Automatic medicine feeding slide way medicine dispensing device

Abstract

The invention discloses an automatic medicine feeding slide way medicine dispensing device, and belongs to the technical field of medical automatic storage equipment. The connection conveying module is provided with an upper-layer conveying belt and a lower-layer conveying belt and is used for supplying medicine to a medicine feeding machine; the medicine feeding machine comprises a lifting detection platform, a 3D camera, a mechanical arm and a medicine feeding conveying belt. The mechanical arm is guided by the 3D camera to descend, and medicine is placed on the medicine feeding conveying belt. The medicine dispensing machine receives medicine conveyed by the medicine feeding conveying belt and comprises a slide way medicine dispensing module, a robot grabbing module, a medicine discharging conveying belt and a medicine distributing conveying belt, and a plurality of distributing windows are arranged on the medicine distributing conveying belt. According to the system, the automatic medicine feeding and dispensing process is achieved, the labor intensity is reduced, and the convenience and efficiency of medicine storage and taking are improved based on the medicine position distribution strategy of big data; different drugs can be accurately recognized and processed through the 3D visual positioning recognition system and the mechanical arm grabbing technology, and the drug management accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical automation equipment, and in particular to an automatic medicine feeding slide medicine dispensing device. Background Art

[0002] Currently, hospital warehouse pharmacies rely heavily on manual operations to dispense medicines, which has the following drawbacks: The delivery of medicines requires manual handling and dosing. High-frequency medicines need to be replenished repeatedly. The pharmacist's movement time accounts for 30%, the error rate is high, and errors in the type or quantity of medicines are prone to occur. The drug distribution path is redundant and single, and it is easy to accumulate during peak distribution periods, which is inefficient. Summary of the Invention

[0003] In view of the above-mentioned technical deficiencies, the present invention provides an automatic medicine feeding slide medicine dispensing device.

[0004] The present invention adopts the following technical solution: an automatic medicine feeding slide medicine dispensing device, comprising: A docking conveying module, comprising a parallel upper conveyor belt and a lower conveyor belt, the right ends of which are provided with a fork lift platform for receiving turnover boxes; A medicine loading machine, comprising: The lifting inspection platform is set at the left end of the upper and lower conveyor belts and is used to receive turnover boxes; 3D camera, used to scan the medicines in the turnover boxes on the lifting inspection platform; The robotic arm grabs the medicines in the turnover box according to the guidance of the 3D camera; The medicine feeding conveyor belt is used to carry the medicines grabbed from the turnover box by the robotic arm and transport the medicines to the medicine loading point; A medicine dispensing machine, comprising: The medicine dispensing module includes multiple slides for storing medicines, and the discharge end of the slide is provided with an ejection device for ejecting the medicines in the slide; The robot grabbing module is slidably arranged on one side of the medicine feeding grabbing point, and is used to receive the medicines on the medicine feeding conveyor belt and place them into the slide of the medicine dispensing module; Medicine discharging conveyor belt, used to receive the medicines ejected from the slide; The medicine distributing conveyor belt is connected to the medicine discharging conveyor belt; a plurality of distribution windows are arranged on the medicine distributing conveyor belt, and a distribution baffle is arranged on one side of the distribution window for pushing the medicines on the medicine distributing conveyor belt into the distribution window.

[0005] Preferably, when the fork lift platform is at a high position, it is docked with the upper conveyor belt; when the fork lift platform is at a low position, it is docked with the lower conveyor belt; When the lifting detection platform is located at a high position, it is connected to the upper conveyor belt; when the lifting detection platform is located at a low position, it is connected to the lower conveyor belt.

[0006] Preferably, the fork lift platform includes: Guide rails are arranged vertically at the right ends of the upper conveyor belt and the lower conveyor belt; Connecting plate, slidably mounted on the guide rail; The fork lift module is installed on the connecting plate and is used to drive the connecting plate to move up and down along the guide rail; the fork lift drive motor provides power to the fork lift module; A pair of horizontally arranged forks fixed on the connecting plate; Among them, a turnover conveyor belt is installed on each fork, and the turnover conveyor belt is used to transport turnover boxes. A turnover electric roller for driving the two turnover conveyor belts is rotatably installed at the end of the two forks close to the connecting plate; a baffle is provided at the end of the turnover conveyor belt away from the connecting plate to prevent the turnover boxes from falling.

