Intelligent traditional Chinese medicine metering and sorting machine and traditional Chinese medicine sorting method thereof

Abstract

The invention discloses an intelligent traditional Chinese medicine metering and sorting machine and a traditional Chinese medicine sorting method thereof.A rack of the sorting machine comprises a storage frame and a discharging frame, the storage frame is provided with a storage area and a rotary reversing table, the storage area is provided with a plurality of first discharging positions, and the first discharging positions are provided with storage mechanisms; the sorting execution mechanism takes out the material storage mechanism and conveys the material storage mechanism to the rotary reversing table; the discharging frame comprises a discharging area and a material taking mechanism, the discharging area is provided with a plurality of second discharging positions and a material receiving output mechanism, the second discharging positions are provided with discharging driving mechanisms and weighing sensors, the material taking mechanism clamps the material storage mechanism and conveys the material storage mechanism to the second discharging positions, and the needed medicine discharging weight is determined according to the numerical value change of the weighing sensors. And the discharging driving mechanism drives the storage mechanism to discharge the medicine to the receiving output mechanism. According to the system, automatic sorting of the traditional Chinese medicine is achieved, medicine dispensing is conducted according to the needed medicine output weight, manual sorting, medicine taking and medicine dispensing on a goods shelf are not needed according to prescriptions, the problems that manual sorting efficiency is low and the sorting error rate is high are solved, and manpower resources are greatly saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of traditional Chinese medicine intelligent equipment, in particular to an intelligent traditional Chinese medicine metering sorting machine and a traditional Chinese medicine sorting method thereof. BACKGROUND

[0002] A traditional Chinese medicine prescription is often composed of multiple ingredients, and when dispensing, the weight of different ingredients corresponding to the prescription needs to be dispensed. Therefore, the prior art generally manually checks the prescription to confirm which medicines and their weights need to be taken out, manually takes and dispenses the medicines from the medicine storage shelves, and uses a scale to weigh each component before dispensing. If the weight does not meet the prescription record, the manual weighing needs to be repeated, and the sorting process needs to be repeated multiple times. This results in low work efficiency and increased labor intensity of the dispensing physician. The industry often improves work efficiency by assigning more physicians, which obviously does not meet the requirements of most institutions, especially commercial institutions. Moreover, manual sorting and dispensing of medicines can easily cause errors due to fatigue during long-term operation.

[0003] Therefore, a new technical solution for automatic sorting and dispensing of traditional Chinese medicine can be proposed to replace manual operation, so that traditional Chinese medicine can be automatically weighed, dispensed, and dispensed like finished products, greatly reducing labor costs, improving work efficiency, and making traditional Chinese medicine sorting and dispensing more convenient. SUMMARY

[0004] Therefore, the present application provides an intelligent traditional Chinese medicine metering sorting machine and a traditional Chinese medicine sorting method to solve the above problems.

[0005] To achieve the above purpose, the present application adopts the following technical solution:

[0006] The present application first provides an intelligent traditional Chinese medicine metering sorting machine, which includes a rack, the rack includes a storage rack and a discharge rack arranged on both sides of the storage rack for discharging medicine.

[0007] The storage rack includes a storage area and a rotating conversion table arranged at both ends of the storage area, the storage area is longitudinally and equally spaced with a plurality of first layer plates, the first layer plates are equally spaced with a plurality of first material placing positions, the first material placing positions are placed with a storage mechanism for containing medicine and a first weighing sensor for weighing the weight of the storage mechanism; the rotating conversion table is rotationally connected to the storage rack, and the storage area is further slidably connected with a sorting execution mechanism for clamping and conveying the storage mechanism from the first material placing position to the rotating conversion table.

[0008] The discharge rack comprises a discharge area and a material taking mechanism slidingly connected to the discharge area, multiple second layer plates are longitudinally and equidistantly arranged on the discharge area, multiple second material placing positions are equidistantly arranged on the second layer plates, a second weighing sensor for weighing the weight of the material storage mechanism is arranged on the second material placing position, the material taking mechanism can clamp and transport the material storage mechanism from the rotary switching table to the second material placing position, a discharge driving mechanism for driving the material storage mechanism to output the medicine is arranged on the second material placing position, and a material receiving and output mechanism is further arranged below each second layer plate, which receives the medicine output from the material storage mechanism and transports the medicine to the discharge end.

[0009] Preferably, the material storage mechanism comprises a material bin for storing the medicine and a screw conveying device for outputting the medicine, the screw conveying device is fixedly connected below the material bin, the screw conveying device comprises a screw rod and a conveying device shell sleeved outside the screw rod, both ends of the screw rod are rotationally connected in the shell and one end of the screw rod extends out of the conveying device shell and is fixedly connected with a main transmission gear, a feeding port is formed in the top of the conveying device shell, the feeding port is communicated with the material bin, a discharging port is formed in the bottom of the conveying device shell and a cover plate for covering or opening the discharging port is arranged, one end of the cover plate is rotationally connected with the conveying device shell and the other end is a free end, a push mechanism for driving the cover plate to rotate is further arranged on the second material placing position, the push mechanism comprises a second mounting plate and a push-pull electromagnet, the second mounting plate is fixedly connected with the second layer plate, a flange extends downward from the bottom of the cover plate, the push-pull electromagnet is fixedly mounted on the second mounting plate, and the power end of the push-pull electromagnet is connected with the flange.

