Single multi-species mixed automatic medicine feeding device

Abstract

The application discloses a single-multiple variety mixed automatic medicine feeding device and belongs to the technical field of medical automatic storage equipment. The lifting detection platform is arranged at one end of a single-variety box conveying module in a lifting mode; a multi-stage separation conveyor is connected to a medicine outlet end of a multiple-variety bulk medicine conveying module and used for conveying and separating bulk medicines; the telescopic detection platform is arranged at the medicine outlet end of the multi-stage separation conveyor in a telescopic mode; when the telescopic detection platform is extended, the telescopic detection platform is connected to the medicine outlet end of the multi-stage separation conveyor and located above the lifting detection platform; the visual detection camera is arranged above the lifting detection platform, and the mechanical arm grasps medicines according to the guidance of the visual detection camera. The application realizes the detection of two supply modes of multiple-variety bulk medicines and single-variety batch medicines at the same position through dynamic switching, simultaneously processes bulk medicines and box medicines, has good flexibility and compatibility, and improves the utilization rate of the detection area and the working efficiency of the medicine feeding device.

Description

Technical Field

[0001] This invention relates to the field of medical automated storage equipment technology, specifically to a single- or multi-product mixed automatic drug dispensing device. Background Technology

[0002] Existing automated drug dispensing systems typically only handle bulk medications and cannot simultaneously process both bulk and single-batch medications from individual containers. In practical applications, hospital pharmacies often need to process multiple types of medications, such as bulk and single-batch medications. Using existing technology would require separate dispensing devices, which are not only space-consuming but also complex and inefficient. Summary of the Invention

[0003] To address the aforementioned technical shortcomings, this invention provides an automatic drug dispensing device for single and multiple drug varieties. This invention mainly achieves visual detection and grasping of mixed single and multiple drug varieties by switching between a lifting detection platform and a telescopic detection platform, connecting to different drug delivery channels, and completing automatic drug dispensing.

[0004] This invention adopts the following technical solution: a single- or multi-variety mixed automatic drug dispensing device, comprising: A single-product material bin conveying module has an upper conveyor line and a lower conveyor line for conveying the material bins; The lifting inspection platform can be lifted and positioned at one end of the upper and lower conveyor lines; when the lifting inspection platform is in a low position, it connects with the lower conveyor line; when the lifting inspection platform is in a high position, it connects with the upper conveyor line. The multi-variety bulk medicine conveying module has a temporary storage tank for storing bulk medicines; a bulk medicine conveying line for conveying bulk medicines is set under the temporary storage tank. A multi-stage separating conveyor is connected to the outlet end of the bulk medicine conveying line to transport and separate bulk medicines. The telescopic detection platform can be telescopically arranged at the drug outlet end of the multi-stage separation conveyor; when the telescopic detection platform is retracted, it is located below the drug outlet end of the multi-stage separation conveyor; when the telescopic detection platform is extended, it is docked at the drug outlet end of the multi-stage separation conveyor and located above the lifting detection platform. A visual inspection camera is positioned above the lifting inspection platform to scan the lifting inspection platform at a high position and the telescopic inspection platform in an extended state. The robotic arm grasps medicines based on the guidance of a visual inspection camera.

[0005] Furthermore, it also includes: A barcode scanner is used to detect information about the hoppers on the lifting detection platform; The drug delivery line is used to receive the drugs that the robotic arm grabs from the lifting detection platform; The glass inspection platform is used to receive medicines picked up by the robotic arm from the telescopic inspection platform and to inspect the medicine information; after the glass inspection platform has finished inspecting the medicine information, the robotic arm picks up the medicines again and puts them back into the drug delivery line.

[0006] An electric lever is installed on one side of the glass inspection platform. The electric lever is used to push medicines that the glass inspection platform cannot recognize off the glass inspection platform.

