Prescription-based traditional Chinese medicine semi-automatic dispensing equipment and control method thereof

Abstract

The invention discloses a prescription-based traditional Chinese medicine semi-automatic dispensing device and a control method thereof, and the control method comprises the steps: warehousing: according to a system prescription dispensing requirement, controlling a flow assembly to convey a medicine barrel assembly for prescription dispensing from a feeding station to a first loading station; the materials are transferred to a dispensing station through a first conveying mechanism to be manually dispensed and then returned; responding to the cache scheduling instruction, and utilizing a conveying device to transfer a specified medicine barrel on an assembly line between the first feeding station and the second feeding station to an upper cache station for temporary storage; and the reset scheduling instruction is responded, the reset scheduling instruction is put into the assembly line again, the reset scheduling instruction is conveyed to the second feeding station and then transferred to the manual rechecking station for rechecking, and after the reset scheduling instruction is conveyed to the total rechecking station by the assembly line assembly and rechecked, the reset scheduling instruction is sent out of the warehouse towards the discharging station. By arranging a cache station and a cache / reset scheduling mechanism, the medicine barrels which are not processed temporarily can be moved out of the main line for temporary storage, and flow blockage, process interference and scheduling disorder caused by retention of the medicine barrels on the main line are avoided.

Description

Technical Field

[0001] This invention relates to the field of pharmaceutical dispensing equipment technology, and in particular to a prescription-based semi-automatic dispensing device for traditional Chinese medicine and its control method. Background Technology

[0002] In the automated production process of traditional Chinese medicine decoction, existing technologies have widely adopted automated systems to complete processes such as weighing and mixing medicinal materials, decoction, dregs discharge, and liquid filling, which has significantly improved production efficiency and process stability.

[0003] However, due to the wide variety of Chinese medicinal herbs, their diverse physical properties, and the flexible and varied combinations of prescriptions, manual intervention and verification are still necessary at key stages to ensure accurate dispensing and medication safety. Especially when dealing with large-scale prescription production, semi-automatic Chinese medicine dispensing equipment often faces problems such as task backlog and scheduling difficulties. Furthermore, some herbs in the dispensing containers need to be stored until the next day for decoction, or the process may be interrupted due to blockages in subsequent steps. Existing equipment lacks an effective mechanism to handle these delayed processing needs, easily leading to production chaos, mismatched herbs, or loss of time management control. Therefore, optimizing the task scheduling, storage management, and process coordination capabilities of semi-automatic Chinese medicine dispensing equipment to adapt to complex and ever-changing production scenarios has become a key technical bottleneck restricting the further development of automated Chinese medicine decoction, urgently requiring an efficient, flexible, and safe solution. Summary of the Invention

[0004] The main objective of this invention is to propose a prescription-based semi-automatic dispensing device for traditional Chinese medicine and its control method, aiming to optimize the task scheduling, storage management and process coordination capabilities of the semi-automatic dispensing device for traditional Chinese medicine to adapt to complex and ever-changing production scenarios.

[0005] To achieve the above objectives, the present invention proposes a control method for a prescription-based semi-automatic dispensing device for traditional Chinese medicine, comprising:

[0006] Warehousing: According to the system prescription dispensing requirements, the control flow assembly will transport the medicine barrel assembly to be dispensed from the feeding station to the first loading station;

[0007] The first conveying mechanism is controlled to move the medicine barrel assembly from the first loading station to the dispensing station, and after manual dispensing, it returns to the first loading station.

[0008] In response to the cache scheduling command, the designated medicine barrel assembly located on the flow assembly between the first and second loading stations is transferred to the cache station for temporary storage via the conveyor device;

[0009] In response to the reset scheduling command, the designated medicine barrel component in the buffer station is put back into the flow assembly through the conveying device, so that it is conveyed to the second feeding station;

[0010] The second conveying mechanism is controlled to move the medicine barrel assembly from the second feeding station to a manual review station, and after manual review, the medicine barrel assembly is returned to the flow assembly, and after being reviewed by the flow assembly, the medicine barrel assembly is moved to a total weight review station for review, and then the medicine barrel assembly is moved to the discharge station for discharge.

[0011] The application further provides a traditional Chinese medicine semi-automatic dispensing device for implementing the control method of the traditional Chinese medicine semi-automatic dispensing device.

[0012] A rack is provided with a feeding station, a first feeding station, a second feeding station, a transfer station, a buffer station, a dispensing station, a manual review station, a total weight review station and a discharge station;

[0013] A flow assembly is used to convey the medicine barrel assembly from the feeding station to the discharge station, and the medicine barrel assembly is conveyed to the first feeding station and the second feeding station in sequence.

[0014] A conveying device is arranged corresponding to the transfer station, and is used to convey the specified medicine barrel assembly between the buffer and the flow assembly.

[0015] A plurality of conveying mechanisms are arranged, including a first conveying mechanism for conveying the medicine barrel assembly between the first feeding station and the dispensing station, and a second conveying mechanism for conveying the medicine barrel assembly between the second feeding station and the manual review station.

[0016] A manual dispensing device is arranged corresponding to the dispensing station, and is used to manually dispense traditional Chinese medicinal materials in the medicine barrel assembly at the dispensing station.

[0017] A manual review device is arranged corresponding to the manual review station, and is used to manually review traditional Chinese medicinal materials in the medicine barrel assembly at the manual review station.

[0018] A weighing mechanism includes a weighing part, and the weighing part is used to weigh the medicine barrel assembly at the total weight review station.

[0019] The one or more technical solutions provided in the application have at least the following technical effects:

[0020] By setting up cache stations and using cache / reset scheduling, in complex production scenarios such as large or concentrated prescription volumes, process blockages, equipment failures, or the need for multi-day decoction, medicine barrel components that are not yet ready to proceed to the next process can be transferred from the main line to the cache station for orderly temporary storage. This avoids process blockages, process cross-interference, and scheduling chaos caused by medicine barrels remaining on the main assembly line for extended periods. It also supports the dynamic return of designated medicine barrels to the main line on demand for continued circulation, improving the system's flexible scheduling capabilities and operational continuity, and ensuring the orderly operation and stability of the production cycle in manual dispensing and verification processes. Attached Figure Description

[0021] 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 the structures shown in these drawings without creative effort.

[0022] Figure 1 A schematic diagram of an embodiment of the semi-automatic dispensing device for traditional Chinese medicine provided by the present invention;

[0023] Figure 2 for Figure 1 Top view of a semi-automatic dispensing system for traditional Chinese medicine;

[0024] Figure 3 for Figure 1 Schematic diagram of the structure of the mid-flow water assembly;

[0025] Figure 4 for Figure 1 Side view of part of the structure of a semi-automatic dispensing equipment for traditional Chinese medicine;

[0026] Figure 5 for Figure 1 A schematic diagram of the structure at the repeated nuclear workstation of the General Motors;

[0027] Figure 6 for Figure 5 A magnified view of a section at point A in the middle;

[0028] Figure 7 for Figure 5 A magnified view of a section at point B in the middle;

[0029] Figure 8 for Figure 1 Schematic diagram of the weighing mechanism and medicine barrel assembly;

[0030] Figure 9 for Figure 8 Explosion diagram of a weighing mechanism;

[0031] Figure 10 Fig. 3 is a structural schematic view of a third conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application; Figure 1 Fig. 4 is a structural schematic view of a fourth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application;

[0032] Figure 11 Fig. 5 is a structural schematic view of a fifth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application; Figure 10 Fig. 6 is a structural schematic view of a sixth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application;

[0033] Figure 12 Fig. 7 is a structural schematic view of a seventh conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application; Figure 1 Fig. 8 is a structural schematic view of an eighth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application;

[0034] Figure 13 Fig. 9 is a structural schematic view of a ninth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application; Figure 14 Fig. 10 is a structural schematic view of a tenth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application; Figure 1 Fig. 11 is a structural schematic view of an eleventh conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application;

[0035] Figure 15 Fig. 12 is a structural schematic view of a twelfth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application; Figure 1 Fig. 13 is a structural schematic view of a thirteenth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application;

[0036] Figure 16 Fig. 14 is a structural schematic view of a fourteenth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application; Figure 1 Fig. 15 is a structural schematic view of a fifteenth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application;

[0037] Figure 17 Fig. 16 is a structural schematic view of a sixteenth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application; Figure 16 Fig. 17 is a structural schematic view of a seventeenth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application;

[0038] Figure 18 Fig. 18 is a structural schematic view of an eighteenth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application; Figure 1 Fig. 19 is a structural schematic view of a nineteenth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application;

[0039] Figure 19 Fig. 20 is a structural schematic view of a twentieth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application; Figure 1 Fig. 21 is a structural schematic view of a twenty-first conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application;

[0040] Figure 20 Fig. 22 is a structural schematic view of a twenty-second conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application; Figure 19 Fig. 23 is a structural schematic view of a twenty-third conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application;

[0041] Figure 21 Fig. 24 is a structural schematic view of a twenty-fourth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application; Figure 1 Fig. 25 is a structural schematic view of a twenty-fifth conveying mechanism in the Chinese medicine semi-automatic dispensing equipment according to the present application;

[0042] Figure 22 Fig. 26 is a flowchart of a first embodiment of the control method of the Chinese medicine semi-automatic dispensing equipment according to the present application;

[0043] Figure 23 Fig. 27 is a flowchart of a second embodiment of the control method of the Chinese medicine semi-automatic dispensing equipment according to the present application;

[0044] Figure 24 Fig. 28 is a flowchart of a third embodiment of the control method of the Chinese medicine semi-automatic dispensing equipment according to the present application;

[0045] Figure 25 The flowchart of the fourth embodiment of the control method of the traditional Chinese medicine semi-automatic dispensing equipment provided by the application is shown.

[0046] Explanation of reference numerals:

[0047] 100, traditional Chinese medicine semi-automatic dispensing equipment; 1, rack; a, feeding station; b, first feeding station; c, second feeding station; d, buffer station; e, dispensing station; f, manual review station; g, total weight review station; h, discharging station; j, transfer station; j1, first transfer station; j2, second transfer station; k1, first transfer station; k2, second transfer station; 2, assembly line; 21, first assembly line; 22, second assembly line; 23, third assembly line; 231, first detection device; 232, second detection device; 201, conveying frame; 202, stop; 203, conveying part; 3, conveying device; 31, base; 32, lifting mechanism; 321, lifting part; 33, conveying mechanism; 331, fixed part; 332, bearing part; 3321, matching part; 4, conveying mechanism; 401, first conveying mechanism; 402, second conveying mechanism; 403, third conveying mechanism; 404, fourth conveying mechanism; 41, second fixed seat; 42, second driving device; 43, second lifting part; 44, conveying part; 45, first mounting seat; 46, first driving motor; 47, first lifting structure; 48, first conveying part; 5, manual dispensing device; 51, first housing; 51a, feeding port; 51b, conveying port; 52, third driving device; 53, first conveying part; 6, manual review device; 61, mounting frame; 62, turnover plate; 63, lifting mechanism; 64, fourth driving device; 65, second conveying part; 7, weighing mechanism; 70, weighing part; 71, first fixed seat; 711, first seat plate; 712, first guide sleeve; 712a, first guide hole; 72, first driving device; 73, first lifting part; 731, first guide column; 732, positioning column; 733, first lifting plate; 734, second lifting plate; 8, buffer structure; 81, support plate; 82, limiting plate; 91, photoelectric emitter; 92, receiver; 10, position detection device;

[0048] 200, medicine bucket assembly; 201, bottom plate; 202, outer bucket; 203, positioning piece; 204, hanging piece.