[0010] Preferably, the top and the bottom of the material storage rack are both provided with first transverse sliding rails along the length thereof, first sliding blocks are slidingly connected to the first transverse sliding rails, the two first sliding blocks are connected through a first vertical sliding rail, a first lifting frame and a first lifting driving mechanism for driving the first lifting frame to ascend or descend are slidingly connected to the first vertical sliding rail, a first motor is fixedly mounted at one end of the first transverse sliding rail, the output end of the first motor is in transmission connection with the first sliding block through a first synchronous belt transmission assembly, and the sorting execution mechanism is mounted on the first lifting frame.

[0011] Preferably, the sorting actuator comprises a first support bottom plate, a moving base, at least one set of first clamping assemblies, a first transmission belt and a second motor fixedly connected at the bottom of the first support bottom plate. Wherein, the first support bottom plate is fixedly connected to the first lifting frame, and the upper surface of the first support bottom plate is fixedly connected with a first linear guide rail; the output end of the second motor is fixed with a first driving wheel through the top of the first support bottom plate, and the top of the first support bottom plate is also rotatably connected with a first driven wheel, and the first transmission belt is tensioned on the first driving wheel and the first driven wheel; the bottom of the moving base is fixedly connected with a transmission sliding block, the transmission sliding block is movably connected to the first linear guide rail and fixedly connected with the first transmission belt, and is used to drive the moving base to move along the first linear guide rail to approach or move away from the storage mechanism; the first clamping assembly comprises symmetrically arranged first clamping blocks and second clamping blocks, the first clamping blocks and the second clamping blocks are slidably connected to the upper surface of the moving base, and the moving base is provided with a first clamping driving mechanism for driving the first clamping blocks and the second clamping blocks to move close to or away from each other.

[0012] Preferably, the discharging driving mechanism comprises a first mounting plate and a speed reducer, the first mounting plate is fixedly connected to the second layer plate, and the speed reducer is fixedly connected to the first mounting plate, and the power end of the speed reducer is fixedly connected with a secondary transmission gear corresponding to the primary transmission gear. The top and bottom of the discharging frame are provided with second transverse sliding rails along the length thereof, second sliding blocks are slidably connected to the second transverse sliding rails, and the two second sliding blocks are connected through a second vertical sliding rail, and the second vertical sliding rail is provided with a second lifting frame and a second lifting driving mechanism for driving the second lifting frame to ascend or descend. Wherein, one end of the second transverse sliding rail is fixedly provided with a third motor, and the output end of the third motor is in transmission connection with the second sliding block through a second synchronous belt transmission assembly; the taking mechanism is installed on the second lifting frame, and is used to drive the taking mechanism to ascend or descend.

[0013] Preferably, the taking mechanism comprises a second supporting bottom plate, a mounting bottom plate slidingly connected to the second supporting bottom plate, two connecting seats slidingly connected to the upper surface of the mounting bottom plate, and a second clamping assembly arranged on the connecting seats. The second supporting bottom plate is fixedly connected to the second lifting frame. The bottom of the mounting bottom plate is fixedly connected with a rack. The upper portion of the mounting bottom plate is provided with a second clamping driving mechanism for driving the two connecting seats to move closer to or away from each other. The bottom of the second supporting bottom plate is fixedly connected with a fourth motor. The power end of the fourth motor is fixedly connected with a driving gear through the upper surface of the second supporting bottom plate. The driving gear is in meshing connection with the rack, and is used to drive the mounting bottom plate to move closer to or away from the second material placing position. The second clamping assembly comprises a fifth motor mounted on the connecting seat and a clamping bracket mounted on the connecting seat. A clamping plate is vertically connected to the clamping bracket. Two clamping transmission rollers are rotatably connected to the two ends of the clamping bracket close to the clamping plate. Two second transmission belts are tensioned between the two clamping transmission rollers. One section of the two second transmission belts is arranged in parallel in front of the clamping plate and forms a clamping channel capable of clamping and conveying the storage mechanism.

[0014] Preferably, the material receiving and output mechanism comprises a supporting frame, a discharging conveying belt, a baffle, and a sixth motor. The supporting frame is fixedly connected to the discharging frame. The sixth motor is arranged on the supporting frame. The discharging conveying belt is rotatably connected to the second supporting frame through a transmission shaft. The output end of the sixth motor is in transmission connection with the discharging conveying belt through a third synchronous belt transmission assembly. The two sides of the discharging conveying belt are further provided with baffles.

[0015] Preferably, the discharging frame is further provided with a grabbing mechanical arm. The grabbing mechanical arm is used to directly grab the medicine in the material bin from the second material placing position and place it on the material receiving and output mechanism.

[0016] The application also provides a traditional Chinese medicine sorting method realized by the intelligent traditional Chinese medicine metering sorting machine.

[0017] S1, the sorting execution mechanism obtains a sorting instruction. According to the preset medicine position of the required medicine in the sorting instruction, the preset medicine position is the Bth column first material placing position in the A row first layer plate corresponding to the category of medicine. The sorting execution mechanism sequentially takes the H storage mechanisms required in the sorting instruction from the first material placing position of the corresponding position and conveys them to the rotary reversing table, wherein A≥1, B≥1, and H≥1.

[0018] S2, the rotary reversing table obtains a reversing instruction. The rotary reversing table drives the storage mechanism to rotate and adjust the direction according to the preset angle of the reversing instruction. The taking mechanism takes the storage mechanism from the rotary reversing table and conveys it to the second material placing position of the discharging area.