[0007] Preferably, the upper conveyor belt is driven by an upper drive motor, and the lower conveyor belt is driven by a lower drive motor; A lifting blocking module is provided at one end of the lower conveyor belt close to the medicine loading machine; when the blocking module is raised, it is used to block the turnover box on the lower conveyor belt.

[0008] Preferably, the lifting detection platform includes: The lifting platform linear module is arranged vertically, and the lifting platform drive motor provides power for the lifting platform linear module; The testing platform is fixed on the moving end of the linear module of the lifting platform; Among them, a row of detection electric rollers are installed on the upper surface of the detection table, which are used to transport turnover boxes; a baffle is set on the side of the detection electric roller away from the docking and conveying module to prevent the turnover box from falling.

[0009] Preferably, a barcode scanner is provided on one side of the inspection platform when in the low position, and the barcode scanner is used to confirm the information identification of the turnover box; The medicine feeding conveyor belt is arranged on one side of the detection table when it is in a high position, and a photoelectric sensor is provided on the side of the medicine feeding conveyor belt for confirming whether there are medicines on the medicine feeding conveyor belt; The execution end of the robotic arm has a vacuum grabbing suction cup for grabbing medicines; Among them, a drug return basket is provided at one end of the drug feed conveyor belt away from the drug feeding grabbing point; when the drug feed conveyor belt rotates forward, the drug feed conveyor belt transports the drugs to the drug feeding grabbing point; when the drug feed conveyor belt rotates reversely, the drug feed conveyor belt transports the drugs to the drug return basket.

[0010] Preferably, the robot grasping module includes: The ground rail and the hanging rail are arranged on the rear side of the slide-dispensing module; The trolley is slidably mounted on the ground rail and the hanging rail; the trolley has a vertical sliding column, and the trolley driving device is used to drive the trolley to move along the ground rail and the hanging rail; The charging platform is slidably mounted on the sliding column; the charging platform driving device is used to drive the charging platform to move along the sliding column; A medicine-loading conveyor belt is installed on the medicine-loading platform; opposite clamping units are provided on both sides of the medicine-loading conveyor belt, and the clamping units on both sides are used to center the medicines on the medicine-loading conveyor belt, and the medicine-loading conveyor belt transports the centered medicines to the slide entrance in the slide medicine dispensing module.

[0011] Preferably, the multiple groups of slides in the slide medicine dispensing module are all arranged in multiple layers; the medicine dispensing conveyor belt is arranged on the front side of the slide medicine dispensing module, and the outlet end of the medicine dispensing conveyor belt is connected to the medicine dispensing conveyor belt through a climbing belt; Based on big data statistical analysis of the issuance frequency of each drug, drugs with higher frequency are preferentially loaded into the slide closer to the exit end of the drug delivery conveyor belt.

[0012] Preferably, a multi-color signal indicator light is provided at the end of each slide in the slide medicine dispensing module, and different colors of the multi-color signal indicator light correspond to different states of the slide.

[0013] Preferably, a distribution drive motor is fixed on one side of the distribution window, and a distribution baffle is fixed on the output end of the distribution drive motor; A medicine receiving basket for receiving medicines and a bracket for supporting the medicine receiving basket are arranged on one side of the distribution window.