[0049] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0050] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0051] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0052] In addition, if the embodiments of the present application involve descriptions of “first”, “second”, etc., the descriptions of “first”, “second”, etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first” and “second” can explicitly or implicitly include at least one of the features. In addition, “and / or” or “and / or” appearing throughout the text means that the three parallel schemes include A scheme, or B scheme, or A and B schemes are satisfied at the same time. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person of ordinary skill in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope of the present application.

[0053] The present application provides a traditional Chinese medicine semi-automatic dispensing equipment 100, which aims to realize the orderly flow of the medicine barrel assembly 200 in the traditional Chinese medicine decoction process, manual intervention and flexible scheduling control.

[0054] Please refer to Figures 1 to 4The traditional Chinese medicine semi-automatic dispensing equipment 100 comprises a rack 1, a flow assembly 2, a conveying device 3, a plurality of conveying mechanisms 4, a manual dispensing device 5, a manual review device 6 and a weighing mechanism 7. The rack 1 is provided with an inlet station a, a first feeding station b, a second feeding station c, a buffer station d, a dispensing station e, a manual review station f, a total weight review station g and an outlet station h. The flow assembly 2 is used to convey the medicine barrel assembly 200 from the inlet station a to the outlet station h, and sequentially convey the medicine barrel assembly 200 to the first feeding station b and the second feeding station c. The conveying device 3 is used to convey the medicine barrel assembly 200 between the buffer and the flow assembly 2. The plurality of conveying mechanisms 4 comprises a first conveying mechanism 401 for conveying the medicine barrel assembly 200 between the first feeding station b and the dispensing station e, and a second conveying mechanism 402 for conveying the medicine barrel assembly 200 between the second feeding station c and the manual review station f. The manual dispensing device 5 is arranged corresponding to the dispensing station e, and is used for manually dispensing traditional Chinese medicinal materials in the medicine barrel assembly 200 at the dispensing station e. The manual review device 6 is arranged corresponding to the manual review station f, and is used for manually reviewing traditional Chinese medicinal materials in the medicine barrel assembly 200 at the manual review station f. The weighing mechanism 7 comprises a weighing part 70, which is used for weighing the medicine barrel assembly 200 at the total weight review station g.

[0055] It can be understood that the traditional Chinese medicine semi-automatic dispensing equipment 100 is based on the structure of the rack 1, and the rack 1 is integrally provided with the inlet station a, the first feeding station b, the second feeding station c, the dispensing station e, the manual review station f, the total weight review station g, the outlet station h and the independently configured buffer station d along the material conveying path.

[0056] The flow assembly 2 is a main line conveying mechanism, which adopts a continuous conveying structure such as a belt conveying line, a chain plate conveying line or a roller conveying line, and is responsible for conveying the medicine barrel assembly 200 from the inlet station a to the first feeding station b, the second feeding station c and finally to the outlet station h in sequence.

[0057] It should be noted that, during the conveying process, the medicine barrel assembly 200 can be loaded with an electronic tag or a two-dimensional code identifier for recording prescription information, process status and flow track, and realizing whole-process information management.

[0058] To realize the flexible scheduling of the medicine barrel assembly 200 between the main conveying line and the buffer area, the traditional Chinese medicine semi-automatic dispensing equipment 100 is provided with a special conveying device 3. The conveying device 3 can be a telescopic push rod mechanism, a reversing fork, an auxiliary mechanical arm or a lifting transplanting mechanism, and the action thereof is controlled by a central control system. When receiving a buffer scheduling instruction or a reset scheduling instruction, the specified medicine barrel assembly 200 can be accurately moved from the assembly line to the buffer station d for temporary storage or re-injected into the assembly line from the buffer station d, so as to realize dynamic buffering and process adjustment.

[0059] A plurality of conveying mechanisms 4 are arranged in the key operation area. The first conveying mechanism 401 is located between the first feeding station b and the dispensing station e, and is used for conveying the medicine barrel assembly 200 from the assembly line to the dispensing station e for manual dispensing operation of the operator, such as adding, reducing or replacing medicinal materials, and then returning the medicine barrel assembly 200 to the original feeding station. The second conveying mechanism 402 is arranged between the second feeding station c and the manual review station f, and has a similar function, which is used to support the taking and placing operation of the manual review link, so as to ensure the accuracy of the dispensing result and the safety of the medicine use.

[0060] The manual dispensing device 5 and the manual review device 6 are arranged in the dispensing station e and the manual review station f respectively, and are usually man-machine interactive workstations provided with operation tables, illuminations, tool storage and information display terminals, so as to facilitate the operator to complete the precise intervention according to the prescription instruction.

[0061] In addition, the equipment is also provided with a weighing mechanism 7, and the core thereof is a weighing part 70, which is usually a high-precision weighing sensor or an electronic scale, and is integrated in the total weight review station g, which is used for weight detection of the medicine barrel assembly 200 before and after dispensing or in the review stage, so as to realize real-time monitoring and alarm of the dosage deviation, and further ensure the accuracy of the feeding.

[0062] The traditional Chinese medicine semi-automatic dispensing equipment 100 provided by the application improves the adaptability to complex prescriptions and non-continuous processes in the production of traditional Chinese medicine decoction by integrating the buffer station d and the special conveying device 3, combining the multi-station collaborative layout and the intelligent control system. Under abnormal conditions such as concentrated prescription amount, process blockage or delayed processing (such as cross-day decoction), the medicine barrel assembly 200 can be orderly temporarily stored and restored as needed, so as to effectively avoid main line congestion and production interruption. At the same time, by arranging independent manual dispensing and manual review stations f and providing a weighing mechanism 7, the operation of the key link can be traced and the dosage can be verified, so as to greatly improve the safety of medicine use and the controllability of the process. The overall structure layout is reasonable, and the man-machine cooperation is efficient. The flexibility and reliability of manual intervention are retained, and the automation level and scheduling flexibility of the system are enhanced. The equipment is suitable for intelligent production needs of large-scale and multi-variety traditional Chinese medicine decoction.

[0063] Specifically, please refer to Figures 5 to 7In the embodiment, the assembly 2 comprises a conveying frame 201 and a stopper 202, the conveying frame 201 is arranged between the feeding station a, the first feeding station b, the second feeding station c and the discharging station h, and a movable conveying part 203 is arranged on the conveying frame 201, and the medicine barrel assembly 200 is supported on the conveying part 203. The stopper 202 is movably arranged on the conveying frame 201 in the up-down direction, and is used to stop and limit the medicine barrel assembly 200 at the first feeding station b or the second feeding station c when the conveying part 203 drives the medicine barrel assembly 200 to move.

[0064] The assembly 2 comprises the conveying frame 201 and the conveying part 203 arranged thereon, wherein the conveying frame 201 is arranged in the direction from the feeding station a, the first feeding station b, the second feeding station c to the discharging station h, and constitutes a main path for conveying the medicine barrel assembly 200.

[0065] It should be noted that the conveying part 203 can adopt a chain, a synchronous belt, a roller or a belt structure, and is driven by a motor to realize continuous or step-by-step operation. The medicine barrel assembly 200 can be directly supported on the surface of the conveying part 203 or fixed on the conveying part 203 by a special carrier, and moves synchronously with the conveying part 203.

[0066] In order to realize accurate positioning and stable stay of the medicine barrel assembly 200 at the key feeding station, the assembly 2 is further provided with the stopper 202. The stopper 202 is movably arranged on the conveying frame 201 in the up-down direction, and generally adopts a pneumatic push rod, an electric push rod or an electromagnetic driving mechanism as an execution element, and the stop end thereof can be switched between a raised state and a lowered state.

[0067] When the medicine barrel assembly 200 runs to the first feeding station b or the second feeding station c along with the conveying part 203, the control system triggers the stopper 202 to act according to the signal of a position sensor (such as a photoelectric switch, a proximity switch or an encoder feedback), so that the stop end of the stopper 202 extends upwardly into the conveying path to physically block the medicine barrel assembly 200 from continuing to move forward, thereby accurately limiting the medicine barrel assembly 200 at the predetermined operation position. The positioning process can be matched with the accurate start-stop control of the conveying part 203 to realize high repeated positioning accuracy, and to ensure that the subsequent conveying mechanism 4 (such as a mechanical arm or a gantry grabbing device) can accurately and reliably grab the medicine barrel assembly 200.

[0068] After the first conveying mechanism 401 or the second conveying mechanism 402 completes the transfer of the medicine barrel assembly 200 to the dispensing station e or the manual review station f and the operation returns, the control system instructs the stopper 202 to reset, and the stop end thereof retreats downwardly to the inside or below the conveying frame 201, so as to release the blocking state, and the medicine barrel assembly 200 can continue to be driven by the conveying part 203 to enter the next station.

[0069] In addition, the stop portion 202 can be provided at multiple key nodes, such as the first feeding station b and the second feeding station c, each of which is provided with an independent stop unit, so as to facilitate parallel processing and independent control of the double stations, and improve the processing capacity and scheduling flexibility of the system.

[0070] By arranging the up-and-down movable stop portion 202 in the flow assembly 2, the accurate positioning and reliable limiting of the medicine barrel assembly 200 at the first feeding station b and the second feeding station c are realized, and the positioning deviation problem caused by inertia, speed fluctuation or load difference during conveying is effectively solved; the active control mechanism of the stop portion 202 ensures that the medicine barrel assembly 200 is stably positioned before the conveying mechanism 4 performs the pick-and-place operation, thereby improving the accuracy and safety of the mechanical hand grabbing, and avoiding the risk of mispositioning, collision or falling.

[0071] Further, referring to Figures 8 to 9 In the embodiment, the weighing mechanism 7 is located below the conveying portion 203, and the weighing mechanism 7 includes a first fixed seat 71, a first driving device 72 and a first jacking portion 73; the first fixed seat 71 is fixedly connected to the conveying frame 201 and is arranged corresponding to the total weight rechecking station g; the first driving device 72 is installed on the first fixed seat 71 and has a first driving portion arranged to be movable up and down; the first jacking portion 73 is connected to the top of the first driving portion and is driven by the first driving portion to move up and down, and is used to jacking the medicine barrel assembly 200 in the upward movement stroke to separate from the flow assembly 2; the weighing portion 70 is arranged on the first jacking portion 73 and is used to weigh the medicine barrel assembly 200 supported on the first jacking portion 73.

[0072] It can be understood that the first fixed seat 71 is a structural support component, which is fixedly connected to the conveying frame 201 and is arranged corresponding to the total weight rechecking station g, so as to ensure the stability of the weighing module during the operation of the equipment.