[0007] The multi-stage separation conveyor includes: An inclined primary conveyor belt is arranged at an angle, with its bottom end connected to the outlet end of the bulk medicine conveying line; evenly distributed partitions are fixed on the surface of the primary conveyor belt. A horizontal secondary steering conveyor belt, the drug inlet end of which is connected to the top of the primary inclined conveyor belt; the secondary steering conveyor belt is lower than the top of the primary inclined conveyor belt, and a ramp is provided between the drug inlet end of the secondary steering conveyor belt and the top of the primary inclined conveyor belt. The three-stage horizontal conveyor belt connects the inlet end of the three-stage conveyor belt to the outlet end of the two-stage turning conveyor belt. The three-stage conveyor belt is lower than the two-stage turning conveyor belt, and a ramp is provided between the inlet end of the three-stage conveyor belt and the outlet end of the two-stage turning conveyor belt.

[0008] The telescopic detection platform includes: A linear guide rail is fixed below the drug outlet end of the three-stage conveyor belt; The bracket is slidably mounted on the linear slide rail; A detection conveyor belt, installed on the bracket, is used to receive medicines conveyed by the three-stage conveyor belt; the conveying direction of the detection conveyor belt is perpendicular to the conveying direction of the three-stage conveyor belt, and a baffle is provided on the side of the detection conveyor belt away from the medicine outlet end of the three-stage conveyor belt. The telescopic push rod is arranged parallel to the linear slide rail; the actuator end of the telescopic push rod is fixedly connected to the bracket. When the telescopic push rod retracts, the detection conveyor belt is located below the drug outlet end of the tertiary conveyor belt; when the telescopic push rod extends, the detection conveyor belt is aligned with the drug outlet end of the tertiary conveyor belt and located above the lifting detection platform.

[0009] The extended detection conveyor belt has an inclined return channel at its conveying end, which connects to the first-level inclined conveyor belt. When the detection conveyor belt rotates, it can transport drugs with abnormal postures on the detection conveyor belt to the return channel. The drugs with abnormal postures flow back to the first-level inclined conveyor belt through the return channel for re-separation.

[0010] The temporary storage tank is divided into multiple bulk medicine tanks; the bottom of the bulk medicine tank is provided with a medicine outlet, and a vibrator is fixed on one side of the medicine outlet; The bulk medicine conveying line is a belt conveyor. The medicine outlet at the bottom of the bulk medicine tank is located above the belt conveyor, and the conveying end of the belt conveyor is connected to the bottom end of the first-level inclined conveyor belt.

[0011] The single-product material bin conveying module also includes: The forklift module is located at the end of the upper and lower conveyor lines away from the lifting detection platform. The forks are installed on the actuator end of the fork lifting module; when the forks are in the low position, they connect with the lower conveyor line; when the forks are in the high position, they connect with the upper conveyor line.

[0012] Both the upper and lower conveyor lines are roller conveyors; a limit push rod is installed in the middle of the lower conveyor line, which can block the material box on the lower conveyor line when it extends.

[0013] The lifting detection platform includes: The detection lifting module is located at the end of the upper and lower conveyor lines away from the fork lifting module. The testing platform is installed at the execution end of the testing lifting module; The testing platform is equipped with a row of electric rollers; when the testing platform is in a low position, the electric rollers are connected to the lower conveyor line; when the testing platform is in a high position, the electric rollers are connected to the upper conveyor line.

[0014] The beneficial effects of this invention are: it has the ability to dynamically switch between different scenarios, realizes the automatic feeding of multiple varieties of bulk medicines and single varieties of batch medicines on the same device, without the need to set up different feeding mechanisms, saves space, is simple to operate, and improves work efficiency; Based on different drug delivery requirements, the lifting and horizontal displacement of the lifting and telescopic detection platform can be dynamically adjusted to place it within the visual inspection area. This allows for the detection of both multi-variety bulk drugs and single-variety batch drugs in the same location, while simultaneously handling both bulk and boxed drugs. It offers excellent flexibility and compatibility, improves the utilization rate of the inspection area, and features a compact overall solution that achieves multiple uses and good integration. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a perspective view of an automatic drug delivery device for single and multiple drug varieties according to the present invention.

[0017] Figure 2 This is a front view of an automatic drug delivery device for single and multiple drug varieties according to the present invention.

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

[0019] Figure 4 This is a top view of an automatic drug delivery device for single and multiple drug varieties according to the present invention.

[0020] Figure 5 for Figure 4 Enlarged view of point B in the middle.

