage cavities (102) distributed in a rectangular array are respectively opened on both sides of the medicine shelf structure (1) along the X direction. A medicine storage box (103) is drawn out and provided in each medicine storage cavity (102). A protrusion (104) is provided on the top side of the medicine shelf structure (1).

3. A pharmacy shelf sorting device according to claim 1 or 2, characterized in that: The linear drive assembly (3) comprises a linear track (301) fixedly arranged on the top side of the translation frame (2), a guide slideway is formed on the linear track (301), a slider (303) is slidably arranged in the guide slideway, a lead screw (304) is rotatably arranged in the guide slideway, a threaded through hole is formed on the slider (303) and is threadedly connected to the lead screw (304), a first motor (302) for driving the lead screw (304) to rotate is fixedly arranged at the end of the linear track (301), and the output end of the digital display control panel (8) is electrically connected to the input end of the first motor (302).

4. The pharmacy shelf sorting device according to claim 3, characterized in that: An electric hoist (306) is fixedly provided on the lower side of the slider (303) via a fixing seat (305), and the electric hoist (306) is a double-rope electric hoist. The lower ends of the two suspension ropes (307) of the electric hoist (306) are connected to the medicine grabbing assembly (9). Two parallel docking shafts (308) are fixedly connected to the lower side of the electric hoist (306), and the output end of the digital display control panel (8) is electrically connected to the input end of the electric hoist (306).

5. The pharmacy shelf sorting device according to claim 4, characterized in that: The medicine taking gripper assembly (9) includes a base plate (901), a docking hole (902) corresponding to the docking shaft (308) is provided on the base plate (901), a third motor (903) is fixedly provided on the base plate (901), the output shaft end of the third motor (903) faces downward and is connected to a rotating frame (906), and the rotating frame (906) is respectively provided with abutment structures for fixing the abutment position between the two medicine rack structures (1) , a push-pull structure for pushing and pulling the medicine storage box (103) in the medicine storage chamber (102), a manipulator (907) for taking and placing medicines in the medicine storage box (103), and a medicine hopper structure for taking and placing medicines, the head end of the manipulator (907) is connected to a first vacuum suction head (909) through a suspension spring (908), and the output end of the digital display control panel (8) is electrically connected to the input ends of the third motor (903), the manipulator (907) and the first vacuum suction head (909), respectively.

6. The pharmacy shelf sorting device according to claim 5, characterized in that: The resisting structure comprises a second cylinder (904) fixedly arranged on a rotating frame (906), wherein the second cylinder (904) is a double-push rod cylinder, and the two push rod heads of the second cylinder (904) are respectively fixedly connected with resisting blocks (905); The push-pull structure comprises an electric telescopic rod (910) fixedly arranged on a rotating frame (906), and a push rod head end of the electric telescopic rod (910) is connected to a second vacuum suction head (911); The output end of the digital display control panel (8) is electrically connected to the input ends of the second cylinder (904), the electric telescopic rod (910) and the second vacuum suction head (911), respectively.

7. The pharmacy shelf sorting device according to claim 6, characterized in that: The medicine hopper structure includes a support shaft (912) rotatably arranged on a rotating frame (906), a fourth motor (914) for driving the support shaft (912) to rotate is fixedly arranged inside the support shaft (912), a medicine hopper (913) is arranged on one side of the support shaft (912), and the output end of the digital display control panel (8) is electrically connected to the input end of the fourth motor (914).

8. The pharmacy shelf sorting device according to claim 1, characterized in that: The movable support assembly (6) comprises guide rails (601) corresponding to the four side plates (101) respectively, and each guide rail (601) is provided with a plurality of evenly distributed mounting rods (602). The side plates (101) are rotatably provided with two or more rail wheels (603) capable of guiding and rolling against the guide rails (601). The side plates (101) are provided with a first cylinder (604), and the push rod head end of the first cylinder (604) is connected to a brake block (605). When the push rod of the first cylinder (604) reaches the maximum stroke, the brake block (605) contacts the guide rail (601). When the push rod of the first cylinder (604) reaches the minimum stroke, the brake block (605) and the guide rail (601) are separated from each other. The output end of the digital display control panel (8) is electrically connected to the input end of the first cylinder (604).

9. The pharmacy shelf sorting device according to claim 1, characterized in that: The translation drive assembly (7) includes a rail rod (701), a rack (702) is provided on the lower side of the rail rod (701), a gear (704) is meshed with the lower side of the rack (702), the gear (704) is rotatably provided on the translation frame (2) and driven to rotate by a second motor (705), two hanging wheels (703) are provided on the upper side of the rail rod (701) and are distributed on both sides of the gear (704), the hanging wheels (703) are in rolling contact with the rail rod (701), and the output end of the digital display control panel (8) is electrically connected to the input end of the second motor (705).

10. A sorting method for a pharmacy shelf sorting device, using the pharmacy shelf sorting device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: When it is necessary to take medicine from a medicine storage box (103) in one of the medicine storage chambers (102), the translation drive assembly (7) first drives one of the translation frames (2) to move to the same vertical plane as the medicine storage chamber (102). At this time, the linear drive assembly (3) is located directly above the medicine storage chamber (102), and the first conveyor (4) is located directly below the medicine storage chamber (102). The linear drive assembly (3) drives the medicine taking gripper assembly (9) to separate the two adjacent closed medicine shelf structures (1) along the X direction, so as to form a gap for the medicine taking gripper assembly (9) to move downward; S2: When two adjacent closed medicine rack structures (1) are separated along the X direction, the electric hoist (306) first lowers the medicine grab assembly (9) to an initial height, and while the docking shaft (308) and the docking hole (902) remain connected, the bottom of the medicine grab assembly (9) can be driven by the linear drive assembly (3) to push the medicine rack structure (1) through the protrusion (104) to move. After the medicine rack structure (1) moves, the first cylinder (604) drives the brake block (605) to abut against the guide rail (601), thereby fixing the position of the medicine rack structure (1); S3: The electric hoist (306) of the linear drive assembly (3) hoists the medicine taking gripper assembly (9) and moves it downward to the position of the medicine storage chamber (102). The third motor (903) adjusts the medicine taking direction of the second vacuum suction head (911). The second cylinder (904) drives the two abutting blocks (905) to be fixed at the abutting position between the two medicine rack structures (1). The electric telescopic rod (910) drives the second vacuum suction head (911) to extract the medicine storage box (103) from the medicine storage chamber (102). The manipulator (907) is driven by the second vacuum suction head (911) to remove the medicine box (103) from the medicine storage chamber (102). The medicine in the medicine storage box (103) is taken out through the first vacuum suction head (909), and then the medicine storage box (103) is pushed back into the medicine storage chamber (102). The manipulator (907) puts the medicine into the medicine picking and placing hopper (913). The electric hoist (306) of the linear drive component (3) lifts the medicine picking gripper component (9) to continue to move downward. The medicine picking and placing hopper (913) rotates to place the medicine on the first conveyor (4). The medicine on the first conveyor (4) falls on the second conveyor (5) after being conveyed and continues to be conveyed.

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