[0073] The first driving device 72 is installed on the first fixed seat 71 and can be an actuator such as a pneumatic cylinder, an electric push rod or a servo cylinder, and the output end thereof is a first driving portion movable up and down.

[0074] The first jacking portion 73 is connected to the top end of the first driving portion and is usually a jacking plate or a jacking column structure, which can realize vertical lifting movement under the driving of the first driving device 72.

[0075] When the medicine bucket assembly 200 is conveyed by the flow water assembly 2 to the total repeated weighing station g and is accurately positioned by the stop portion 202, the control system sends a weighing instruction, the first driving device 72 is started, the first jacking portion 73 is driven to move upward, the medicine bucket assembly 200 at the top thereof is smoothly jacked up from the conveying portion 203, and the medicine bucket assembly 200 is completely separated from the supporting surface of the conveying portion 203, so that the total weight of the medicine bucket assembly 200 is transmitted to the weighing portion 70.

[0076] The weighing portion 70 is integrated in the first jacking portion 73 or is rigidly connected with the first jacking portion 73, can adopt a high-precision strain type or electromagnetic force balance type weighing sensor, collects the total weight of the medicine bucket assembly 200 and the content in real time, and transmits the weight signal to the control system for data processing.

[0077] The actual total weight obtained through the weighing portion 70 is compared with the preset weight value of the prescription and the threshold range (such as ±3% or ±5g, which is determined according to the texture and dose of the medicine) allowed, if the actual weight is in the preset range, the system determines that the weighing is qualified, the first driving device 72 is controlled to reset, the first jacking portion 73 is lowered, the medicine bucket assembly 200 falls back to the conveying portion 203, and then the stop portion 202 is released, the flow water assembly 2 continues to convey the medicine bucket assembly 200 to the discharging station h, and enters the next process, if the actual weight exceeds the threshold range, the system triggers an alarm, the conveying process is paused, and the operator is prompted through the man-machine interface to review or rework, so that unqualified products do not flow into the subsequent links.

[0078] Through the jacking type weighing mechanism 7 arranged below the conveying portion 203, online and non-interference high-precision weighing of the medicine bucket assembly 200 on the assembly line is realized, the first jacking portion 73 is driven by the first driving device 72 to completely jack up the medicine bucket assembly 200 from the conveying portion 203, the weight is completely loaded on the weighing portion 70, the influence of conveying structure vibration, friction or support deviation on the weighing result is effectively eliminated, and the accuracy and repeatability of weighing are significantly improved, the actual total weight is automatically compared and judged with the preset threshold by the control system, real-time quality control of the medicine dose is realized, and the safety of medicine use is ensured, the whole weighing process is integrated in the main conveying process, does not need to be additionally moved or interrupted, the degree of automation is high, and the response is rapid.

[0079] Specifically, refer to Figure 9 In the embodiment, the first fixed seat 71 includes a first seat plate 711 and a first guide sleeve 712, the first fixed seat 71 is provided with a first guide hole 712a penetrating the first seat plate 711 and the first guide sleeve 712 in the up-down direction, the bottom of the first jacking portion 73 extends downward to form a first guide column 731, and the first guide column 731 is arranged in the first guide hole 712a to be in sliding fit with the first guide hole 712a.

[0080] The bottom of the first lifting part 73 extends downwardly a first guide column 731 which is in a cylindrical structure and has an outer diameter slightly smaller than the inner diameter of the first guide hole 712a to achieve a clearance fit. In the assembled state, the first guide column 731 is arranged in the first guide hole 712a from bottom to top and can freely slide along the hole axis direction. The high-precision sliding pair formed between the first guide column 731 and the first guide hole 712a effectively restricts the radial displacement and rotational freedom of the first lifting part 73 during lifting, ensuring that its movement trajectory is strictly along the vertical direction.

[0081] The guide structure cooperates with the first driving device 72: when the first driving part (such as the piston rod of a pneumatic cylinder or the output shaft of an electric push rod) pushes the first lifting part 73 to rise, the first guide column 731 synchronously slides in the first guide hole 712a, playing a role of auxiliary guide and anti-bias load. Even in the case of slight eccentricity of the driving force or uneven external load, this structure can still ensure that the bucket assembly 200 is smoothly and vertically lifted, avoiding the influence of the measurement accuracy of the weighing sensor caused by the lateral force due to tilting or jamming.

[0082] Further, please refer to Figures 8 to 9 In this embodiment, the top of the first lifting part 73 protrudes a positioning column 732 which is used for positioning cooperation with the positioning slot on the bottom plate 201 of the bucket assembly 200.

[0083] The bottom plate 201 of the bucket assembly 200 is provided with a positioning slot corresponding in position and matching in shape and size with the positioning column 732, which can be a blind hole, a through hole or a counterbore structure, and the inner wall of which forms a clearance fit or a transition fit with the outer surface of the positioning column 732. When the bucket assembly 200 runs to the total weight rechecking station g with the conveying part 203 and is lifted upward by the first lifting part 73, the positioning column 732 is inserted into the positioning slot synchronously, realizing the precise positioning of the two in the horizontal plane. In this way, not only the lateral displacement and rotational freedom of the bucket assembly 200 relative to the first lifting part 73 are limited, but also the center of gravity of the bucket assembly 200 is ensured to be highly aligned with the loading axis of the weighing sensor.

[0084] By arranging the positioning column 732 on the top of the first lifting part 73 and forming positioning cooperation with the positioning slot on the bottom plate 201 of the bucket assembly 200, the horizontal freedom of the bucket assembly 200 can be forcibly restricted, ensuring that it is always in the preset weighing position after being lifted off the conveying part 203, avoiding uneven load distribution caused by swinging, shifting or rotating, so as to improve the spatial positioning accuracy of the bucket assembly 200 during weighing.

[0085] Specifically, please refer to Figure 9In the embodiment, the first lifting part 73 comprises a first lifting plate 733 and a second lifting plate 734 arranged in the up-down direction, and the second lifting plate 734 is connected to the first driving part; the weighing part 70 has a first end and a second end arranged oppositely, the first end of the weighing part 70 is arranged swingably in the up-down direction relative to the second end of the weighing part 70, the first end of the weighing part 70 is fixedly connected to the first lifting plate 733, and the second end of the weighing part 70 is fixedly connected to the second lifting plate 734, and the first lifting plate 733 is used for lifting the medicine barrel assembly 200.

[0086] The weighing part 70 is a high-precision weighing sensor having a first end and a second end arranged oppositely. The weighing part 70 adopts a cantilever beam type or a double-end support type structure design, the first end is fixedly connected to the first lifting plate 733 through a bolt or an elastic connecting piece, and the second end is fixedly connected to the second lifting plate 734. The key is that the first end of the weighing part 70 has a limited swing degree of freedom in the up-down direction relative to the second end, that is, the first end is allowed to deflect by a small angle in the vertical plane, and the second end remains relatively fixed.

[0087] When the first driving device 72 starts and pushes the second lifting plate 734 to rise, the second lifting plate 734 drives the second end of the weighing part 70 to move upward synchronously, and the first lifting plate 733 forms a downward reaction force at the first end of the weighing part 70 under the action of the weight of the medicine barrel assembly 200. Since the first end has a swing capability, it can automatically adjust the posture during the lifting of the medicine barrel assembly 200, so as to ensure that the weighing part 70 only responds to the change of the vertical direction load and is not disturbed by the lateral force or the bending moment.

[0088] Further, please refer to Figures 10 to 11 In the embodiment, the rack 1 is further provided with a first transfer station k1 and a second transfer station k2 arranged in the longitudinal direction, the flow assembly 2 further comprises a first flow assembly 21, a second flow assembly 22 and a third flow assembly 23, the first flow assembly 21 and the second flow assembly 22 extend in the transverse direction and are arranged in the longitudinal direction; the third flow assembly 23 extends in the longitudinal direction between the first transfer station k1 and the second transfer station k2, and the third flow assembly 23 is arranged at the same end in the transverse direction of the first flow assembly 21 and the second flow assembly 22; and the conveying device 3 is arranged between the first flow assembly 21 and the second flow assembly 22.

[0089] It is understandable that the first flow assembly 21 and the second flow assembly 22 extend laterally and maintain a certain distance in the longitudinal direction, respectively undertaking the conveying tasks of different stages: the first flow assembly 21 is mainly used for the initial flow of the medicine barrel assembly 200 from the feeding station a through the first loading station b to the dispensing station e, while the second flow assembly 22 is responsible for the subsequent process from the second loading station c through the manual verification station f and the total verification station g to the discharge station h.

[0090] The third flow assembly 23 extends longitudinally, connecting the first transfer station k1 and the second transfer station k2. It is located at the same end of the first flow assembly 21 and the second flow assembly 22 in the horizontal direction (e.g., the downstream end of the first flow assembly 21 or the upstream end of the second flow assembly 22), forming a longitudinal connection channel between the two horizontal flow lines, realizing the switching and convergence of the medicine barrel assembly 200 between different flow paths.

[0091] The conveying device 3 is located in the area between the first flow assembly 21 and the second flow assembly 22. The conveying device 3 includes a lifting mechanism 32 and a conveying mechanism 33. The lifting mechanism 32 may be a servo electric cylinder, a pneumatic lifting column, or a scissor lift platform, used to drive the conveying mechanism 33 to move in the vertical direction; the conveying mechanism 33 may be a mechanical gripper, a vacuum suction cup, or a clamping arm, and has the ability to move laterally and / or longitudinally.

[0092] When the system responds to the cache scheduling command, the lifting mechanism 32 of the control conveying device 3 drives the conveying mechanism 33 to descend to a position flush with the conveying surface of the first flow assembly 21 or the second flow assembly 22. Then, the conveying mechanism 33 moves longitudinally, grabs the designated medicine barrel assembly 200 located on the flow line between the first loading station b and the second loading station c, and then the lifting mechanism 32 lifts it to a high position and transfers it to the cache station d set above for orderly storage.

[0093] When the system responds to the reset scheduling command, the conveying mechanism 33 rises to the buffer station d, grabs the designated medicine barrel component 200, and is driven by the lifting mechanism 32 to descend to a position flush with the conveying surface of the second flow component 22, and puts it into the upstream section of the second loading station c of the second flow component 22, so that the medicine barrel component 200 re-enters the review process, realizing delayed processing or priority scheduling.

[0094] In addition, when the medicine barrel assembly 200 passes through the manual review station f, if an abnormal dispensing is detected (such as missing of medicinal materials, insufficient dosage, or mismatching), the system generates an abnormal dispensing instruction, and controls the assembly line assembly 2 to return the medicine barrel assembly 200 to the second feeding station c and pause. At this time, the conveying mechanism 33 of the conveying device 3 is started, and the abnormal medicine barrel assembly 200 is grabbed from the second feeding station c in the longitudinal direction, is lifted by the lifting mechanism 32, is transferred to the corresponding position of the first assembly line assembly 21, is conveyed back to the first feeding station b by the first assembly line assembly 21, and is then re-fed into the dispensing station e by the first conveying mechanism 401, so that the closed-loop rework mechanism is formed.