[0021] Figure 6 This is a right view of an automatic drug dispensing device for single and multiple varieties according to the present invention.

[0022] Figure 7 This is a three-dimensional schematic diagram of the single-product material box conveying module, the lifting detection platform, and the telescopic detection platform in this invention.

[0023] Figure 8 This is a front view of the single-product material box conveying module in this invention.

[0024] Figure 9 This is a front view of the lifting detection platform and the telescopic detection platform in this invention.

[0025] Figure 10 This is a top view of the lifting detection platform and the telescopic detection platform in this invention.

[0026] Explanation of reference numerals in the attached figures: 1. Single-product material bin conveyor module; 11. Upper conveyor line; 12. Lower conveyor line; 13. Fork lifting module; 14. Forks; 15. Limiting push rod; 2. Lifting inspection platform; 201. Barcode scanner; 21. Inspection lifting module; 22. Inspection table; 23. Electric roller; 3. Multi-variety bulk medicine conveying module; 31. Temporary storage tank; 32. Bulk medicine conveying line; 4. Multi-stage separating conveyor; 41. Primary inclined conveyor belt; 411. Baffle; 42. Secondary turning conveyor belt; 43. Tertiary conveyor belt; 44. Inclined conveyor; 5. Telescopic inspection platform; 501. Glass inspection platform; 51. Linear slide rail; 52. Support frame; 53. Inspection conveyor belt; 54. Baffle; 55. Telescopic push rod; 6. Visual inspection camera; 7. Robotic arm; 8. Drug delivery line. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example 1: like Figures 1 to 6 As shown, this invention provides a single-product / multi-product mixed automatic drug dispensing device, mainly comprising a single-product material bin conveying module 1, a lifting and detection platform 2, a multi-product bulk drug conveying module 3, a multi-stage separating conveyor 4, and a telescopic detection platform 5. The single-product material bin conveying module 1 conveys material bins to the lifting and detection platform 2; the multi-product bulk drug conveying module 3 conveys bulk drugs to the multi-stage separating conveyor 4, which then separates the drugs before conveying them to the telescopic detection platform 5. Both the lifting and detection platform 2 and the telescopic detection platform 5 can be switched as needed, using the same vision inspection camera 6 and robotic arm 7 to complete the sorting and dispensing of drugs.

[0029] Combination Figure 1 , Figure 2 , Figure 4 and Figure 6 As shown, the vision inspection camera 6 is positioned above the lifting inspection platform 2 and fixed to the top of the frame. The robotic arm 7 is positioned in the middle of the frame, integrating a vacuum gripping structure, compatible with both boxed medicines and multi-variety bulk medicines. A barcode scanner 201 is located on one side of the lifting inspection platform 2. When the lifting inspection platform 2 is at its low position, it receives the boxes conveyed by the single-variety box conveying module 1; when the lifting inspection platform 2 is at its high position, it begins scanning for medicine loading. At this time, the barcode scanner 201 scans the information on the side of the box to confirm the medicine inside; the vision inspection camera 6 scans the medicine in the box to confirm its position and guides the robotic arm 7 to grip it. A medicine loading conveyor line 8 is provided on each side of the robotic arm 7. The robotic arm 7 places the medicine gripped from the box onto the medicine loading conveyor line 8, which then conveys it to the dispensing machine or other supporting devices. The use of dual medicine loading conveyor lines 8 allows for flexible correspondence with the lifting inspection platform 2 and the telescopic inspection platform 5, facilitating medicine loading.