[0019] S3, start each discharge driving mechanism on the second discharge position, determine the required drug weight according to the change of the second weighing sensor, the main driving gear of the discharge driving mechanism drives the screw to advance the distance corresponding to the required drug weight, so as to respectively make H storage mechanisms output drugs to the receiving output mechanism;

[0020] S4, the taking mechanism takes the storage mechanism from the second discharge position and transports it to the rotary switching table, and then the sorting execution mechanism sends the storage mechanism back to the corresponding first discharge position for resetting.

[0021] Preferably, the step S1 further comprises: the first weighing sensor on the first discharge position acquires the weight Q of the storage mechanism, detects whether the value of Q is not greater than a preset weight threshold, if yes, it is determined that the drugs in the storage mechanism are insufficient and need to be replenished; if not, it is determined that the drugs in the storage mechanism are sufficient.

[0022] The technical effects achieved by the above technical scheme of the present application include:

[0023] The above intelligent traditional Chinese medicine metering and sorting machine is used for sorting and dispensing traditional Chinese medicine, the sorting execution mechanism moves and positions to the front end of the storage mechanism to be sorted along the storage rack, the sorting execution mechanism takes out the storage mechanism and transports it to the rotary switching table, the rotary switching table rotates horizontally by a preset angle to adjust the discharge direction of the storage mechanism, to provide the taking mechanism, the taking mechanism clamps the storage mechanism and transports it to the second discharge position of the discharge area, since the second weighing sensor is arranged on the second discharge position, the required drug weight can be determined, the discharge driving mechanism on the second discharge position drives the storage mechanism to complete the drug discharge, so that the drugs fall into the receiving output mechanism. Compared with the traditional method of dispensing medicine by a doctor going to the corresponding medicine storage position to take medicine, the intelligent traditional Chinese medicine metering and sorting machine can automatically complete the traditional Chinese medicine metering, sorting and dispensing, and only needs to configure an operator to perform single combination and packaging after medicine output, so that the traditional Chinese medicine is automatically sorted, dispensed and discharged, without manual comparison of prescriptions to manually take and dispense medicine from the storage rack, which saves manpower and solves the problems of low efficiency, high labor cost and high error rate of manual sorting in the hospital traditional Chinese medicine dispensary.

[0024] The first discharge position of the storage area and the second discharge position of the discharge area in the above intelligent traditional Chinese medicine metering and sorting machine are both equipped with a weighing sensor for independently weighing the weight of the medicine, and the medicine is quantitatively discharged by the spiral conveying device, so that the weight precision deviation of the medicine output can be accurately controlled within 0.1g, the accuracy of the medicine output is ensured, manual weighing of each component is avoided, the time-consuming of multiple sorting is saved, and the weighing sensor can monitor the medicine output of multiple medicines in real time through electrical connection with the control system, so as to timely remind the user to replenish the storage mechanism.

[0025] The storage area and the discharge area are independent of each other, the medicine storage and the medicine dispensing and discharging can be separated, the sorting execution mechanism is used for sorting the storage mechanism in the storage area during operation, and then the storage mechanism is conveyed to the discharge area, on the one hand, the high-density storage of the medicine in the storage area can be increased, the storage of the medicine and the sorting and dispensing of the medicine are operated separately, the mode of'medicine conveying to people' is adopted to replace the traditional mode of 'people to medicine', the work efficiency is improved, the labor intensity is reduced, and the manual labor is reduced; and on the other hand, the storage of the medicine and the sorting and dispensing of the medicine are separated, the risk of the medicine being polluted by human carelessness is reduced, and the cleanliness of the medicine in the storage area can be ensured.

[0026] The storage area can be provided with a drying system for releasing dry gas to the hopper of the storage mechanism, and the medicine in the hopper is dried and treated against insects when the storage mechanism returns to reset after each completion of discharging.

[0027] The intelligent Chinese medicine metering and sorting machine is further provided with a grabbing mechanical arm in the discharge area, the grabbing mechanical arm is electrically connected with the control system, so that the grabbing mechanical arm can be suitable for sorting various types of Chinese medicines in a wide range, for example, the medicines which need to be stored in integrity and are not easy to be sliced or shredded according to the requirements of the Chinese Pharmacopoeia and are difficult to be discharged by the spiral conveying mode can be directly grabbed by the grabbing mechanical arm, and the second weighing sensor can be used to realize the discharging with precise weight. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a whole structure schematic diagram of an intelligent Chinese medicine metering and sorting machine provided by an embodiment of the application;

[0029] Figure 2 is a schematic diagram of the position relationship of the storage mechanism in the intelligent Chinese medicine metering and sorting machine placed on the first layer plate;

[0030] Figure 3 is a structure schematic diagram of a discharge rack in the intelligent Chinese medicine metering and sorting machine;

[0031] Figure 4 is a structure schematic diagram of the discharge rack in another view;

[0032] Figure 5 is a structure schematic diagram of the storage mechanism placed on the second layer plate;

[0033] Figure 6 is a connection structure schematic diagram of the sorting execution mechanism, the first horizontal slide rail and the first vertical slide rail in the intelligent Chinese medicine metering and sorting machine;

[0034] Figure 7 is a structure schematic diagram of the sorting execution mechanism;

[0035] Figure 8Structure diagram of the sorting execution mechanism from another perspective;

[0036] Figure 9 Structure diagram of the first clamping block and the second clamping block in the sorting execution mechanism;

[0037] Figure 10 Structure diagram of the storage mechanism;