[0095] By arranging the first transfer station k1 and the second transfer station k2 longitudinally on the rack 1, and arranging the first assembly line assembly 21, the second assembly line assembly 22, and the third assembly line assembly 23 in connection with each other, a multi-path and three-dimensional material conveying rack 201 is constructed, so as to improve the space utilization efficiency and the process organization flexibility of the equipment. The conveying device 3 in combination with the lifting mechanism 32 and the conveying mechanism 33 can realize efficient transfer of the medicine barrel assembly 200 between the main conveying line and the buffer station d in the vertical and longitudinal directions, support automatic design of buffer scheduling and reset scheduling, and cope with complex working conditions such as large prescription backlog, process blockage, or delayed processing. Meanwhile, the traditional Chinese medicine semi-automatic dispensing equipment 100 is arranged in this way, so that the rework path of the abnormal medicine barrel assembly 200 can be established. When an abnormal dispensing is found in the review link, the conveying device 3 can be used to transfer the abnormal medicine barrel assembly 200 longitudinally back to the upstream dispensing path from the downstream review process, so as to realize closed-loop correction and avoid manual intervention and process interruption.

[0096] Specifically, in the embodiment, please refer to Figure 11 The plurality of conveying mechanisms 4 further include a third conveying mechanism 403 arranged corresponding to the first transfer station k1, and a fourth conveying mechanism 404 arranged corresponding to the second transfer station k2. The conveying mechanism 4 arranged at the first transfer station k1 and the second transfer station k2 includes a first mounting seat 45, a first driving motor 46, a first jacking structure 47, and a first conveying part 48. The first mounting seat 45 is fixedly connected to the conveying rack 201 of the third assembly line assembly. The first driving motor 46 is mounted on the first mounting seat 45, and has a first driving part which is arranged to be movable up and down. The first jacking structure 47 is connected to the top of the first driving part, and is movable up and down driven by the first driving part. The first jacking structure 47 is used to jack up the medicine barrel assembly 200 in the upward stroke, so as to separate the medicine barrel assembly 200 from the third assembly line assembly 23. The first conveying part 48 is movably arranged at the first jacking structure 47 in the transverse direction. The first conveying part 48 is used to convey the medicine barrel assembly 200 supported thereon in the transverse direction.

[0097] For the transfer requirement of the medicine barrel assembly 200 between the first transfer station k1 and the second transfer station k2, the conveying mechanism 4 arranged at the first transfer station k1 and the second transfer station k2 both include a first mounting seat 45, a first driving motor 46, a first jacking structure 47, and a first conveying part 48.

[0098] The first mounting seat 45 is fixed on the second conveying frame 201 (i.e., the bearing frame of the third flow assembly 23) by bolting or welding, and provides stable support for the first driving motor 46.

[0099] The first driving motor 46 is in the form of a pneumatic cylinder or an electric push rod, and its first driving part is movably arranged up and down, and the jacking action is realized through the extension and retraction of the piston rod or the lifting movement of the motor.

[0100] The first jacking structure 47 is connected to the top of the first driving motor 46 and is composed of a rigid metal plate or a frame, and is used to move in the vertical direction under the driving of the first driving motor 46. When the first jacking structure 47 moves upward, its bottom contacts the bottom of the medicine barrel assembly 200, lifts the medicine barrel assembly 200 from the bearing surface (such as a roller or a conveying belt) of the third flow assembly 23, and makes the medicine barrel assembly 200 disengage from the third flow assembly 23, thereby creating space for subsequent horizontal conveying.

[0101] The first conveying part 48 is movably arranged on the top of the first jacking structure 47 in the horizontal direction, and is usually realized by a slide rail and a slide block structure or a linear module. The bearing surface of the first conveying part 48 is adapted to the bottom of the medicine barrel assembly 200, so as to ensure that the medicine barrel assembly 200 can be stably supported after being lifted. After the first jacking structure 47 completes the disengagement action of the medicine barrel assembly 200, the first conveying part 48 starts horizontal movement to convey the medicine barrel assembly 200 to the target station (such as the first transfer station k1 or the second transfer station k2) in the horizontal direction.

[0102] It should be noted that the horizontal movement range of the first conveying part 48 needs to cover the horizontal interval between the first transfer station k1 and the second transfer station k2, and the movement speed and accuracy thereof need to be coordinated with the running pace of the third flow assembly 23, so as to avoid the medicine barrel assembly 200 from being stranded or colliding due to speed mismatch during the transfer process.

[0103] Further, please refer to Figure 10 In the embodiment, the third flow assembly 23 further includes a first detection device 231 and a second detection device 232, which are used to realize real-time monitoring of the medicine barrel assembly 200 in the transfer station state.

[0104] The first detection device 231 is arranged corresponding to the first transfer station k1, and is installed on a bearing structure of the third flow assembly 23 or a first mounting seat 45 adjacent thereto, and a detection end thereof faces a parking area of the medicine barrel assembly 200 at the first transfer station k1, and is used for sensing whether the medicine barrel assembly 200 exists at the station.

[0105] The second detection device 232 is arranged corresponding to the second transfer station k2 in a symmetrical or mirror image manner, and an installation position and a detection direction thereof correspond to the first detection device 231, so as to ensure that the coverage ranges of the two detection devices are consistent. Both types of detection devices adopt non-contact sensors, such as photoelectric sensors, proximity switches or laser displacement sensors, and a transmitting end and a receiving end thereof are arranged on both sides or one side of a reflection mode of a running path of the medicine barrel assembly 200. When the medicine barrel assembly 200 enters a detection area, a light path or an electromagnetic field is blocked or a reflection signal changes, so as to trigger a detection signal.

[0106] The detection area of the first detection device 231 accurately covers a predetermined parking position of the first transfer station k1, so as to ensure that the presence state of the medicine barrel assembly 200 can be identified in time after the medicine barrel assembly 200 is transported by the first flow assembly 21 to the first transfer station k1 and completely stops. The signal is transmitted to a central control system (such as a PLC or an industrial computer) of the equipment in real time, and is used for judging whether to start a lifting and horizontal conveying action of the conveying mechanism 4 arranged at the first transfer station k1 and / or the second transfer station k2.

[0107] Similarly, the second detection device 232 monitors the occupancy of the second transfer station k2. When the medicine barrel assembly 200 is transported to the second transfer station k2 by the third flow assembly 23 and is parked stably, the second detection device 232 outputs an existing signal, and a control system judges whether to allow the second conveying mechanism 402 to perform a subsequent transfer operation to the second flow station f according to the existing signal. The signals of the two types of detection devices also participate in a safety interlocking logic of the equipment, for example, when a target station is occupied, the medicine barrel assembly 200 is prevented from being continuously transported at an upstream station, so as to prevent stacking or collision.

[0108] Specifically, refer to Figure 4 , Figures 12 to 16In the embodiment, the buffer station d is arranged above the flow assembly 2, the plurality of transfer stations includes a first transfer station j1 and a second transfer station j2, the second transfer station j2 is arranged above the first transfer station j1, the conveying device 3 includes a base 31, a lifting mechanism 32 and a conveying mechanism 33, the base 31 is movably arranged along the transverse direction on the rack 1; the lifting mechanism 32 is arranged on the base 31 and includes a lifting part 321 movably arranged along the vertical direction relative to the base 31; the conveying mechanism 33 includes a fixed part 331 and a carrying part 332, the fixed part 331 is fixedly connected with the lifting part 321 and is driven by the lifting part 321 to move between the first transfer station j1 and the second transfer station j2, the carrying part 332 is movably arranged along the longitudinal direction relative to the fixed part 331, and the carrying part 332 is used to longitudinally convey the carried bucket assembly 200 to the buffer station d and the flow assembly 2.

[0109] The base 31 is movably arranged along the transverse direction (i.e. the left-right direction of the bucket assembly 200) on the rack 1, and the transverse movement function can be realized by a guide rail and sliding block structure, a roller guide rail structure or a linear module. The transverse movement function enables the whole conveying device 3 to be flexibly adjusted according to the transverse position difference of the bucket assembly 200 between different stations, thereby adapting to the requirements of different layouts of the automatic decocting system.

[0110] The lifting mechanism 32 is arranged on the base 31 and includes the lifting part 321 movably arranged along the vertical direction (i.e. the vertical direction) relative to the base 31. The lifting mechanism 32 can be driven by a pneumatic cylinder, a hydraulic cylinder, an electric push rod or a servo motor cooperating with a lead screw module, and the specific structure thereof can be selected according to the required carrying capacity and lifting precision. The lifting mechanism 32 is used to drive the conveying mechanism 33 to move in the vertical direction, thereby realizing the switching of the bucket assembly 200 between different height layers, such as conveying from the first transfer station j1 flush with the flow assembly to the second transfer station j2 flush with the buffer station d.

[0111] The conveying mechanism 33 includes the fixed part 331 and the carrying part 332, wherein the fixed part 331 is fixedly connected with the lifting part 321 of the lifting mechanism 32 and moves up and down synchronously with the lifting mechanism 32; the carrying part 332 is movably arranged along the longitudinal direction (i.e. the front-rear conveying direction of the bucket assembly 200) relative to the fixed part 331, and the longitudinal movement function can be realized by a guide rail and sliding block structure, a roller guide rail structure or a linear motor driving structure. The carrying part 332 is used to carry and longitudinally convey the bucket assembly 200.

[0112] Further, please refer to Figure 12The top of the bearing part 332 is provided with a matching part 3321 for limiting cooperation with the limiting part on the bottom plate 201 of the medicine barrel assembly 200.

[0113] The specific form of the matching part 3321 can be adapted and designed according to the structure of the limiting part. For example, when the limiting part is the hanging part 204, the matching part 3321 can be a limiting groove; when the limiting part is a positioning protrusion, the matching part 3321 can be a limiting groove or a guide groove, etc. Through the limiting cooperation of the matching part 3321 and the limiting part, the medicine barrel assembly 200 can be stably clamped and accurately positioned during the conveying process by the bearing part 332, preventing it from slipping or deviating during the conveying process, thereby ensuring that the medicine barrel assembly 200 can be accurately conveyed to the target station.

[0114] In the actual application of the traditional Chinese medicine decoction system, the medicine barrel conveying device 3 can first lift or lower the bearing part 332 to the target height through the lifting mechanism 32 according to the process flow requirements, and then convey the medicine barrel assembly 200 to the specified station through the longitudinal movement of the bearing part 332.

[0115] Further, please refer to Figure 12 and Figure 14 In this embodiment, the medicine barrel conveying device 3 further comprises a photoelectric sensor, which comprises a photoelectric emitter 91 and a receiver 92, and the photoelectric emitter 91 and the receiver 92 are oppositely arranged in the transverse direction, for detecting the position of the medicine barrel assembly 200 moving along the longitudinal direction between the photoelectric emitter 91 and the receiver 92 according to the plurality of positioning parts 203 on the medicine barrel assembly 200.

[0116] Specifically, the photoelectric emitter 91 and the receiver 92 are respectively installed on the two sides of the machine base 31 of the conveying device 3 or the bearing part 332, and the optical beam axis thereof is perpendicular to the longitudinal movement direction of the medicine barrel assembly 200 (i.e. the front-rear direction of the medicine barrel assembly 200). When the medicine barrel assembly 200 moves in the longitudinal direction, the plurality of positioning parts 203 arranged thereon will pass through or block the light beam between the photoelectric emitter 91 and the receiver 92 in turn, thereby realizing real-time detection and judgment of the position of the medicine barrel assembly 200.