[0014] The beneficial effects of the present invention are: Improved medication loading and dispensing efficiency: Through the automated loading and dispensing process, including the close coordination of AGV handling, 3D vision positioning and recognition, robotic gripping, and robotic distribution, the time from drug storage to drug delivery to pharmacists is significantly shortened, improving the overall work efficiency of the pharmacy, enabling faster response to patients' medication needs, reducing patient waiting time, and enhancing the medical experience. Reduced labor intensity: This reduces the manual operations required by pharmacists and staff in drug handling, retrieval, arrangement, and distribution, thus reducing labor intensity and enabling pharmacists to devote more time and energy to pharmaceutical services and professional work, such as medication consultation and prescription review, thereby improving the quality of pharmacy services. Improved drug management accuracy: A drug location allocation strategy based on big data rationally arranges storage locations based on drug issuance frequency, ensuring that high-frequency drugs are preferentially stored near exits. This optimizes drug storage layout and improves the convenience and efficiency of drug storage and retrieval. Furthermore, the 3D visual positioning recognition system and robotic gripping technology can accurately identify and handle different drugs, avoiding problems such as drug confusion and misissuance that may occur due to manual operation, thereby improving the accuracy and safety of drug management. Enhanced equipment flexibility and adaptability: The number of slideways, the number of slides per level, and the height of the slideways can be flexibly adjusted based on the characteristics of different medications, meeting the storage needs of medications of various sizes, weights, and shapes. This makes the equipment highly versatile and adaptable to the medication types and usage situations of different hospital pharmacies. In addition, the multi-color signal indicator design facilitates emergency manual medication loading, enhancing the equipment's emergency handling capabilities in special circumstances. Achieve efficient drug dispensing at multiple windows: Multiple drug dispensing windows on the terminal drug dispensing conveyor belt can distribute drugs to pharmacists at different windows according to demand, realizing simultaneous drug dispensing at multiple windows, further improving the pharmacy's drug dispensing capacity and service level, and being able to better cope with the drug dispensing needs during peak medical treatment periods, ensuring the efficient and orderly operation of the pharmacy. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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.

[0016] Figure 1 This is a three-dimensional diagram of an automatic medicine feeding slide and dispensing device of the present invention.

[0017] Figure 2 The figure is a schematic diagram of the internal structure of an automatic medicine feeding slide medicine dispensing device of the present invention.

[0018] Figure 3 for Figure 2 Enlarged view of point A in the middle.

[0019] Figure 4 for Figure 2 Enlarged view of point B in the middle.

[0020] Figure 5 for Figure 2 Enlarged view of point C in the middle.

[0021] Figure 6 for Figure 2 A three-dimensional view of the central connection and conveying module and the medication machine.

[0022] Figure 7 for Figure 6 Enlarged view of point D in the middle.

[0023] Figure 8 for Figure 6 The main view of the central connection conveying module and the medicine loading machine.

[0024] Figure 9 for Figure 6 Top view of the central connection and conveying module and the medicine loading machine.

[0025] Description of reference numerals: 1. Connect the conveyor module; 11. Connect the rack; 12. Upper conveyor belt; 121. Upper drive motor; 13. Blocking module; 14. Lower conveyor belt; 141. Lower drive motor; 15. Fork lift platform; 151. Guide rail; 152. Connecting plate; 153. Fork lift module; 154. Fork; 155. Turnover conveyor belt; 156. Turnover electric roller; 157. Fork lift drive motor; 2. Medicine feeding machine; 21. Medicine feeding machine rack; 22. Lifting and testing platform; 221. Lifting platform linear module; 222. Lifting platform drive motor; 223. Testing platform; 224. Testing electric roller; 23. 3D camera; 24. Robotic arm; 241. Vacuum gripping suction cup; 25. Medicine feeding conveyor belt; 26. Photoelectric sensor; 27. Barcode scanner; 28. Working platform; 281. Drug return port; 29. Medicine return basket; 3. Medicine dispensing machine; 31. Medicine dispensing machine rack; 32. Slideway medicine dispensing module; 33. Robotic gripping module; 331. Ground rail; 332. Traveling trolley; 333. Hanging rail; 334. Charging platform; 335. Charging conveyor belt; 336. Clamping unit; 337. Sliding column; 34. Medicine discharging conveyor belt; 341. Climbing belt; 35. Medicine dispensing conveyor belt; 351. Dispensing window; 352. Dispensing baffle; 353. Dispensing drive motor; 354. Medicine receiving basket; 355. Bracket.