[0038] Figure 11 Structure diagram of the storage mechanism;

[0039] Figure 12 Structure diagram of the connection between the storage mechanism and the discharge driving mechanism;

[0040] Figure 13 Structure diagram of the connection between the material taking mechanism, the second horizontal slide rail, and the second vertical slide rail in the intelligent Chinese medicine metering and sorting machine;

[0041] Figure 14 Structure diagram of Figure 13 Local enlarged view of the corresponding circular frame area A;

[0042] Figure 15 Structure diagram of the material taking mechanism;

[0043] Figure 16 Structure diagram of the material taking mechanism from another perspective;

[0044] Figure 17 Structure diagram of the material receiving and output mechanism in the intelligent Chinese medicine metering and sorting machine;

[0045] Figure 18 Structure diagram of the first upper end reinforcing base in the intelligent Chinese medicine metering and sorting machine.

[0046] Each of the above figures is marked as:

[0047] Rack 1;

[0048] Storage rack 10;

[0049] First layer plate 11, first material discharge position 111, storage mechanism 112, material bin 1121, spiral conveying device 1122, screw rod 1001, conveying device shell 1002, main transmission gear 1123, cover plate 1124, flange 1125, first weighing sensor 113;

[0050] The sorting actuator 12, the first supporting bottom plate 121, the first linear guide rail 1211, the first driven wheel 1212, the moving base 122, the first clamping assembly 123, the second motor 124, the first clamping block 1241, the second clamping block 1242, the clamping drive motor 1243, the first positive and negative tooth transmission screw 1244, the first nut 1245, the first transmission belt 125, the first driving wheel 126, the transmission sliding block 127;

[0051] The rotating conversion table 13, the first transverse sliding rail 14, the first motor 141, the first sliding block 142, the first vertical sliding rail 15, the first lifting frame 151, the first synchronous shaft 16, the upper end reinforcing base 17, the upper end extrusion groove 171;

[0052] The discharging rack 20;

[0053] The material taking mechanism 21, the second supporting bottom plate 211, the mounting bottom plate 212, the connecting seat 213, the second clamping assembly 214, the clamping channel 2140, the fifth motor 2141, the clamping support 2142, the clamping plate 2143, the second transmission belt 2144, the clamping transmission roller 2145, the rack 215, the second clamping drive mechanism 216, the fourth motor 217, the drive gear 218;

[0054] The second layer plate 22, the second transverse sliding rail 221, the second sliding block 2211, the third motor 2212, the second synchronous belt transmission assembly 2213, the second synchronous shaft 2214, the second vertical sliding rail 222, the second lifting frame 2221, the second lifting drive mechanism 2222;

[0055] The second material discharging position 23, the push-pull electromagnet 231, the second mounting plate 232, the second weighing sensor 24, the discharging drive mechanism 25, the sub-transmission gear 251, the speed reducer 252, the first mounting plate 253, the material receiving output mechanism 26, the supporting frame 261, the discharging conveying belt 262, the baffle 263, the sixth motor 264, the third synchronous belt transmission assembly 265. DETAILED DESCRIPTION

[0056] In order to make the objects, technical solutions and advantages of the present application clearer, the specific embodiments of the present application are described in detail below with reference to the drawings. The examples of these preferred embodiments are illustrated in the drawings. The embodiments of the present application shown in the drawings and described according to the drawings are merely exemplary, and the present application is not limited to these embodiments.

[0057] Here, it also needs to be explained that, in order to avoid obscuring the present application due to unnecessary details, only the structures and / or processing steps closely related to the scheme according to the present application are shown in the drawings, and other details that are not closely related are omitted.

[0058] ReferenceFigure 1 As shown, the embodiment of the present application first provides an intelligent traditional Chinese medicine metering sorting machine, which comprises a rack 1, the rack 1 comprising a storage rack 10 and a discharge rack 20 arranged on both sides of the storage rack 10 to discharge medicine.

[0059] In detail, as shown in Figure 1 and Figure 2 , the storage rack 10 comprises a storage area and a rotary switching table 13 arranged at both ends of the storage area; the storage area is longitudinally and equidistantly provided with a plurality of first layer plates 11, the first layer plates 11 are equidistantly arranged with a plurality of first storage positions 111, the first storage positions 111 are placed with storage mechanisms 112 for containing medicine and first weighing sensors 113 for weighing the storage mechanisms 112; the rotary switching table 13 is rotationally connected to the storage rack 10; the storage area is further slidably connected with a sorting execution mechanism 12 for clamping and conveying the storage mechanisms 112 from the first storage positions 111 to the rotary switching table 13.

[0060] As shown in Figures 3 to 5 , the discharge rack 20 comprises a discharge area and a material taking mechanism 21 slidably connected to the discharge area, the discharge area is longitudinally and equidistantly provided with a plurality of second layer plates 22, the second layer plates 22 are equidistantly arranged with a plurality of second storage positions 23, the second storage positions 23 are provided with second weighing sensors 24 for weighing the storage mechanisms 112; the material taking mechanism 21 can clamp and convey the storage mechanisms 112 from the rotary switching table 13 to the second storage positions 23, the second storage positions 23 are provided with discharge driving mechanisms 25 for driving the storage mechanisms 112 to output medicine;

[0061] The lower side of each second layer plate 22 is further provided with a material receiving and output mechanism 26, the material receiving and output mechanism 26 receives the medicine output from the storage mechanisms 112 and conveys it to the discharge end.