[0117] The plurality of positioning parts 203 on the medicine barrel assembly 200 are arranged on the top of the bottom plate 201 and distributed around the periphery of the outer barrel 202, preferably four, arranged in the four corner regions of the bottom plate 201. Each positioning part 203 has a first positioning surface and a second positioning surface extending in the up-down direction (as described above), and at least one of the positioning surfaces can block the light beam of the photoelectric sensor during the movement of the medicine barrel assembly 200. The shape and position of these positioning parts 203 are precisely designed to ensure that when the medicine barrel assembly 200 reaches the specified station, the positioning part 203 thereof can accurately block the light beam, thereby triggering the photoelectric sensor to output an in-position signal.

[0118] In addition, since the plurality of positioning members 203 are respectively arranged at different positions of the medicine barrel assembly 200, the photoelectric sensor can further determine whether the medicine barrel assembly 200 has abnormal conditions such as deviation, inclination or misplacement through the light shielding sequence and time interval of the plurality of positioning members 203, thereby improving the detection accuracy and fault tolerance of the entire system.

[0119] Specifically, a code scanning gun is arranged beside the photoelectric emitter 91, and the code scanning gun is used to scan the information of the medicine barrel assembly 200.

[0120] A code scanning gun is arranged beside the photoelectric emitter 91 (i.e. on one side in the transverse direction), and the scanning direction of the code scanning gun is towards the predetermined travel path of the medicine barrel assembly 200, and is used to automatically scan the identification code (such as a two-dimensional code or a bar code) arranged on the surface or the bottom plate 201 of the medicine barrel assembly 200 when the medicine barrel assembly 200 passes. When the medicine barrel assembly 200 is conveyed to the designated position by the carrying part 332 in the longitudinal direction, the code scanning gun automatically scans the identification code on the medicine barrel assembly 200, obtains the identity information, the decocting parameters, the batch information and other key data of the medicine barrel assembly 200, and transmits the scanning result to the control system, so as to realize the whole-process tracking and intelligent scheduling of the medicine barrel assembly 200.

[0121] Further, please refer to Figure 4 and Figure 14 In the embodiment, the plurality of transfer stations j include a first transfer station j1 and a second transfer station j2, the second transfer station j2 is arranged above the first transfer station j1, and the conveying device 3 further includes a position detection device 10, which is installed on the lifting part 321 and is used to detect whether there is a medicine barrel assembly 200 in the feeding station corresponding to the first transfer station j1 or whether there is a medicine barrel assembly 200 in the buffer station d corresponding to the second transfer station j2.

[0122] When the conveying device 3 runs to the first transfer station j1, the lifting part 321 drives the position detection device 10 to move to the position in butt joint with the feeding station. At this time, the axis of the detection light curtain is perpendicular to the transfer direction (i.e. the longitudinal direction) of the medicine barrel assembly 200, and is accurately aligned with the output port of the feeding station. If the feeding station has completed the feeding action of the medicine barrel assembly 200, the bottom plate 201 of the medicine barrel assembly 200 will completely block the detection light path, and the sensor outputs the “with material” signal; otherwise, if the feeding station is empty, the light path remains unblocked, and the output is the “without material” signal. The detection process is started before the conveying device 3 reaches the transfer station j, so that the presence state of the medicine barrel assembly 200 can be predicted when the medicine barrel assembly 200 has not yet entered the transfer area.

[0123] When the conveying device 3 runs to the second transfer station j2, the position detection device 10 moves with the lifting part 321 to the area that is in alignment with the buffer station d. At this time, the detection light curtain is aligned with the input / output port of the buffer structure 8 of the buffer station d, for judging whether the buffer station d has stored the medicine barrel assembly 200 at present. When the medicine barrel assembly 200 is pushed to the buffer station d and completely enters the limiting area, the positioning part 203 on the bottom plate 201 will block the detection light path, triggering the “buffer occupation” signal.

[0124] Specifically, referring to Figure 17 In the embodiment, the conveying mechanism 4 (i.e. the first conveying mechanism 401 and the second conveying mechanism 402) arranged at the first feeding station b and the second feeding station c includes a second fixed seat 41, a second driving device 42, a second lifting part 43 and a conveying part 44. The second fixed seat 41 is fixedly connected to the conveying frame 201. The second driving device 42 is installed on the second fixed seat 41 and has a second driving part that is movably arranged in the up-down direction. The second lifting part 43 is connected to the second driving part and is driven by the second driving part to move in the up-down direction, for lifting the medicine barrel assembly 200 in the upward stroke to separate from the flow assembly 2. The conveying part 44 is movably arranged on the second lifting part 43 in the longitudinal direction. The conveying part 44 is used for conveying the medicine barrel assembly 200 between the first feeding station b and the dispensing station e, or for conveying the medicine barrel assembly 200 between the second feeding station c and the manual review station f.

[0125] The second fixed seat 41 is fixedly connected to the side or bottom structure of the conveying frame 201, as the support basis of the entire conveying mechanism 4.

[0126] The second driving device 42 is installed on the second fixed seat 41 and can adopt a pneumatic, electric or hydraulic actuator. The output end of the second driving device 42 is a second driving part that can reciprocate in the up-down direction (vertical direction).

[0127] The second lifting part 43 is connected to the top end of the second driving part and can be lifted in the vertical direction under the driving of the second driving part, for lifting the medicine barrel assembly 200 at the first feeding station b or the second feeding station c from the flow assembly 2 in the upward stroke, so that the medicine barrel assembly 200 is completely separated from the support of the main conveying system and is mechanically decoupled.

[0128] When the medicine barrel assembly 200 is lifted to a predetermined height by the second lifting part 43, the entire weight of the medicine barrel assembly 200 is borne by the second lifting part 43. At this time, the main conveying part can continue to run without affecting the state of the medicine barrel assembly 200.

[0129] The conveying part 44 is movably arranged on the second lifting part 43 in the longitudinal direction, for example, a synchronous belt / screw transmission system driven by a linear guide rail and a servo motor or a stepper motor. The conveying part 44 is started after receiving the control command, and drives the medicine barrel assembly 200 carried thereon to move in the longitudinal direction, and accurately transports it from the first feeding station b to the dispensing station e, or from the second feeding station c to the manual review station f. After the process is completed, the second lifting part 43 is lowered, the medicine barrel assembly 200 is placed on the support surface of the target station again, and the conveying part 44 is reset, preparing for the next transfer operation.

[0130] Specifically, please refer to Figure 18 The manual dispensing device 5 includes a first housing 51 and a first conveying assembly. The first housing 51 constitutes the external closed structure of the manual dispensing device 5, which is used to accommodate the internal mechanism, isolate external interference and ensure operation safety.

[0131] The first housing 51 is provided with a feeding port 51a and a conveying port 51b. The feeding port 51a is located at the top of the first housing 51, providing an entrance for the operator to add traditional Chinese medicinal materials into the device.

[0132] The conveying port 51b is arranged on one side of the first housing 51 in the longitudinal direction, i.e. on the end side wall along the longitudinal extension direction of the first flow assembly 21, as a channel for the medicine barrel assembly 200 to enter and exit the manual dispensing device 5. The conveying port 51b is connected to the end of the second conveying mechanism 402, so that the medicine barrel assembly 200 pushed by the second conveying part 44 can smoothly enter the interior of the first housing 51.

[0133] The interior space of the first housing 51 is provided with a dispensing station e, which is a fixed work position for the medicine barrel assembly 200 to complete the operations such as weighing, sorting and dispensing under manual intervention. The coordinate of the dispensing station e in the longitudinal direction matches the travel of the conveying port 51b and the first conveying part 53.

[0134] The first conveying assembly is arranged in the interior of the first housing 51, and is used to convey the medicine barrel assembly 200 from the conveying port 51b to the dispensing station e after the medicine barrel assembly 200 enters the device.

[0135] The first conveying assembly includes a third driving device 52 and a first conveying part 53. The third driving device 52 is fixedly installed on the internal support structure of the first housing 51, which can adopt a form of a servo motor, a stepper motor cooperating with a screw nut mechanism, or a linear motor, to provide an accurately controllable driving force.

[0136] The first conveying member 53 is a mechanical structure, such as a tray, slide or belt platform, for supporting and carrying the medicine barrel assembly 200, and has a flat top surface that is adapted to the bottom of the medicine barrel assembly 200 to ensure stability during conveying. The third driving device 52 is drivingly connected to the first conveying member 53 by a shaft coupling, synchronous belt or gear driving rack 435, etc. to transmit rotary motion or linear power to the first conveying member 53 so that it moves longitudinally.

[0137] When the medicine barrel assembly 200 enters the first housing 51 through the conveying port 51b and is received by the first conveying member 53, the third driving device 52 is started to drive the first conveying member 53 to move longitudinally inward to smoothly push the medicine barrel assembly 200 from the conveying port 51b to the internal dispensing station e, completing the feeding action. The longitudinal conveying direction is consistent with the pushing direction of the second conveying mechanism 402, ensuring seamless connection of the medicine barrel assembly 200 between different mechanisms.

[0138] Specifically, referring to Figures 19 to 20 , the manual review device 6 includes a mounting frame 61, a turnover plate 62, a jacking mechanism 63 and a second conveying assembly. The mounting frame 61 constitutes the basic support structure of the manual review device 6 and is used to carry all related components such as the turnover plate 62, the jacking mechanism 63 and the second conveying assembly.

[0139] The turnover plate 62 is a rigid plate-shaped component that is rotatably connected to the mounting frame 61 by a rotating shaft structure around a rotating axis extending transversely, which is consistent with the transverse direction of the first or second flow assembly 21 or 22, i.e. perpendicular to the longitudinal conveying direction. One end of the turnover plate 62 is a fixed connection end connected to a bearing seat or a hinged support on the mounting frame 61, and the other end is a free end that can reciprocatingly swing around the rotating axis under the drive of the jacking mechanism 63. The upper surface of the turnover plate 62 is used to support the medicine barrel assembly 200, and in the rotating process, it drives the medicine barrel assembly 200 to rotate synchronously, thereby adjusting the spatial posture of the medicine barrel assembly 200, such as converting from a horizontal conveying state to an inclined or vertical state, facilitating comprehensive observation of the traditional Chinese medicinal materials in the medicine barrel by the review operator or the vision system.

[0140] The jacking mechanism 63 extends in the up-down direction, with its lower end connected to the mounting frame 61 by a hinged manner to form a stable fulcrum, and its upper end rotatably connected to the free end of the turnover plate 62 by another hinged structure to form a driving linkage point.

[0141] The jacking mechanism 63 can be in the form of a pneumatic cylinder, an electric push rod or a hydraulic cylinder, etc. to change its length by extension and retraction, thereby pushing or pulling the free end of the turnover plate 62 to lift or lower in the vertical plane.