[0026] 4. Turnover box. DETAILED DESCRIPTION

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0028] Example 1: like Figure 1 、 Figure 2 As shown, the present invention provides an automatic medicine loading and dispensing device, which mainly includes a connecting and conveying module 1, a medicine loading machine 2 and a medicine dispensing machine 3 connected thereto.

[0029] like Figure 1 、 Figure 2 ,as well as Figures 6 to 9 As shown, the connecting and conveying module 1 is used to convey the turnover box 4 filled with medicines to the medicine feeding machine 2 and return the empty turnover box 4; The docking conveyor module 1 includes a docking frame 11, on which are mounted parallel upper and lower conveyor belts 12 and 14. The upper conveyor belt 12 is driven by an upper drive motor 121, and the lower conveyor belt 14 is driven by a lower drive motor 141. A lifting blocking module 13 is provided at the end of the lower conveyor belt 14 near the medicine feeding machine 2. When the blocking module 13 is lowered, the lower conveyor belt 14 can convey the turnover box 4. When the blocking module 13 is lifted by a cylinder, the blocking module 13 can block the turnover box 4 on the lower conveyor belt 14. When there are turnover boxes 4 on the inspection platform 223, the blocking module 13 can prevent subsequent turnover boxes 4 from queuing here. After the turnover boxes 4 on the inspection platform 223 leave, the queued turnover boxes 4 are released and enter immediately, thus utilizing the lifting inspection platform 22 with maximum efficiency.

[0030] The forklift platform 15 is located at the right end of the upper conveyor belt 12 and the lower conveyor belt 14. It includes a pair of vertically arranged guide rails 151 fixed to the right side of the docking frame 11. A connecting plate 152 is slidably mounted on the guide rails 151. A forklift module 153 is installed between the connecting plate 152 and the docking frame 11. The forklift module 153 pushes the connecting plate 152 up and down along the guide rails 151. A forklift drive motor 157 is installed at one end of the forklift module 153 to provide power to the forklift module 153. In this embodiment, the forklift module 153 uses a screw and nut mechanism to ensure the precision of the up and down movement of the connecting plate 152.

[0031] A pair of horizontally arranged forks 154 are fixed to the connecting plate 152. Each fork 154 is mounted on a turnover conveyor belt 155, which is used to carry and transport turnover boxes 4. A turnover motorized roller 156 is mounted on the end of the forks 154 closest to the connecting plate 152. One end of the turnover conveyor belt 155 is mounted on the turnover motorized roller 156, which drives the turnover conveyor belt 155 to rotate. A baffle is provided on the end of the turnover conveyor belt 155 away from the connecting plate 152 to prevent the turnover boxes 4 from falling. When the fork lifting module 153 drives the connecting plate 152 to the high position, the turnover conveyor belt 155 docks with the upper conveyor belt 12. When the fork lifting module 153 drives the connecting plate 152 to the low position, the turnover conveyor belt 155 docks with the lower conveyor belt 14.

[0032] Combine Figures 6 to 9 As shown, the medicine loading machine 2 is used to receive the turnover box 4 transported by the connecting conveying module 1, and scan and record the medicines in the turnover box 4 and transfer them to the medicine dispensing machine 3; the medicine loading machine 2 is mainly composed of a medicine loading machine frame 21, a lifting detection platform 22, a 3D camera 23, a robotic arm 24 and a medicine feeding conveyor belt 25.

[0033] The lifting and inspection platform 22 is located at the left end of the upper and lower conveyor belts 12 and 14 and is used to receive the turnover boxes 4. The lifting and inspection platform 22 includes a lifting platform linear module 221 vertically fixed to the drug loading frame 21. A lifting platform drive motor 222 at the end of the lifting platform linear module 221 provides power for the lifting platform linear module 221. An inspection platform 223 is fixed to the movable end of the lifting platform linear module 221. A row of inspection motor rollers 224 are mounted on the upper surface of the inspection platform 223. These motorized inspection rollers 224 are used to receive and transport the turnover boxes 4. A baffle is provided on the side of the motorized inspection rollers 224 facing away from the docking and conveying module 1 to prevent the turnover boxes 4 from falling. During operation, the lifting platform linear module 221 controls the lifting and lowering of the detection platform 223. When the detection platform 223 is in a high position, the detection electric roller 224 on the detection platform 223 is docked with the upper conveyor belt 12; when the detection platform 223 is in a low position, the detection electric roller 224 on the detection platform 223 is docked with the lower conveyor belt 14.