[0030] Combination Figure 1 , Figure 3 and Figure 5As shown, the multi-stage separating conveyor 4 includes an inclined primary ramp conveyor belt 41. The bottom end of the primary ramp conveyor belt 41 is connected to the outlet end of the bulk medicine conveying line 32, and is used to receive the bulk medicines conveyed by the bulk medicine conveying line 32. Evenly distributed baffles 411 are fixed on the surface of the primary ramp conveyor belt 41, which facilitates the upward movement of the medicines along the primary ramp conveyor belt 41. A secondary deflecting conveyor belt 42 is connected to the top end of the primary ramp conveyor belt 41. A ramp 44 is provided between the inlet end of the secondary deflecting conveyor belt 42 and the top end of the primary ramp conveyor belt 41, allowing the medicines conveyed by the primary ramp conveyor belt 41 to fall onto the secondary deflecting conveyor belt 42 via the ramp 44. The third-stage conveyor belt 43 is connected to the drug outlet end of the second-stage steering conveyor belt 42. The third-stage conveyor belt 43 is lower than the second-stage steering conveyor belt 42. A ramp 44 is provided between the drug inlet end of the third-stage conveyor belt 43 and the drug outlet end of the second-stage steering conveyor belt 42. The drugs conveyed by the second-stage steering conveyor belt 42 fall onto the third-stage conveyor belt 43 after passing through the ramp 44. The drug outlet end of the third-stage conveyor belt 43 is close to the lifting detection platform 2. The bulk drugs are separated by the first-stage climbing conveyor belt 41, the second-stage steering conveyor belt 42, and the third-stage conveyor belt 43, and then transported to the telescopic detection platform 5.

[0031] Combined Figure 7 , Figure 8 and Figure 10 As shown, the telescopic detection platform 5 includes a linear slide rail 51 arranged below the drug outlet end of the three-stage conveyor belt 43. The linear slide rail 51 is fixed to the frame and parallel to the three-stage conveyor belt 43. A bracket 52 is slidably mounted on the linear slide rail 51, and the detection conveyor belt 53 is mounted on the bracket 52. An electrically powered telescopic push rod 55 is arranged parallel to the linear slide rail 51, and the actuating end of the telescopic push rod 55 is fixedly connected to the bracket 52.

[0032] When the telescopic push rod 55 extends, it pushes the detection conveyor belt 53 above the lifting detection platform 2. At this time, the detection conveyor belt 53 can receive the medicine delivered from the dispensing end of the three-stage conveyor belt 43. The vision inspection camera 6 located above the lifting detection platform 2 can scan the medicine on the detection conveyor belt 53, thereby guiding the robotic arm 7 to grasp the medicine. A baffle 54 is provided on the side of the detection conveyor belt 53 away from the dispensing end of the three-stage conveyor belt 43 to prevent the medicine from falling. It should be noted that when the detection conveyor belt 53 is pushed out, the lifting detection platform 2 is in a low position to avoid interference with the detection conveyor belt 53. When the telescopic push rod 55 retracts, it will pull the detection conveyor belt 53 back to below the drug outlet end of the three-stage conveyor belt 43, thus avoiding interference with the lifting detection platform 2.

[0033] A glass detection platform 501 is set between the two drug delivery lines 8. A robotic arm 7 picks up drugs from the detection conveyor belt 53 and places them on the glass detection platform 501. A 2D camera on the glass detection platform 501 detects the drug information. After confirming the drug information, the robotic arm 7 picks up the drug again and places it back onto the drug delivery line 8, which then transports it to the dispensing machine or other supporting devices. In this embodiment, multiple 2D cameras can be arranged to acquire at least one image of the drug and match it with a pre-stored image library to identify the drug type. In this embodiment, an electric lever is provided on one side of the glass detection platform 501. When a drug on the glass detection platform 501 cannot be identified, the electric lever pushes the drug off the glass detection platform 501. A matching drug return frame is provided under the glass detection platform 501.

[0034] In this embodiment, the conveying direction of the detection conveyor belt 53 is perpendicular to the conveying direction of the third-stage conveyor belt 43 and faces the first-stage inclined conveyor belt 41. The extended end of the detection conveyor belt 53 is provided with an inclined return channel, with both ends of the return channel connecting to the detection conveyor belt 53 and the first-stage inclined conveyor belt 41, respectively. When a medicine bottle falling onto the detection conveyor belt 53 is in an abnormal posture and cannot be correctly scanned by the visual inspection camera 6 or grasped by the robotic arm 7, the detection conveyor belt 53 is activated, conveying the abnormally positioned medicine to the return channel, and then returning to the first-stage inclined conveyor belt 41 for re-separation.