[0062] In this invention, when drug sorting and dispensing are required, the sorting execution mechanism 12 moves along the storage rack 10 and positions itself at the front end of the storage mechanism 112 to be sorted. It then retrieves the storage mechanism 112 and conveys it to the rotary reversing table 13. A motor drives the rotary reversing table 13 to rotate horizontally by a preset angle to adjust the discharge direction of the storage mechanism 112. The picking mechanism 21 picks up the storage mechanism 112 from the rotary reversing table 13 and conveys it to the second discharge position 23 in the discharge area. The discharge drive mechanism 25 on the second discharge position 23 drives the storage mechanism 112 to complete the drug dispensing. The drug falls onto the receiving output mechanism 26, which conveys the drug to a tray. Only an operator needs to pick up the tray and package the drugs to complete the dispensing process. The storage mechanism 112, having completed dispensing, is conveyed to the rotary reversing table 13 by the picking mechanism 21, and then returned to its original position by the sorting execution mechanism 12. Compared to the traditional method of dispensing Chinese medicine, where doctors go to the corresponding drug storage location to retrieve and dispense the medicine, this invention automatically sorts out the medicine and transports it to the doctor's location for packaging and processing. This obviously has higher work efficiency, accuracy, and reduces labor intensity.

[0063] Furthermore, the discharge end of the receiving and output mechanism 26 is equipped with a package tray (not shown in the figure) for holding medicines. After the medicines fall into the package tray, the doctor packs the medicines in the package tray.

[0064] like Figure 6 As shown, in one preferred embodiment of the present invention, the top and bottom of the storage rack 10 are each provided with a first transverse slide rail 14 along its length, and a first slider 142 is slidably connected to the first transverse slide rail 14; the two first sliders 142 are connected to each other by a first vertical slide rail 15, and a first lifting frame 151 and a first lifting drive mechanism for driving the first lifting frame 151 to rise or fall are slidably connected to the first vertical slide rail 15, wherein a first motor 141 is fixedly installed at one end of the first transverse slide rail 14, and the output end of the first motor 141 is connected to the first slider 142 through a first synchronous belt transmission assembly;

[0065] The sorting execution mechanism 12 is installed on the first lifting frame 151.

[0066] In the design of this invention, the first synchronous belt assemblies on the two first horizontal slide rails 14 of the storage rack 10 move synchronously through the first synchronous shaft 16; and the two ends of the first vertical slide rail 15 are respectively fixedly connected to the first slider 142, which drives it to move left or right along the length of the storage rack 10.

[0067] It should be noted that the first lifting driving mechanism of the present application can be an electric push rod, a lead screw transmission or a belt transmission. As long as it can provide power for driving the first lifting frame 151 to move up and down along the first vertical sliding rail 15.

[0068] As shown in Figure 7 and Figure 8 As an embodiment of the present application, the sorting execution mechanism 12 includes a first supporting bottom plate 121, a moving base 122, at least one set of first clamping assemblies 123, a first transmission belt 125 and a second motor 124 fixedly connected at the bottom of the first supporting bottom plate 121.

[0069] The first supporting bottom plate 121 is fixedly connected to the first lifting frame 151, and the upper surface thereof is fixedly connected with a first linear guide rail 1211;

[0070] The output end of the second motor 124 is fixed with a first driving wheel 126 through the top of the first supporting bottom plate 121; the top of the first supporting bottom plate 121 is also rotatably connected with a first driven wheel 1212; and the first transmission belt 125 is tensioned on the first driving wheel 126 and the first driven wheel 1212.

[0071] The bottom of the moving base 122 is fixedly connected with a transmission sliding block 127, which is movably connected to the first linear guide rail 1211 and fixedly connected with the first transmission belt 125, so as to drive the moving base 122 to move close to or away from the storage mechanism 112 along the first linear guide rail 1211.

[0072] The first clamping assembly includes symmetrically arranged first clamping blocks 1241 and second clamping blocks 1242, which are slidably connected to the upper surface of the moving base 122, and the moving base 122 is provided with a first clamping driving mechanism for driving the first clamping blocks 1241 and the second clamping blocks 1242 to move close to or away from each other.

[0073] In the design scheme of the present application, the first clamping blocks 1241 and the second clamping blocks 1242 need to be driven to extend into both sides of the storage mechanism 112, and then the first clamping blocks 1241 and the second clamping blocks 1242 are driven to move close to each other to clamp the storage mechanism 112, so as to facilitate the conveying of the storage mechanism 112; similarly, when the first clamping blocks 1241 and the second clamping blocks 1242 move away from each other, the storage mechanism 112 is released.

[0074] It should be noted that, as shown in Figure 9As shown, the first clamping driving mechanism in the application comprises a first reverse tooth transmission screw rod 1244 and a clamping driving motor 1243, two first nuts 1245 with opposite moving directions are slidably connected on the first reverse tooth transmission screw rod 1244, and a first clamping block 1241 and a second clamping block 1242 are fixedly connected on the two first nuts 1245 respectively. When the first reverse tooth transmission screw rod 1244 is driven to rotate by the motor, the two first nuts 1245 move towards each other or away from each other along the first reverse tooth transmission screw rod 1244, and the first reverse tooth transmission screw rod 1244 is a prior art, which can be purchased from a relevant store and assembled according to the instruction manual. Therefore, no detailed description is given herein.