[0034] A 3D camera 23 is fixed to the drug loading rack 21 above the elevating inspection platform 22. This camera is used to scan the drugs in the turnover boxes 4 on the elevating inspection platform 223. A work platform 28 is fixed to the center of the drug loading rack 21. A drug feed conveyor belt 25 and a robotic arm 24 are affixed to the work platform 28. The robotic arm 24 has a vacuum gripping suction cup 241 at its end for grabbing drugs. Following the guidance of the 3D camera 23, the robotic arm 24 grabs drugs from the turnover boxes 4 and places them on the side of the drug feed conveyor belt 25. The work platform 28 has a clearance hole opposite the inspection platform 223 to facilitate its raising and lowering. A drug return port 281 is also provided on the work platform 28 at one end of the drug feed conveyor belt 25, where a drug return basket 29 is placed.

[0035] A barcode scanner 27 is fixed to one side of the inspection platform 223 when it is in the lower position. It is used to confirm the information identification of the turnover box 4 entering the inspection platform 223. The medicine feeding conveyor 25 is arranged on one side of the inspection platform 223 when it is in the upper position. A photoelectric sensor 26 is installed on the side of the medicine feeding conveyor 25 to confirm whether there are medicines on the medicine feeding conveyor 25. During operation, for correctly identified medicines, the medicine feeding conveyor 25 will rotate forward, transporting the medicines to the medicine loading point at one end, and ultimately received by the medicine dispensing machine 3. For medicines that are not correctly identified, the medicine feeding conveyor 25 will rotate backward, transporting the medicines to the other end, where they will drop into the medicine return basket 29, and then rotate forward to reset to receive new medicines.

[0036] Working principle: Medication application process; Single-variety drugs are placed in turnover boxes 4 according to the prescribed placement method; After receiving the medicine loading instruction, the AGV moves the turnover box 4 containing medicine from the medicine storage area and transports it to the docking and conveying module 1 along the preset path; The fork 154 is lowered to the lower position, and the AGV puts the turnover box 4 on the turnover conveyor belt 155 of the fork 154; the turnover conveyor belt 155 rotates to convey the turnover box 4 to the lower conveyor belt; The inspection table 223 is lowered to the lower position; the lower conveyor belt rotates to transport the turnover box 4 to the inspection motorized roller 224 of the inspection table 223; the barcode scanner 27 set on the side reads and confirms whether the turnover box 4 is correct; The inspection table 223 is raised to a high position with the turnover box 4. The 3D camera 23 above scans and obtains information inside the turnover box 4, guiding the robotic arm 24 to grab the medicines and arrange them neatly on the medicine-input conveyor belt 25. For abnormal medicines, the robotic arm 24 places the abnormal medicines on the medicine-input conveyor belt 25, which then reverses and pushes the abnormal medicines into the medicine-returning basket 29. After they are taken out and confirmed, the medicine-input conveyor belt 25 is reset. After a certain number of medicines are placed on the medicine-input conveyor belt 25, the medicine-input conveyor belt 25 rotates forward and transports the medicines to the medicine-loading point in the medicine-dispensing machine 3. After all the medicines in the turnover box 4 are taken out, the detection electric roller 224 of the detection table 223 rotates to convey the empty turnover box 4 to the upper conveyor belt 12, and then the detection table 223 is lowered to the lower position again; The fork 154 is raised to a high position, and the upper conveyor belt 12 rotates to transport the empty turnover box 4 to the turnover conveyor belt 155 of the fork 154, and then the fork 154 is lowered to a low position again, and the empty box is taken away by the AGV trolley.