[0035] Example 2: Based on the above embodiment one, combined with Figure 1 , Figure 2 , Figure 7 and Figure 8 As shown, the single-product material bin conveying module 1 includes two parallel upper conveyor lines 11 and 12. A fork lifting module 13 is located at the left end of the single-product material bin conveying module 1. The actuator of the fork lifting module 13 is fixed with forks 14 for receiving the material bins, and the fork lifting module 13 drives the forks 14 to rise and fall. A drive belt is installed on the forks 14 to convey the material bins. When the forks 14 are in the low position, they connect with the lower conveyor line 12 to convey the material bins to the lower conveyor line 12; when the forks 14 are in the high position, they connect with the upper conveyor line 11 to receive empty material bins returned from the upper conveyor line 11. In this embodiment, both the upper conveyor line 11 and the lower conveyor line 12 are roller conveyors; wherein, a limit push rod 15 is provided in the middle of the lower conveyor line 12. When the limit push rod 15 extends, it can block the material box on the lower conveyor line 12, so that the material box queues on the lower conveyor line 12 and controls the material box to be conveyed to the lifting detection platform 2 in sequence.

[0036] Combined Figure 9 and Figure 10As shown, the lifting and inspection platform 2 is connected to the right end of the upper conveyor line 11 and the lower conveyor line 12. The lifting and inspection platform 2 includes an inspection lifting module 21 arranged at the right end of the upper conveyor line 11 and the lower conveyor line 12. An inspection table 22 is fixed to the execution end of the inspection lifting module 21. A row of electric rollers 23 is installed on the inspection table 22. The conveying direction of the electric rollers 23 is parallel to the conveying direction of the upper conveyor line 11 and the lower conveyor line 12. The inspection lifting module 21 is used to lift and lower the inspection table 22. When the inspection table 22 is in a low position, the electric rollers 23 are connected to the lower conveyor line 12 to receive the material boxes conveyed by the lower conveyor line 12. When the inspection table 22 is in a high position, the electric rollers 23 are connected to the upper conveyor line 11 to send empty material boxes back to the upper conveyor line 11.

[0037] Example 3: Based on the above-described embodiment two, combined with Figures 1 to 6 As shown, the multi-variety bulk medicine conveying module 3 includes a temporary storage tank 31 for storing bulk medicines, which is divided into multiple bulk medicine troughs. Each bulk medicine trough has a discharge port at its bottom, and a vibrator is fixed to one side of the discharge port. The bulk medicine conveying line 32 uses a belt conveyor, which is positioned below the discharge port at the bottom of the bulk medicine trough. The conveying end of the belt conveyor is connected to the bottom end of a primary inclined conveyor belt 41. Each bulk medicine trough stores different types of bulk medicines. The vibration of the vibrator allows the medicines to slide more smoothly from the discharge port onto the belt conveyor, which then transports the bulk medicines onto the primary inclined conveyor belt 41. Additionally, a sensor can be installed at the discharge port; when the sensor detects medicine at the discharge port, the vibrator stops vibrating.

[0038] Work process: For single-variety batches of drugs, the drugs are placed in the corresponding material bins in advance; Then the material box is placed on the fork 14, the fork 14 is in a low position, the fork 14 transports the material box to the lower conveyor line 12, the lower conveyor line 12 transports the material box to the lifting detection platform 2; The inspection platform 22 in the lifting inspection platform 2 is in a low position, receiving the material box conveyed by the lower conveyor line 12; then, the inspection platform 22 is raised to a high position, within the inspection range of the vision inspection camera 6; at this time, the inspection conveyor belt 53 in the telescopic inspection platform 5 is in a retracted state. Then, the barcode scanner 201 scans the information on the side of the bin to confirm the medicine inside; the visual inspection camera 6 scans the medicine in the bin to confirm the position of the medicine and guides the robotic arm 7. The robotic arm 7 places the medicine on the feeding conveyor line 8 and transports it to the dispensing machine or other supporting devices via the feeding conveyor line 8. For an empty bin, the inspection station 22 transports the empty bin to the upper conveyor line 11, and the upper conveyor line 11 transports the empty bin to the fork 14. At this time, the fork 14 is in a high position and receives the empty bin. Then, the fork 14 descends with the empty bin and takes it away.