[0142] When the piston rod or push rod of the jacking mechanism 63 extends upward, the free end of the turnover plate 62 is pushed to rise, causing the turnover plate 62 to turn upward around its rotation axis; when the jacking mechanism 63 retracts, the turnover plate 62 falls downward to the initial horizontal position under the action of gravity or an auxiliary reset device (such as a tension spring).

[0143] The second conveying assembly is arranged on the turnover plate 62 or the mounting frame 61, and is used to further convey the medicine barrel assembly 200 pushed to the entrance of the manual review device 6 by the second conveying mechanism 402 to the manual review station f.

[0144] The second conveying assembly includes a fourth driving device 64 and a second conveying part 65. The fourth driving device 64 is fixedly installed on the non-active area of the mounting frame 61 or the turnover plate 62, and can adopt a precise driving form such as a servo motor cooperating with a lead screw, a synchronous belt, or a linear motor. The second conveying part 65 is a bearing structure for supporting the medicine barrel assembly 200, such as a sliding table, a supporting plate, or a belt conveying section, which is drivingly connected with the fourth driving device 64 and can move longitudinally under the driving of the fourth driving device 64.

[0145] When the medicine barrel assembly 200 is pushed to the initial position of the manual review device 6 by the second conveying mechanism 402, the second conveying part 65 receives it and longitudinally conveys it to the predetermined manual review station f on the turnover plate 62. Before or during the review operation, the jacking mechanism 63 can drive the turnover plate 62 to turn with the medicine barrel assembly 200, so as to facilitate multi-angle observation, code scanning, or manual checking.

[0146] Specifically, please refer to Figure 21 In this embodiment, the buffer structure 8 includes a support plate 81 and a limiting plate 82. The support plate 81 is fixedly installed on the rack 1 and is used to support the medicine barrel assembly 200. The limiting plate 82 is arranged on the top of the support plate 81 and is located on the side of the support plate 81 away from the conveying device 3, and is used to limit the medicine barrel assembly 200 at the buffer station d when the conveying device 3 conveys the medicine barrel assembly 200 from the transfer station j to the buffer station d.

[0147] It should be noted that the medicine barrel assembly 200 is composed of a bottom plate 201, an outer barrel 202, and an inner barrel. The inner barrel is nested in the inner cavity of the outer barrel 202, and the bottom of the outer barrel 202 is fixed on the bottom plate 201 by welding or bolts. During the conveying of the medicine barrel assembly 200, the bottom plate 201 serves as the main bearing surface and needs to be supported on the support plate 81 of the buffer station d, and the side edge thereof needs to be closely fitted with the side surface of the limiting plate 82 to achieve lateral limitation.

[0148] The support plate 81 is a rectangular metal plate structure extending in the horizontal direction and fixedly installed on the rack 1 of the device. The top surface thereof is precisely machined to ensure flatness to adapt to the square contact surface of the bottom plate 201 of the medicine barrel assembly 200. The length and width of the support plate 81 are designed according to the size of the medicine barrel assembly 200.

[0149] The limiting plate 82 is a rigid structure vertically installed on one side of the support plate 81, and the cross section thereof is L-shaped or right-angled to adapt to the square profile of the bottom plate 201 of the medicine barrel assembly 200. The bottom of the limiting plate 82 is fixedly connected with the support plate 81 by bolting or welding. The vertical surface of the limiting plate 82 forms a 90° angle with the surface of the support plate 81.

[0150] During the transfer of the medicine barrel assembly 200, the conveying device 3 moves the medicine barrel assembly 200 from the second transfer station j2 to the buffer station d along the predetermined track. When the medicine barrel assembly 200 approaches the buffer station d, the end effector of the conveying device 3 precisely pushes the medicine barrel assembly 200 to the central area of the support plate 81 at a low speed. At this time, the square edge of the bottom plate 201 will contact the vertical surface of the limiting plate 82, and the medicine barrel assembly 200 will be laterally fixed in the buffer station d by the rigid constraint of the limiting plate 82.

[0151] The limiting plate 82 effectively suppresses the risk of lateral displacement of the medicine barrel assembly 200 in the buffer station d through physical blocking effect. Even under slight vibration or impact during the operation of the device, the medicine barrel assembly 200 can still maintain a stable state.

[0152] Based on the structure of the traditional Chinese medicine semi-automatic dispensing device 100 described above, the implementation details of the first embodiment of the control method of the traditional Chinese medicine semi-automatic dispensing device 100 provided by the present application will be described below. The following content is only the implementation details provided for easy understanding, and is not necessary for implementing this solution.

[0153] The specific process of this embodiment is shown in Figure 22 , and specifically includes:

[0154] Step S1: warehousing: according to the system prescription dispensing requirement, the flow assembly 2 is controlled to convey the medicine barrel assembly 200 for prescription dispensing from the feeding station a to the first feeding station b.

[0155] In the initial stage, the medicine barrel assembly 200 carries the prescription information (which can be encoded by RFID tag or two-dimensional code) into the feeding station a. After the control system is started, the driving flow assembly 2 (such as a belt conveying line, a chain plate conveying line or a roller line) transports the medicine barrel assembly 200 from the feeding station a along a set path to the first feeding station b. During the conveying process, the position sensor monitors the running state of the medicine barrel assembly 200 in real time to ensure that it accurately reaches the target position. When the medicine barrel assembly 200 reaches the first feeding station b and is accurately positioned by the stopper 202, the system triggers the next operation.

[0156] Step S2: Control the first conveying mechanism 401 to move the medicine barrel assembly 200 from the first feeding station b to the dispensing station e, and return to the first feeding station b after manual dispensing.

[0157] In this step, the control system issues an action instruction to control the first conveying mechanism 401 (which can be a mechanical arm, a gantry type grabbing device or a telescopic push rod mechanism) to work, which is grabbed or moved from the first feeding station b to the adjacent dispensing station e. The dispensing station e is equipped with a manual operation station and an information display terminal. The operator adjusts, adds or replaces the traditional Chinese medicinal materials in the medicine barrel according to the prescription content prompted by the system, and completes the manual dispensing operation. After the dispensing is completed, the first conveying mechanism 401 again acts to return the medicine barrel assembly 200 from the dispensing station e to the first feeding station b, preparing for the next process.

[0158] Step S3: In response to the cache scheduling instruction, the specified medicine barrel assembly 200 located on the flow assembly 2 between the first feeding station b and the second feeding station c is transferred to the cache station d for temporary storage by the conveying device 3.

[0159] In this process, if the system receives a "cache scheduling instruction", which can be automatically generated by the upper production management system (MES) according to the production load, equipment state, prescription priority or cross-day decoction demand, or manually triggered by the operator, the control system will identify the specified medicine barrel assembly 200 (according to the label information matching) located on the flow assembly 2 between the first feeding station b and the second feeding station c, and control the conveying device 3 (such as a lifting type grabbing mechanism, a reversing fork or an auxiliary mechanical arm) to move it out of the main conveying line and transfer it to the independently set cache station d for temporary storage. The cache station d can adopt a multi-layer shelf, a ring-shaped cache track or a stacking structure to support the orderly storage and index management of multiple batches of medicine barrels, avoiding the congestion of the main line caused by subsequent process blockage or processing delay.

[0160] Step S4: In response to the reset scheduling instruction, the specified medicine barrel assembly 200 in the cache station d is re-input into the flow assembly 2 by the conveying device 3, so that it is conveyed to the second feeding station c.

[0161] When the production conditions are restored or the timing of scheduling is mature, the system responds to the "reset scheduling instruction" to start the conveying device 3 again, re-inject the designated medicine barrel assembly 200 in the buffer station d into the main assembly line, make it enter the conveying section between the first feeding station b and the second feeding station c, and continue to convey it to the second feeding station c.

[0162] Step S5: control the second conveying mechanism 402 to move the medicine barrel assembly 200 from the second feeding station c to the manual review station f, return to the flow assembly 2 after manual review, and be sent to the total review station e by the flow assembly 2, and then be sent to the discharge station h after no error is found.

[0163] When the medicine barrel assembly 200 reaches the second feeding station c and is positioned by the stop portion 202, the control system drives the second conveying mechanism 402 (which can be identical in structure to or symmetrically arranged with the first conveying mechanism 401) to move it to the manual review station f. At the manual review station f, the operator performs final verification on the type, quantity, dose and dispensing result of the medicine in the medicine barrel to ensure the safety of the medicine and the compliance of the prescription. After no error is found, the second conveying mechanism 402 returns the medicine barrel assembly 200 to the second feeding station c, and the control system drives the flow assembly 2 to continue conveying it in the conveying direction. During the conveying process, the medicine barrel assembly can be subjected to weight detection when passing through the weighing station g to check whether the dispensing dose meets the prescription requirements.

[0164] It should be noted that the total review station e is arranged before the discharge station h as a final quality confirmation node. The total review station e can also be configured with a visual recognition system, an RFID reading device or be subjected to final visual inspection by a dedicated person for reviewing the label information of the medicine barrel assembly, the consistency of the prescription, the packaging state and the execution of the previous procedure. The control system determines whether to allow the medicine barrel assembly to be discharged according to the review result: if no error is found, the flow assembly 2 continues to convey the medicine barrel assembly to the discharge station h to enter the subsequent decoction or packaging procedure; if an abnormality is found, the system locks the medicine barrel assembly, records the abnormal information, and moves it out of the main process for manual processing.

[0165] By introducing the buffer scheduling and reset scheduling mechanism, combined with the collaborative layout of the double feeding station and the double conveying mechanism 4, the drug barrel assembly 200 can be dynamically temporarily stored in the buffer station d under complex working conditions such as prescription quantity concentration, process blockage, equipment maintenance or cross-day processing, effectively avoiding the congestion and production interruption of the main conveying line, and improving the continuity and scheduling flexibility of the production line operation; at the same time, through the closed-loop control mode of "moving-transferring-operating-returning", the operation of manual dispensing and manual review link is traceable and the responsibility is definable, combined with the weighing verification, the feeding accuracy and the drug safety can be further improved; this method not only retains the necessity and reliability of manual intervention in traditional Chinese medicine dispensing, but also greatly improves the production efficiency and system response capability through automatic scheduling means.

[0166] The buffer structure includes a support plate and a limiting plate. The support plate is fixedly installed on the rack and used for supporting the drug barrel assembly. The limiting plate is arranged on the top of the support plate and located on the side of the support plate away from the conveying device, and used for limiting the drug barrel assembly in the buffer station when the conveying device transports the drug barrel assembly from the transfer station to the buffer station.

[0167] It should be noted that the drug barrel assembly is composed of a bottom plate, an outer barrel and an inner barrel. The inner barrel is nested in the inner cavity of the outer barrel, and the bottom of the outer barrel is fixed on the bottom plate by welding or bolts. During the conveying process of the drug barrel assembly, the bottom plate serves as the main bearing surface and needs to be supported on the support plate of the buffer station, and the side edge thereof needs to be closely fitted with the side surface of the limiting plate to achieve lateral limiting.

[0168] The support plate is a rectangular metal plate structure, which extends along the horizontal direction and is fixedly installed on the rack of the equipment. The top surface thereof is precisely machined to ensure flatness to adapt to the square contact surface of the bottom plate of the drug barrel assembly. The length and width of the support plate are designed according to the size of the drug barrel assembly.