[0037] Example 2: Based on the above embodiment 1, combined with Figures 1 to 5 As shown, this embodiment provides a medicine dispensing machine for receiving, storing and dispensing medicines delivered by a medicine loading machine 2. The medicine dispensing machine 3 mainly includes a medicine dispensing frame 31, a robot grasping module 33, a slide medicine dispensing module 32 and a medicine dispensing conveyor belt 34.

[0038] Combine Figure 1 、 Figure 2 and Figure 5 As shown, in this embodiment, the slide dispensing module 32 is arranged within the dispensing rack 31. Six groups of slides are provided, each with 13 slides. The number and width of slides in each layer can be adjusted to suit the specific medication. The slide height can also be tailored to the size, weight, and other characteristics of the medication to meet diverse medication storage needs. The slides are arranged at an angle, with the front end lower and the rear end higher. The rear end of the slide serves as the entrance, while the front end serves as the exit. An ejection device is located at the exit to eject medication from the slide. The slide structure utilizes an electromagnetic ejection chute dispensing device (CN118458211A).

[0039] Combine Figure 1 、 Figure 2 and Figure 4As shown, the robot grasping module 33 is arranged on the rear side of the slide dispensing module 32 and includes a ground rail 331 and a hanging rail 333 fixed to the bottom and top of the dispensing frame 31, respectively. Upper and lower trolleys 332 are slidably mounted on the ground rail 331 and the hanging rail 333, respectively. The upper trolley 332 is equipped with a trolley 332 drive device to control the movement of the trolley 332. A vertical slide 337 is fixed between the two trolleys 332. The charging platform 334 is slidably mounted on the slide 337. The charging platform 334 drive device on one side of the charging platform 334 is used to drive the charging platform 334 to move along the slide 337. The charging platform 334 can be moved to any slide position via the ground rail 331 and the slide 337. A charging conveyor belt 335 is installed on the charging platform 334, and the charging conveyor belt 335 is driven by a charging motor roller. The medicine-loading conveyor belt 335 docks with the medicine-feeding conveyor belt 25 at the medicine-loading grabbing point, receiving the medicines conveyed by the medicine-feeding conveyor belt 25. Retractable clamping units 336 are positioned on either side of the medicine-loading conveyor belt 335. These clamping units 336 can utilize electric actuators. The clamping units 336 function to center the medicines on the medicine-loading conveyor belt 335 when extended, ensuring that the medicine-loading conveyor belt 335 accurately delivers the medicines to the corresponding chute entrance.

[0040] Combine Figures 1 to 3 ,as well as Figure 5 As shown, the medicine dispensing conveyor belt 34 is arranged in front of the slide-type medicine dispensing module 32. The medicines ejected by the ejection device in each slide fall onto the medicine dispensing conveyor belt 34. The rotating medicine dispensing conveyor belt 34 transports the medicines to the outlet end. The outlet end of the medicine dispensing conveyor belt 34 is connected to the medicine dispensing conveyor belt 35 via a climbing belt 341. The climbing belt 341 is provided with spaced partitions. The sides of the medicine dispensing conveyor belt 34, the climbing belt 341, and the medicine dispensing conveyor belt 35 are all provided with baffles to prevent medicines from falling off.

[0041] In this embodiment, a plurality of dispensing windows 351 are provided on one side of the medicine dispensing conveyor belt 35. A dispensing baffle 352 is provided on one side of the dispensing window 351. The dispensing baffle 352 is used to direct medicines from the medicine dispensing conveyor belt 35 into a medicine receiving basket 354 on one side. The medicine receiving basket 354 is supported on a bracket 355 on one side of the dispensing window 351. Except for the last dispensing baffle 352, each dispensing baffle 352 is driven by an independent dispensing drive motor 353, which can automatically select and direct medicines to any medicine receiving basket 354.