[0039] For multiple types of bulk medicines, the bulk medicines are placed in the bulk medicine tank in advance; The vibrator at the bottom of the bulk medicine tank starts to vibrate, causing the medicine to fall from the outlet onto the bulk medicine conveyor line 32; the bulk medicine conveyor line 32 conveys the medicine to the first-stage inclined conveyor belt 41, the first-stage inclined conveyor belt 41 conveys the medicine to the second-stage turning conveyor belt 42, the second-stage turning conveyor belt 42 conveys the medicine to the third-stage conveyor belt 43; during the conveying process, the medicine is separated. Then, the detection conveyor belt 53 in the telescopic detection platform 5 is pushed out by the telescopic push rod 55, and the detection conveyor belt 53 is connected to the end of the three-stage conveyor belt 43 to receive the medicine conveyed from the three-stage conveyor belt 43; at this time, the detection conveyor belt 53 is within the detection range of the visual inspection camera 6, and at the same time, the detection platform 22 in the lifting detection platform 2 remains in a low position. Then, the visual inspection camera 6 scans the medicine on the inspection conveyor belt 53 and guides the robotic arm 7 to grab the medicine; the robotic arm 7 places the medicine on the glass inspection platform 501, and the 2D camera confirms the medicine information; after confirming the medicine information, the robotic arm 7 grabs the medicine again to the medicine feeding conveyor 8, and then the medicine feeding conveyor 8 transports it to the dispensing machine or other supporting devices. In this invention, the lifting detection platform 2 and the telescopic detection platform 5 can be dynamically adjusted according to different drug delivery needs, switching between single-variety batch drug delivery and multi-variety drug delivery modes. They share a set of 3D vision detection and robotic arm 7 grasping system, achieving structural compatibility between the two drug delivery methods.

[0040] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An automatic dispensing device for single or multiple drug varieties, Its features are, include: A single-product material bin conveying module has an upper conveyor line and a lower conveyor line for conveying the material bins; The lifting inspection platform can be lifted and positioned at one end of the upper and lower conveyor lines; when the lifting inspection platform is in a low position, it connects with the lower conveyor line; when the lifting inspection platform is in a high position, it connects with the upper conveyor line. The multi-variety bulk medicine conveying module has a temporary storage tank for storing bulk medicines; a bulk medicine conveying line for conveying bulk medicines is set under the temporary storage tank. A multi-stage separating conveyor is connected to the outlet end of the bulk medicine conveying line to transport and separate bulk medicines. The telescopic detection platform can be telescopically installed at the drug outlet end of the multi-stage separation conveyor; When the telescopic detection platform is retracted, it is located below the drug outlet of the multi-stage separation conveyor; when the telescopic detection platform is extended, it is docked at the drug outlet of the multi-stage separation conveyor and located above the lifting detection platform. A visual inspection camera is positioned above the lifting inspection platform to scan the lifting inspection platform at a high position and the telescopic inspection platform in an extended state. The robotic arm grasps medicines based on the guidance of a vision inspection camera; For single-product batches of drugs; The inspection platform in the lifting inspection platform is in a low position, receiving the material box conveyed by the lower conveyor line; then, the inspection platform is raised to a high position, within the inspection range of the vision inspection camera; at this time, the inspection conveyor belt in the telescopic inspection platform is in a retracted state. For a variety of bulk medicines; The inspection conveyor belt in the telescopic inspection platform is pushed out by the telescopic push rod. The inspection conveyor belt is connected to the end of the third-stage conveyor belt in the multi-stage separation conveyor, and receives the medicine conveyed from the third-stage conveyor belt. At this time, the inspection conveyor belt is within the inspection range of the visual inspection camera, and the inspection platform in the lifting inspection platform is kept at a low position.

2. The automatic dispensing device for single and multiple varieties as described in claim 1, characterized in that, Also includes: A barcode scanner is used to detect information about the hoppers on the lifting detection platform; The drug delivery line is used to receive the drugs that the robotic arm grabs from the lifting detection platform; The glass inspection platform is used to receive medicines picked up by the robotic arm from the telescopic inspection platform and to inspect the medicine information; after the glass inspection platform has finished inspecting the medicine information, the robotic arm picks up the medicines again and puts them back into the drug delivery line.