[0169] The limiting plate is a rigid structure installed vertically on one side of the support plate, and its cross section is L-shaped or right-angled to adapt to the square profile of the bottom plate of the drug barrel assembly. The bottom of the limiting plate is fixedly connected with the support plate by bolts or welding. The vertical surface of the limiting plate forms a 90° angle with the surface of the support plate.

[0170] During the transfer process of the drug barrel assembly, the conveying device moves the drug barrel assembly from the transfer station to the buffer station along the predetermined track. When the drug barrel assembly approaches the buffer station, the end effector of the conveying device pushes the drug barrel assembly to the center area of the support plate at low speed. At this time, the square edge of the bottom plate will contact the vertical surface of the limiting plate, and the drug barrel assembly is laterally fixed in the buffer station by the rigid constraint of the limiting plate.

[0171] The limiting plate effectively inhibits the risk of transverse displacement of the medicine barrel assembly in the buffer station by physical blocking effect. Even under slight vibration or impact during operation of the device, the medicine barrel assembly can still maintain a stable state.

[0172] Based on the first embodiment of the control method of the traditional Chinese medicine semi-automatic dispensing device 100, the implementation details of the second embodiment of the control method of the traditional Chinese medicine semi-automatic dispensing device 100 provided by the present application are described below. The following content is only the implementation details provided for easy understanding, and is not necessary for implementing the present solution.

[0173] The specific process of the present embodiment is shown in Figure 23 The control method of the traditional Chinese medicine semi-automatic dispensing device 100 specifically includes the following steps:

[0174] Step S31: When the buffer scheduling instruction is executed, the lifting mechanism 32 of the conveying device 3 drives the conveying mechanism 33 to descend to the level of the first flow assembly 21 or the second flow assembly 22, longitudinally grabs the medicine barrel assembly 200, and then rises to the buffer station d above.

[0175] When the buffer scheduling instruction is executed, the control system first locates the medicine barrel assembly 200 to be temporarily stored (usually located on the first flow assembly 21 or the second flow assembly 22, in the conveying section between the first feeding station b and the second feeding station c), and then controls the lifting mechanism 32 of the conveying device 3 to drive the conveying mechanism 33 to descend to the level of the conveying surface of the target flow assembly 2 to ensure that the grabbing plane matches. After the conveying mechanism 33 moves longitudinally and accurately grabs the medicine barrel assembly 200, the lifting mechanism 32 vertically lifts it to a high position, transfers it to the buffer station d above, and stores it in the specified position of the buffer rack according to the preset rules (such as prescription number, priority, or time sequence), and completes the temporary storage operation.

[0176] Step S41: When the reset scheduling instruction is executed, the conveying mechanism 33 is controlled to rise to grab the specified medicine barrel assembly 200 in the buffer station d, and then descend to the level of the second flow assembly 22, so that the specified medicine barrel assembly 200 enters the review process.

[0177] When the system responds to the reset scheduling instruction (such as subsequent process recovery, idle of the decoction device, or scheduling priority improvement), the control system calls the position information of the specified medicine barrel assembly 200 in the buffer station d, controls the conveying mechanism 33 to rise to the buffer station d, grabs the medicine barrel assembly 200, and then is lowered to the level of the conveying surface of the second flow assembly 22 by the lifting mechanism 32, and is smoothly put into the upstream section of the second flow assembly 22 (usually before the second feeding station c), so that it reenters the review process and continues the subsequent process.

[0178] Step S51: When receiving the dispensing abnormality instruction detected by the manual review station f, after returning the medicine barrel assembly 200 to the second feeding station c, the conveying mechanism 33 of the conveying device 3 is controlled to move it longitudinally from the second feeding station c to the first flow assembly 21, and re-enter the dispensing station e through the first feeding station b for correction.

[0179] When the medicine barrel assembly 200 is found to have dispensing abnormalities (such as missing medicinal materials, dosage deviation, and mismatching) through manual verification or automatic detection at the manual review station f, the system generates a "dispensing abnormality instruction". At this time, the control system first controls the second conveying mechanism 402 to return the medicine barrel assembly 200 from the manual review station f to the second feeding station c and pause at this position. Then, the conveying device 3 is started, and its conveying mechanism 33 is controlled to move longitudinally above the second feeding station c. After grabbing the abnormal medicine barrel assembly 200, it is transferred to the corresponding position of the first flow assembly 21 (usually before the first feeding station b) by the lifting mechanism 32, and then it is conveyed to the first feeding station b by the first flow assembly 21, and then it is re-fed into the dispensing station e by the first conveying mechanism 401 for correction by the operator. This closed-loop rework mechanism does not require manual handling or manual path switching, and realizes the automation of abnormal process flow and efficient processing.

[0180] By setting the buffer station d in the upper space and using the double flow assembly 2 in parallel layout to cooperate with the integrated lifting conveying device 3, the efficient scheduling and flexible flow of the medicine barrel assembly 200 in the three-dimensional space are realized. This control method not only supports dynamic temporary storage of the medicine barrel assembly 200 in the high-level buffer area when the prescription amount is large, the process is blocked, or delayed processing is required, to avoid main line congestion, but also can automatically control the conveying device 3 to longitudinally transfer the abnormal medicine barrel assembly 200 from the downstream review path back to the upstream dispensing path when dispensing abnormalities are found in the review link, to realize closed-loop correction.

[0181] Based on the first embodiment of the control method of the traditional Chinese medicine semi-automatic dispensing equipment 100 described above, the implementation details of the second embodiment of the control method of the traditional Chinese medicine semi-automatic dispensing equipment 100 provided by the present application are described below. The following content is only the implementation details provided for easy understanding, and is not necessary for implementing this solution.

[0182] The specific process of this embodiment is shown in Figure 24 The control method of the traditional Chinese medicine semi-automatic dispensing equipment 100 specifically includes the following steps:

[0183] Step S6: When the control system detects that the conveying device 3 is in a high-load state or the buffer scheduling queue exceeds a preset threshold, the control system controls the flow assembly 2 to move the drug cartridge assembly 200 located on the first flow assembly 21 to the first transfer station k1 of the third flow assembly 23 through the third conveying mechanism 403.

[0184] When the system determines that the conveying device 3 is overloaded or the buffer queue is over limit, the control system immediately intervenes in the scheduling logic, suspends the operation of transferring the drug cartridge assembly 200 to the buffer station d, and controls the designated drug cartridge assembly 200 located on the first flow assembly 21 to continue to the first transfer station k1. At this time, the third conveying mechanism 403 (which can be a mechanical arm, a pushing device, or a gantry grabbing mechanism) acts after receiving the control instruction, grabs the drug cartridge assembly 200 at the first transfer station k1 from the first flow assembly 21 and moves it to the starting end of the third flow assembly 23, realizing path switching.

[0185] Step S7: When the third flow assembly 23 conveys the drug cartridge assembly 200 to the second transfer station k2, the control system controls the fourth conveying mechanism 404 to move it to the second flow assembly 22 and continue to convey to the second feeding station c.

[0186] When the third flow assembly 23 is started, it conveys the drug cartridge assembly 200 longitudinally to the second transfer station k2 at the end thereof. When the drug cartridge assembly 200 is accurately positioned, the fourth conveying mechanism 404 (which has a similar structure and function to the third conveying mechanism 403) performs the docking operation, grabs it from the third flow assembly 23 and accurately drops it to the upstream section of the second flow assembly 22, so that it continues to convey to the second feeding station c and then enters the review process.

[0187] The shunting mechanism is monitored and triggered in real time by the central control system. The load state can be comprehensively judged by the action frequency, motor current, task queue length, or multi-dimensional running parameters of the conveying device 3. The preset threshold can be dynamically adjusted according to historical data, equipment rated capacity, or production plan to ensure the timeliness and rationality of the shunting strategy. The entire process does not require manual intervention, and the flow path information of the drug cartridge assembly 200 is updated to the system database in real time, ensuring the traceability of the entire process.

[0188] By introducing a dynamic shunting mechanism based on load awareness, when high load of the conveying device 3 or buffer scheduling queue is detected, the medicine barrel assembly 200 is automatically transferred from the first assembly line 21 to the second assembly line 22 through the third assembly line 23, realizing the flow unloading of the main scheduling path and the intelligent reconstruction of the process path; this method avoids the process blockage, response delay or equipment failure risk caused by the overload of the buffer system, improves the running stability and scheduling flexibility of the traditional Chinese medicine semi-automatic dispensing equipment 100 in the peak production period or abnormal working conditions; at the same time, by setting the vertical transfer assembly line and the matching conveying mechanism 4, a three-dimensional conveying network with multiple path cooperation is constructed, the redundancy and process continuity of the system are enhanced, and it is ensured that even in the pressure state of the core scheduling unit, the medicine barrel assembly 200 can still enter the review and discharge link in an orderly manner, and the interruption of manual dispensing is also ensured.

[0189] Based on the first embodiment of the control method of the traditional Chinese medicine semi-automatic dispensing equipment 100, the implementation details of the second embodiment of the control method of the traditional Chinese medicine semi-automatic dispensing equipment 100 provided by the present application will be described below. The following content is only the implementation details provided for easy understanding, and is not necessary for implementing the present solution.

[0190] The specific process of the present embodiment is shown in Figure 25 The step S5: after the assembly line 2 is sent to the total review station e, the step of sending the medicine barrel assembly 200 to the discharge station h includes:

[0191] Step S52: when the medicine barrel assembly 200 is conveyed to the total review station g between the second feeding station c and the discharge station h, the weighing mechanism 7 is controlled to weigh the medicine barrel assembly 200 and the traditional Chinese medicinal materials arranged therein to obtain the actual total weight;

[0192] The weighing mechanism 7 is arranged below the conveying part and includes a liftable jacking structure and a weighing sensor (weighing part 70) integrated thereon. When the medicine barrel assembly 200 is accurately positioned at the total review station g by the stop part 202, the control system sends a weighing start instruction to drive the first driving device 72 (such as a pneumatic cylinder or an electric push rod) to drive the first jacking part 73 to rise, smoothly jack up the medicine barrel assembly 200 from the conveying surface of the assembly line 2, and make it completely separate from the support of the conveying structure, so as to transfer the whole weight to the weighing part 70. This design avoids the interference of the tension, friction or vibration of the conveying belt on the weighing result, and ensures the high precision and repeatability of the weighing process.

[0193] Step S53: if the actual total weight is within the threshold range of the preset weight value, the assembly line 2 is controlled to continue conveying the medicine barrel assembly 200 to the discharge station h.

[0194] The weighing part 70 collects the total weight of the medicine barrel assembly 200 and the internal Chinese herbal medicine in real time and transmits the data to the control system. The system compares the actual total weight obtained with the preset weight value of the prescription and determines whether it is within the preset allowable threshold range (for example, ±3% or a dynamic tolerance set according to the type of medicine). If the actual weight is within the threshold range, the system determines that the weighing is qualified, controls the first driving device 72 to reset, the first jacking part 73 to descend, and the medicine barrel assembly 200 to fall back to the conveying part, and then the stop part 202 is released, and the flow assembly 2 continues to convey it to the discharging station h, entering the next process (such as decoction, packaging or temporary storage).