[0042] Working principle: Drug storage process; The robot gripping module 33 moves to the medicine loading point, and the medicine loading conveyor belt 335 docks with the medicine inlet conveyor belt 25. The medicine inlet conveyor belt 25 rotates and conveys the neatly arranged boxes of medicines on it to the medicine loading conveyor belt 335. The clamping unit 336 on the medicine loading conveyor belt 335 centers and aligns the medicines to ensure that the medicines can enter the slideway accurately. According to the preset storage location information, the robot grabbing module 33 moves to the corresponding slide entrance; the medicine loading conveyor belt 335 rotates to deliver the medicine into the corresponding slide; all medicines are stored in sequence; Medication dispensing process; When the medicine dispensing instruction is received, the ejection device corresponding to the slideway inside the medicine dispensing machine 3 is activated, lifting the medicine and causing it to fall naturally onto the medicine dispensing conveyor belt 34 below; The medicine discharging conveyor belt 34 conveys the medicines to the climbing belt 341 , and the medicines pass through the partitions on the climbing belt 341 , ensuring that the medicines enter the medicine dispensing conveyor belt 35 one by one in a predetermined order; The distributing baffle 352 on the side of the medicine distributing conveyor belt 35 moves accordingly, guiding the medicine into the corresponding medicine receiving basket 354, completing the medicine distributing operation.

[0043] Example 3: On the basis of the above-mentioned embodiment 2, the difference of this embodiment 3 is that: based on the statistical analysis of the frequency of issuance of each medicine based on big data, the medicine with higher frequency is preferentially loaded into the slide closer to the exit end of the medicine delivery conveyor belt 34.

[0044] Each slide in the slide dispensing module 32 is equipped with a multi-color signal indicator. Different colors of the multi-color signal indicator indicate the slide's status. In special circumstances, such as when the dispensing device experiences an abnormality and emergency manual medication delivery is required, the pharmacist scans the medication information and triggers the multi-color signal indicator at the end of the slide. The multi-color signal indicator corresponding to the slide where the medication is located starts and flashes. The pharmacist quickly finds the appropriate slide based on the multi-color signal indicator, manually removes the medication, and places it on the medication delivery conveyor belt 34, completing the emergency medication delivery operation and ensuring the continuity of pharmacy operations.

[0045] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. An automatic medicine feeding slide dispensing device, characterized in that: include: A docking conveying module, comprising a parallel upper conveyor belt and a lower conveyor belt, the right ends of which are provided with a fork lift platform for receiving turnover boxes; A medicine loading machine, comprising: The lifting inspection platform is set at the left end of the upper and lower conveyor belts and is used to receive turnover boxes; 3D camera, used to scan the medicines in the turnover boxes on the lifting inspection platform; The robotic arm grabs the medicines in the turnover box according to the guidance of the 3D camera; The medicine feeding conveyor belt is used to carry the medicines grabbed from the turnover box by the robotic arm and transport the medicines to the medicine loading point; A medicine dispensing machine, comprising: The medicine dispensing module includes multiple slides for storing medicines, and the discharge end of the slide is provided with an ejection device for ejecting the medicines in the slide; The robot grabbing module is slidably arranged on one side of the medicine feeding grabbing point, and is used to receive the medicines on the medicine feeding conveyor belt and place them into the slide of the medicine dispensing module; Medicine discharging conveyor belt, used to receive the medicines ejected from the slide; The medicine distributing conveyor belt is connected to the medicine discharging conveyor belt; a plurality of distribution windows are arranged on the medicine distributing conveyor belt, and a distribution baffle is arranged on one side of the distribution window for pushing the medicines on the medicine distributing conveyor belt into the distribution window.

2. The automatic medicine dispensing device according to claim 1, characterized in that: When the fork lift platform is in a high position, it docks with the upper conveyor belt; when the fork lift platform is in a low position, it docks with the lower conveyor belt; When the lifting detection platform is located at a high position, it is connected to the upper conveyor belt; when the lifting detection platform is located at a low position, it is connected to the lower conveyor belt.