[0075] As shown in Figure 10 and Figure 11 As an embodiment of the application, the storage mechanism 112 comprises a hopper 1121 for storing the medicine and a spiral conveying device 1122 for outputting the medicine. The spiral conveying device 1122 is fixedly connected below the hopper 1121. The spiral conveying device 1122 comprises a screw rod 1001 and a conveying device shell 1002 sleeved outside the screw rod 1001. Both ends of the screw rod 1001 are rotatably connected in the shell and one end of the screw rod 1001 extends out of the conveying device shell 1002 and is fixedly connected with a main drive gear 1123. A feeding port is formed in the top of the conveying device shell 1002 and is in communication with the hopper 1121. A discharge port is formed in the bottom of the conveying device shell 1002 and is provided with a cover plate 1124 for closing or opening the discharge port. One side of the cover plate 1124 is rotatably connected with the conveying device shell 1002 and the other side is a free end. In the design scheme of the application, the medicine is stored in the hopper 1121. When the medicine is discharged, the medicine falls from the hopper 1121 into the conveying device shell 1002. The screw rod 1001 in the conveying device shell 1002 rotates to push the medicine to move towards the discharge port. The cover plate 1124 is turned down to open the discharge port, and the medicine is output from the discharge port.

[0076] As shown in Figure 12 As an embodiment of the application, the discharge driving mechanism 25 comprises a first mounting plate 253 and a speed reducer 252. The first mounting plate 253 is fixedly connected on the second layer plate 22. The speed reducer 252 is fixedly connected on the first mounting plate 253 and has a power end fixedly connected with a secondary drive gear 251 corresponding to the main drive gear 1123. In the design scheme of the application, when the storage mechanism 112 is conveyed to the second discharging position 23, the main drive gear 1123 on the screw rod 1001 in the spiral conveying device 1122 is in meshing connection with the secondary drive gear 251. The speed reducer 252 is started, the secondary drive gear 251 drives the main drive gear 1123 to rotate, and the screw rod 1001 is rotated.

[0077] As shown in Figure 12As shown, as an embodiment of the present application, preferably, the second feeding position 23 is further provided with a pushing mechanism for driving the cover plate 1124 to rotate, the pushing mechanism comprising a second mounting plate 232 and a push-pull electromagnet 231, the second mounting plate 232 being fixedly connected to the second layer plate 22; the bottom of the cover plate 1124 extends downwardly with a flange 1125; the push-pull electromagnet 231 is fixedly installed on the second mounting plate 232, and the power end thereof is connected with the flange 1125.

[0078] In the design scheme of the present application, the push-pull electromagnet 231 is a prior art, which will not be described in detail. In the present embodiment, when the push-pull electromagnet 231 is energized, the push rod slides out and pushes the flange 1125, so that the cover plate 1124 is turned downwardly to open the discharge port; when the push-pull electromagnet 231 is de-energized, the sliding rod is automatically reset under the action of the reset spring, and the cover plate 1124 is reset to close the discharge port again.

[0079] As shown in Figure 13 and Figure 14 As an embodiment of the present application, the top and bottom of the discharge rack 20 are provided with second transverse sliding rails 221 along the length thereof, the second transverse sliding rails 221 being slidingly connected with second sliding blocks 2211; the two second sliding blocks 2211 are connected through a second vertical sliding rail 222, the second vertical sliding rail 222 being provided with a second lifting frame 2221 and a second lifting driving mechanism 2222 for driving the second lifting frame 2221 to ascend or descend, wherein:

[0080] One end of the second transverse sliding rail 221 is fixedly installed with a third motor 2212, and the output end of the third motor 2212 is drivingly connected with the second sliding block 2211 through a second synchronous belt transmission assembly 2213;

[0081] The material taking mechanism 21 is installed on the second lifting frame 2221, and is used to drive the material taking mechanism 21 to ascend or descend.

[0082] In the design scheme of the present application, the second synchronous belt assemblies 2213 provided on the two second transverse sliding rails 14 are connected through a second synchronous shaft 2214 to realize synchronous movement; and the two ends of the second vertical sliding rail 222 are fixedly connected to the second sliding blocks 2211, which are driven by the second sliding blocks 2211 to move leftward or rightward along the length of the discharge rack 20. It should be noted that the second lifting driving mechanism 2222 in the present application can be an electric push rod, a lead screw transmission or a belt transmission. As long as it can drive the second lifting frame 2221 to move up and down along the second vertical sliding rail 222.

[0083] As shown in Figure 15 and Figure 16As shown, as one embodiment of the present application, preferably, the taking mechanism 21 comprises a second support bottom plate 211, a mounting bottom plate 212 slidably connected on the second support bottom plate 211, two connecting seats 213 slidably connected on the upper surface of the mounting bottom plate 212, and a second clamping assembly 214 arranged on the connecting seat 213, wherein:

[0084] The second support bottom plate 211 is fixedly connected on the second lifting frame 2221;

[0085] The bottom of the mounting bottom plate 212 is fixedly connected with a rack 215, and the upper portion of the mounting bottom plate 212 is provided with a second clamping driving mechanism 216 for driving the two connecting seats 213 to move close to or away from each other;

[0086] The bottom of the second support bottom plate 211 is fixedly connected with a fourth motor 217, the power end of the fourth motor 217 is fixedly connected with a driving gear 218 penetrating through the upper surface of the second support bottom plate 211, and the driving gear 218 is in meshing connection with the rack 215, for driving the mounting bottom plate 212 to move close to or away from the second material discharging position 23;

[0087] The second clamping assembly 214 comprises a fifth motor 2141 mounted on the connecting seat 213 and a clamping bracket 2142 mounted on the connecting seat 213; the clamping bracket 2142 is vertically connected with a clamping plate 2143; the clamping bracket 2142 is rotatably connected with a clamping transmission roller 2145 at both ends close to the clamping plate 2143, and a second transmission belt 2144 is tensioned between the two clamping transmission rollers 2135; a section of the two second transmission belts 2144 is arranged in parallel in front of the clamping plate 2143 and forms a clamping channel 2140 capable of clamping and conveying the storage mechanism 112.