[0195] If the actual weight exceeds the preset threshold, the system determines that the dosage is abnormal, triggers the alarm mechanism, prompts the operator to review or rework on the human-machine interface, and can automatically pause the subsequent conveying process of the medicine barrel assembly 200, preventing unqualified products from flowing into the downstream link. In some embodiments, the system can also record the weighing data and upload it to the production management system in combination with RFID or barcode information, realizing whole-process quality traceability.

[0196] By setting a total weight review station g between the second feeding station c and the discharging station h, and automatically triggering the weighing operation when the medicine barrel assembly 200 is conveyed to the station, online, non-interfering and accurate detection of the total weight of the adjusted medicine barrel assembly 200 is realized; by comparing the actual total weight with the preset weight threshold, an automatic quality determination mechanism is formed, and only when the weight meets the standard can the medicine barrel assembly 200 enter the discharging process, effectively preventing the risk of medicine use caused by missing, over-feeding or weighing error of medicine; this method deeply integrates the weighing verification into the automatic control process, without the need for additional manual intervention, with fast response and high reliability.

[0197] The above only describes exemplary embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made by using the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A control method for a prescription-based semi-automatic dispensing device for traditional Chinese medicine, characterized in that, include: Warehousing: According to the system prescription dispensing requirements, the control flow assembly will transport the medicine barrel assembly to be dispensed from the feeding station to the first loading station; The first conveying mechanism is controlled to move the medicine barrel assembly from the first loading station to the dispensing station, and after manual dispensing, it returns to the first loading station. In response to the cache scheduling command, the designated medicine barrel assembly located on the flow assembly between the first and second loading stations is transferred to the cache station for temporary storage via the conveying device; In response to the reset scheduling command, the designated medicine barrel component in the buffer station is put back into the flow assembly through the conveying device, so that it is conveyed to the second feeding station; The second conveying mechanism is controlled to move the medicine barrel assembly from the second feeding station to the manual verification station. After manual verification, it returns to the flow assembly and is then sent by the flow assembly to the final verification station for verification. After verification, it is sent to the discharge station for outbound delivery.

2. The control method for the semi-automatic dispensing equipment for traditional Chinese medicine as described in claim 1, characterized in that, The control method for the semi-automatic dispensing equipment for traditional Chinese medicine also includes: When the cache scheduling instruction is executed, the lifting mechanism of the conveying device is controlled to drive the conveying mechanism to descend to be level with the first flow assembly or the second flow assembly, vertically grab the medicine barrel assembly and then rise to transfer it to the cache station above; When the reset scheduling command is executed, the conveying mechanism is controlled to rise and grab the designated medicine barrel component at the buffer station, and then descend to be level with the second flow component, so that the designated medicine barrel component enters the review process. When a dispensing anomaly instruction is received from the manual verification station, the medicine barrel assembly is returned to the second loading station. The conveying mechanism of the conveying device is then controlled to move the medicine barrel from the second loading station to the first flow assembly along the longitudinal direction. The medicine barrel then re-enters the dispensing station via the first loading station for correction.

3. The control method for the semi-automatic dispensing equipment for traditional Chinese medicine as described in claim 1, characterized in that, The control method for the semi-automatic dispensing equipment for traditional Chinese medicine also includes: When it is detected that the conveying device is under high load or the buffer scheduling queue exceeds a preset threshold, the control of the flow assembly will transfer the medicine barrel assembly located on the first flow assembly to the first transfer station of the third flow assembly through the third conveying mechanism. After the third flow assembly transports the medicine barrel assembly to the second transfer station, it controls the fourth conveying mechanism to move it to the second flow assembly and continue to transport it to the second loading station.

4. The control method for the semi-automatic dispensing equipment for traditional Chinese medicine as described in claim 1, characterized in that, After the assembly line is sent to the final verification station for confirmation, the steps for sending it out of the warehouse to the discharge station include: When the medicine barrel assembly is transported to the total repeat check station located between the second feeding station and the discharge station, the weighing mechanism is controlled to weigh the medicine barrel assembly and the Chinese medicinal materials contained therein to obtain the actual total weight. If the actual total weight is within the threshold range of the preset weight value, then the flow assembly is controlled to continue conveying the medicine barrel assembly to the discharge station.

5. A semi-automatic dispensing device for traditional Chinese medicine, used to implement the control method for the semi-automatic dispensing device for traditional Chinese medicine as described in any one of claims 1 to 4, characterized in that, The semi-automatic dispensing equipment for traditional Chinese medicine includes: The frame is equipped with a feeding station, a first loading station, a second loading station, multiple transfer stations, a buffer station, a dispensing station, a manual verification station, a total duplicate verification station, and a discharge station. A flow assembly is used to transport the medicine barrel assembly from the feeding station to the discharging station, and to sequentially transport the medicine barrel assembly to the first feeding station and the second feeding station. A conveying device, provided at a corresponding transfer station, is used to transport the designated medicine barrel assembly between the buffer and the flow assembly. Multiple conveying mechanisms, including a first conveying mechanism for conveying the medicine barrel assembly between the first feeding station and the dispensing station, and a second conveying mechanism for conveying the medicine barrel assembly between the second feeding station and the manual verification station; A manual dispensing device is provided corresponding to the dispensing station and is used to manually dispense Chinese medicinal materials in the medicine barrel assembly located at the dispensing station. A manual verification device, configured corresponding to the manual verification station, is used to manually verify the Chinese medicinal materials within the medicine barrel assembly at the manual verification station; and... A weighing mechanism, including a weighing section, the weighing section being used to weigh the medicine barrel assembly located at the total repeat nuclear work station.

6. The semi-automatic dispensing equipment for traditional Chinese medicine as described in claim 5, characterized in that, The flow assembly includes: A conveyor frame extends between the feeding station, the first loading station, the second loading station and the discharging station. The conveyor frame is provided with a movable conveying part, and the medicine barrel assembly is supported on the conveying part. A stop portion is movably disposed on the conveyor frame in the vertical direction, and is used to limit the medicine barrel assembly to the first loading station or the second loading station when the conveyor portion drives the medicine barrel assembly to move.

7. The semi-automatic dispensing equipment for traditional Chinese medicine as described in claim 6, characterized in that, The weighing mechanism is located below the conveying section, and the weighing mechanism includes: The first fixed seat is fixedly connected to the conveyor frame and is set corresponding to the total repeating core station; A first driving device is mounted on the first fixed base, and the first driving device has a first driving part that can be moved up and down; and The first lifting part is connected to the top of the first driving part and is driven by the first driving part to move vertically, so as to lift the medicine barrel assembly during the upward movement to disengage it from the conveying part. The weighing part is located on the first lifting part and is used to weigh the medicine barrel assembly supported on the first lifting part.

8. The semi-automatic dispensing equipment for traditional Chinese medicine as described in claim 5, characterized in that, The frame is also provided with a first transfer station and a second transfer station spaced longitudinally apart, and the assembly line further includes: The first flow assembly and the second flow assembly extend laterally and are spaced apart longitudinally; and, The third flow assembly extends longitudinally between the first transfer station and the second transfer station, and the third flow assembly is located at the same end of the first flow assembly and the second flow assembly in the transverse direction; The conveying device is located between the first flow assembly and the second flow assembly.

9. The semi-automatic dispensing equipment for traditional Chinese medicine as described in claim 5, characterized in that, The buffer station is located above the flow assembly. The plurality of transfer stations include a first transfer station and a second transfer station, with the second transfer station located above the first transfer station. The conveying device includes: A base, which is movably mounted laterally on the frame; A lifting mechanism, mounted on the base, includes a lifting section that is movably disposed vertically relative to the base; and... The conveying mechanism includes a fixed part and a carrying part. The fixed part is fixedly connected to the lifting part so that it can be driven by the lifting part to move between the first transfer station and the second transfer station. The carrying part is movably arranged longitudinally relative to the fixed part. The carrying part is used to transport the medicine barrel assembly it carries longitudinally to the buffer station and the flow assembly.

10. The semi-automatic dispensing equipment for traditional Chinese medicine as described in claim 8, characterized in that, The supporting part is provided with a mating part, which is matched with a limiting part on the bottom plate of the medicine barrel assembly.

11. The semi-automatic dispensing equipment for traditional Chinese medicine as described in claim 6, characterized in that, The conveying mechanism located at the first loading station and the second loading station includes: The second fixed seat is fixedly connected to the conveyor frame; The second drive unit is mounted on the second fixed base and has a second drive part that is movably arranged in the vertical direction. The second lifting section, connected to the second driving section, is driven by the second driving section to move vertically, and is used to lift the medicine tank assembly during its upward stroke to detach it from the water flow assembly; and, A conveying unit is movably disposed longitudinally on the second lifting unit. The conveying unit is used to transport the medicine barrel assembly between the first feeding station and the dispensing station, or to transport the medicine barrel assembly between the second feeding station and the manual verification station.

12. The semi-automatic dispensing equipment for traditional Chinese medicine as described in claim 5, characterized in that, The manual dispensing device includes: A first housing, the housing having a feeding port and a conveying port, the feeding port being located at the top of the first housing, and the conveying port being located on one side of the first housing along its longitudinal direction; the housing containing the adjusting station; and... A first conveying assembly is disposed within the first housing. The first conveying assembly includes a third driving device and a first conveying member for supporting the medicine barrel assembly. The third driving device is drivenly connected to the first conveying member to drive the first conveying member to move longitudinally, so as to convey the medicine barrel assembly conveyed by the first conveying mechanism toward the dispensing station.

13. The semi-automatic dispensing equipment for traditional Chinese medicine as described in claim 5, characterized in that, The manual verification device includes: Mounting rack; A flip plate is rotatably connected to the mounting frame about a laterally extending axis of rotation. The flip plate has a free end that rotates about its axis of rotation. The flip plate is used to drive the medicine barrel assembly to rotate during its rotational stroke in order to adjust the angle of the medicine barrel assembly. A lifting mechanism extends vertically, its upper end being rotatably connected to the free end of the tilting plate, and its lower end being hinged to the mounting frame. The lifting mechanism drives the tilting plate to rotate. The second conveying assembly includes a fourth driving device and a second conveying section for supporting the medicine barrel assembly. The fourth driving device is driven to the second conveying section to drive the second conveying section to move longitudinally, so as to convey the medicine barrel assembly conveyed by the second conveying mechanism toward the manual verification station.

14. The semi-automatic dispensing equipment for traditional Chinese medicine as described in claim 5, characterized in that, The semi-automatic dispensing equipment for traditional Chinese medicine also includes a cache structure corresponding to each of the cache stations, the cache structure comprising: A support plate, fixedly installed on the frame, is used to support the medicine barrel assembly; A limiting plate is disposed on the top of the support plate and located on the side of the support plate away from the conveying device, for limiting the medicine barrel assembly to the buffer station when the conveying device transports the medicine barrel assembly from the transfer station to the buffer station.

Images