3. An automatic medicine feeding slide dispensing device according to claim 1 or 2, characterized in that: The fork lift platform comprises: Guide rails are arranged vertically at the right ends of the upper conveyor belt and the lower conveyor belt; Connecting plate, slidably mounted on the guide rail; The fork lift module is installed on the connecting plate and is used to drive the connecting plate to move up and down along the guide rail; the fork lift drive motor provides power to the fork lift module; A pair of horizontally arranged forks fixed on the connecting plate; Among them, a turnover conveyor belt is installed on each fork, and the turnover conveyor belt is used to transport turnover boxes. A turnover electric roller for driving the two turnover conveyor belts is rotatably installed at the end of the two forks close to the connecting plate; a baffle is provided at the end of the turnover conveyor belt away from the connecting plate to prevent the turnover boxes from falling.

4. The automatic medicine dispensing device according to claim 1, characterized in that: The upper conveyor belt is driven by an upper drive motor, and the lower conveyor belt is driven by a lower drive motor; A lifting blocking module is provided at one end of the lower conveyor belt close to the medicine loading machine; when the blocking module is raised, it is used to block the turnover box on the lower conveyor belt.

5. The automatic medicine dispensing device according to claim 1 or 2, characterized in that: The lifting detection platform includes: The lifting platform linear module is arranged vertically, and the lifting platform drive motor provides power for the lifting platform linear module; The testing platform is fixed on the moving end of the linear module of the lifting platform; Among them, a row of detection electric rollers are installed on the upper surface of the detection table, which are used to transport turnover boxes; a baffle is set on the side of the detection electric roller away from the docking and conveying module to prevent the turnover box from falling.

6. The automatic medicine dispensing device according to claim 5, characterized in that: A barcode scanner is provided on one side of the inspection platform when in the low position, and the barcode scanner is used to confirm the information identification of the turnover box; The medicine feeding conveyor belt is arranged on one side of the detection table when it is in a high position, and a photoelectric sensor is provided on the side of the medicine feeding conveyor belt for confirming whether there are medicines on the medicine feeding conveyor belt; The execution end of the robotic arm has a vacuum grabbing suction cup for grabbing medicines; Among them, a drug return basket is provided at one end of the drug feed conveyor belt away from the drug feeding grabbing point; when the drug feed conveyor belt rotates forward, the drug feed conveyor belt transports the drugs to the drug feeding grabbing point; when the drug feed conveyor belt rotates reversely, the drug feed conveyor belt transports the drugs to the drug return basket.

7. The automatic medicine feeding slide dispensing device according to claim 1, characterized in that: The robot grasping module includes: The ground rail and the hanging rail are arranged on the rear side of the slide-dispensing module; The trolley is slidably mounted on the ground rail and the hanging rail; the trolley has a vertical sliding column, and the trolley driving device is used to drive the trolley to move along the ground rail and the hanging rail; The charging platform is slidably mounted on the sliding column; the charging platform driving device is used to drive the charging platform to move along the sliding column; A medicine-loading conveyor belt is installed on the medicine-loading platform; opposite clamping units are provided on both sides of the medicine-loading conveyor belt, and the clamping units on both sides are used to center the medicines on the medicine-loading conveyor belt, and the medicine-loading conveyor belt transports the centered medicines to the slide entrance in the slide medicine dispensing module.

8. The automatic medicine dispensing device according to claim 1, characterized in that: The multiple groups of slides in the slide medicine dispensing module are all arranged in multiple layers; the medicine dispensing conveyor belt is arranged on the front side of the slide medicine dispensing module, and the outlet end of the medicine dispensing conveyor belt is connected to the medicine dispensing conveyor belt through a climbing belt; Based on big data statistical analysis of the issuance frequency of each drug, drugs with higher frequency are preferentially loaded into the slide closer to the exit end of the drug delivery conveyor belt.

9. The automatic medicine dispensing device according to claim 1, characterized in that: A multi-color signal indicator light is provided at the end of each slide in the slide medicine dispensing module, and different colors of the multi-color signal indicator light correspond to different states of the slide.

10. The automatic medicine dispensing device according to claim 1, characterized in that: A distribution drive motor is fixed on one side of the distribution window, and a distribution baffle is fixed on the output end of the distribution drive motor; A medicine receiving basket for receiving medicines and a bracket for supporting the medicine receiving basket are arranged on one side of the distribution window.

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