[0088] In the design scheme of the present application, when the storage mechanism 112 is clamped, the clamping brackets 2142 of the two second clamping assemblies 214 extend into both sides of the storage mechanism 112, the second clamping driving mechanism 216 drives the clamping brackets 2142 to move close to each other, until the clamping plate 2143 on the clamping bracket 2142 presses the transmission belt 2144 tightly on both sides of the storage mechanism 112, the fifth motor 2141 drives the transmission belt 2144 on the two second clamping assemblies 214 to rotate, so that the storage mechanism 112 is conveyed from the left side of the clamping bracket 2142 to the right side, and then the fourth motor 217 drives the mounting bottom plate 212 to move towards the second material discharging position 23 to adjust the distance between the clamped storage mechanism 112 and the second material discharging position 23, thereby achieving the purpose of placing the storage mechanism 112 into the second material discharging position 23.

[0089] It should be noted that the second clamping driving mechanism 216 is a second reverse tooth transmission screw rod, and the second clamping driving mechanism 216 is the same in structure and working principle as the first reverse tooth transmission screw rod 1244. Two second nuts with opposite movement directions are slidably connected to the second clamping driving mechanism 216, and two connecting seats 213 are fixedly connected to the corresponding second nuts. Rotation of the second clamping driving mechanism 216 causes the two second nuts to move closer to or away from each other. The reverse tooth transmission screw rod can be assembled and applied according to the instructions, and detailed description is not given this time.

[0090] As shown in Figure 17 As an embodiment of the present application, the material receiving and output mechanism 26 includes a support frame 261, an output conveyor belt 262, a baffle 263, and a sixth motor 264. The support frame 261 is fixedly connected to the output frame 20, and the sixth motor 264 is arranged on the support frame 261. The output conveyor belt 262 is rotatably connected to the support frame 261 through a transmission shaft. The output end of the sixth motor 234 is drivingly connected to the output conveyor belt 262 through a third synchronous belt transmission assembly 265. The two sides of the output conveyor belt 262 are also provided with baffles 263 to prevent the medicine from falling.

[0091] As shown in Figure 18 As an embodiment of the present application, preferably, the first material placing position 111 and the second material placing position 23 are both provided with an upper end reinforcing base 17 which is convenient to connect or splice with the bottom of the material bin 1121. The upper end reinforcing base 17 is internally provided with an upper end extrusion groove 171. The top corners inside the upper end reinforcing base 17 are all arc transitions. In the design scheme of the present application, the bottom of the material bin 1121 is designed as a funnel. When the material bin 1121 is placed on the first material placing position 111 or the second material placing position 23, the upper end reinforcing base 17 plays a role in supporting the material bin 1121, and the connection between the upper end extrusion groove 171 of the upper end reinforcing base 17 and the bottom of the material bin 1121 is a surface contact.

[0092] Further, the output frame 20 is also provided with a grabbing mechanical arm which is used to directly grab the medicine in the material bin 1121 from the second material placing position 23 and place it on the material receiving and output mechanism 26. Accordingly, the grabbing mechanical arm is mainly aimed at irregular plants, animals, mineral solids and other medicines which cannot be sliced or granulated, and medicines which are difficult to be discharged by the spiral conveying mode. The grabbing mechanical arm directly grabs the corresponding weight to realize the discharge of the medicine, and further improves the degree of automatic sorting of traditional Chinese medicine.

[0093] The intelligent traditional Chinese medicine metering sorting machine comprises a control system, which is electrically connected with the sorting execution mechanism 12, the rotary reversing table 13, the material taking mechanism 21, the material discharging driving mechanism 25, the material receiving output mechanism 26, the first weighing sensor 113, the second weighing sensor 24 and the above-mentioned grabbing mechanical arm respectively, and the control circuit and program of the control system both belong to the prior art and will not be described in detail here.

[0094] The embodiment of the application also provides a traditional Chinese medicine sorting method realized by the intelligent traditional Chinese medicine metering sorting machine.

[0095] S1, the sorting execution mechanism 12 obtains a sorting instruction, according to the preset medicine position of the storage mechanism 112 where the required medicine in the sorting instruction is placed, the preset medicine position is the Bth column first material discharging position 111 in the A row first layer plate 11 where the corresponding type of medicine is located, the sorting execution mechanism 12 sequentially takes H storage mechanisms 112 required in the sorting instruction from the corresponding position first material discharging position 111 and transports them to the rotary reversing table 13, A≥1, B≥1, H≥1.

[0096] In the step S1, the control system analyzes and processes the obtained prescription order, generates medicine attribute information including medicine name information, dose of the prescription, and weight of different medicines in each dose, and generates a corresponding sorting instruction according to the medicine name information.