3. The automatic dispensing device for single and multiple varieties as described in claim 2, characterized in that: An electric lever is installed on one side of the glass inspection platform. The electric lever is used to push medicines that the glass inspection platform cannot recognize off the glass inspection platform.

4. The automatic dispensing device for single and multiple varieties as described in claim 1, characterized in that, The multi-stage separation conveyor includes: An inclined primary conveyor belt is arranged at an angle, with its bottom end connected to the outlet end of the bulk medicine conveying line; evenly distributed partitions are fixed on the surface of the primary conveyor belt. A horizontal secondary steering conveyor belt, the drug inlet end of which is connected to the top of the primary inclined conveyor belt; the secondary steering conveyor belt is lower than the top of the primary inclined conveyor belt, and a ramp is provided between the drug inlet end of the secondary steering conveyor belt and the top of the primary inclined conveyor belt. The three-stage horizontal conveyor belt connects the inlet end of the three-stage conveyor belt to the outlet end of the two-stage turning conveyor belt. The three-stage conveyor belt is lower than the two-stage turning conveyor belt, and a ramp is provided between the inlet end of the three-stage conveyor belt and the outlet end of the two-stage turning conveyor belt.

5. The single- or multi-variety mixed automatic drug dispensing device according to claim 4, characterized in that, The telescopic detection platform includes: A linear guide rail is fixed below the drug outlet end of the three-stage conveyor belt; The bracket is slidably mounted on the linear slide rail; An inspection conveyor belt, installed on the bracket, is used to receive medicines conveyed by the three-stage conveyor belt; the conveying direction of the inspection conveyor belt is perpendicular to the conveying direction of the three-stage conveyor belt, and a baffle is provided on the side of the inspection conveyor belt away from the medicine outlet end of the three-stage conveyor belt. The telescopic push rod is arranged parallel to the linear slide rail; the actuator end of the telescopic push rod is fixedly connected to the bracket. When the telescopic push rod retracts, the detection conveyor belt is located below the drug outlet end of the tertiary conveyor belt; when the telescopic push rod extends, the detection conveyor belt is aligned with the drug outlet end of the tertiary conveyor belt and located above the lifting detection platform.

6. The automatic dispensing device for single and multiple varieties as described in claim 5, characterized in that: The extended detection conveyor belt has an inclined return channel at its conveying end, which connects to the first-level inclined conveyor belt. When the detection conveyor belt rotates, it can transport drugs with abnormal postures on the detection conveyor belt to the return channel. The drugs with abnormal postures flow back to the first-level inclined conveyor belt through the return channel for re-separation.

7. The automatic dispensing device for single and multiple varieties as described in claim 4, characterized in that: The temporary storage tank is divided into multiple bulk medicine tanks; the bottom of the bulk medicine tank is provided with a medicine outlet, and a vibrator is fixed on one side of the medicine outlet; The bulk medicine conveying line is a belt conveyor. The medicine outlet at the bottom of the bulk medicine tank is located above the belt conveyor, and the conveying end of the belt conveyor is connected to the bottom end of the first-level inclined conveyor belt.

8. The automatic dispensing device for single and multiple varieties of medicine as described in claim 1, characterized in that, The single-product material bin conveying module also includes: The forklift module is located at the end of the upper and lower conveyor lines away from the lifting detection platform. The forks are installed on the actuator end of the fork lifting module; when the forks are in the low position, they connect with the lower conveyor line; when the forks are in the high position, they connect with the upper conveyor line.

9. The automatic dispensing device for single and multiple varieties as described in claim 8, characterized in that: Both the upper and lower conveyor lines are roller conveyors; a limit push rod is installed in the middle of the lower conveyor line, which can block the material box on the lower conveyor line when it extends.

10. The automatic dispensing device for single and multiple varieties as described in claim 8, characterized in that, The lifting detection platform includes: The detection lifting module is located at the end of the upper and lower conveyor lines away from the fork lifting module. The testing platform is installed at the execution end of the testing lifting module; The testing platform is equipped with a row of electric rollers; when the testing platform is in a low position, the electric rollers are connected to the lower conveyor line; when the testing platform is in a high position, the electric rollers are connected to the upper conveyor line.

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