[0097] S2, the rotary reversing table 13 obtains a reversing instruction, and the rotary reversing table 13 drives the storage mechanism 112 to rotate and adjust the direction according to the preset angle of the reversing instruction, and the material taking mechanism 21 takes the storage mechanism 112 from the rotary reversing table 13 and transports it to the second material discharging position 23 in the material discharging area;

[0098] In the step S2, the control system generates a reversing instruction triggered by the storage mechanism 112 obtained on the rotary reversing table 13, and the rotary reversing table 13 sends a reversing completion instruction to the control system for feedback after rotating and adjusting the direction according to the reversing instruction.

[0099] S3, execute the medicine discharging operation, start each material discharging driving mechanism 25 on the second material discharging position 23, determine the required medicine discharging weight according to the change of the second weighing sensor 24, and drive the screw rod 1001 to advance the distance corresponding to the required medicine discharging weight by the main transmission gear 1123 of the material discharging driving mechanism 25, so as to respectively output the H storage mechanisms 112 to the material receiving output mechanism 26;

[0100] In the step S3, the control system generates the required dispensing weight information according to the required prescription dose and the respective dispensing weight of each medicine in each dose. The change in the indication of the second weighing sensor 24 on the second dispensing position 23 is the reduced dispensing weight of the medicine falling onto the receiving and dispensing mechanism 26. Therefore, the control system compares the change in the indication of the second weighing sensor 24 with the required dispensing weight information, and determines whether the change in the indication of the second weighing sensor 24 reaches the required dispensing weight. If yes, the driving of the screw rod 1001 is stopped. If no, the driving of the screw rod 1001 is continued.

[0101] In the step S4, the taking mechanism 21 takes the medicine storage mechanism 112, which has completed the dispensing operation in the step S3, from the second dispensing position 23 and transports it to the rotating transfer table 13. Then, the sorting and executing mechanism 12 sends the medicine storage mechanism 112 back to the corresponding first dispensing position 111 for resetting, and waits for the next prescription order.

[0102] Further, before the step S4, the combining operation is performed. After the g grams of medicine in the step S3 fall into the receiving and dispensing mechanism 26, the receiving and dispensing mechanism 26 transports the medicine to the combining tray. Then, the medicine in the combining tray can be packaged by manual operation of the physician, where g>0.

[0103] Preferably, the step S1 further comprises that the first weighing sensor 113 on the first dispensing position 111 acquires the weight Q of the medicine storage mechanism 112, and detects whether the value of Q is not greater than a preset weight threshold. If yes, it is determined that the medicine in the medicine storage mechanism is insufficient and needs to be replenished, a replenishment notification message is generated, and the control system sends the replenishment notification message to the warehouse end. The replenishment notification message can be played through the display device and the alarm connected to the control system, and the step S1 is stopped. If no, it is determined that the medicine in the medicine storage mechanism is sufficient, and the step S1 can be continued.

[0104] Preferably, the step S4 further comprises that before the receiving and dispensing mechanism 26 transports the medicine to the combining tray, the control system acquires the dose N of the prescription that has not been output to the receiving and dispensing mechanism 26 in the prescription order. If N>1, the step S3 is performed again.

[0105] In this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0106] The foregoing is merely illustrative of the principles of this application and various modifications can be made by those skilled in the art without departing from the scope of the application. The above description is embodied in the form of specific examples. However, specific details of these examples are not intended to limit the scope of the application.

Claims

1. An intelligent traditional Chinese medicine metering sorting machine, characterized in that, The machine rack comprises a storage rack and a dispensing rack arranged on both sides of the storage rack, the storage rack comprises a storage area and a rotary transfer table arranged at both ends of the storage area; a plurality of first layer plates are longitudinally and equidistantly arranged on the storage area, a plurality of first material placing positions are equidistantly arranged on the first layer plates, a storage mechanism for containing medicine is arranged on the first material placing position, and a first weighing sensor for weighing the storage mechanism is arranged on the first material placing position; the rotary transfer table is rotationally connected to the storage rack, and a sorting execution mechanism for clamping and conveying the storage mechanism from the first material placing position to the rotary transfer table is further slidably connected to the storage area; the dispensing rack comprises a dispensing area and a material taking mechanism slidably connected to the dispensing area, a plurality of second layer plates are longitudinally and equidistantly arranged on the dispensing area, a plurality of second material placing positions are equidistantly arranged on the second layer plates, a second weighing sensor for weighing the storage mechanism is arranged on the second material placing position, the material taking mechanism can clamp and convey the storage mechanism from the rotary transfer table to the second material placing position, a dispensing driving mechanism for driving the storage mechanism to output medicine is arranged on the second material placing position, and a material receiving and output mechanism is further arranged below each second layer plate.

2. The intelligent traditional Chinese medicine metering sorting machine according to claim 1, characterized in that, The storage mechanism comprises a material bin for storing medicine and a screw conveying device for outputting medicine, the screw conveying device is fixedly connected below the material bin, the screw conveying device comprises a screw rod and a conveying device shell sleeved outside the screw rod, both ends of the screw rod are rotationally connected in the shell and one end of the screw rod extends out of the conveying device shell and is fixedly connected with a main transmission gear, a feeding port is formed in the top of the conveying device shell, the feeding port is communicated with the material bin, a discharging port is formed in the bottom of the conveying device shell and a cover plate for covering or opening the discharging port is arranged, one end of the cover plate is rotationally connected with the conveying device shell and the other end is a free end, a pushing mechanism for driving the cover plate to rotate is further arranged on the second material placing position, the pushing mechanism comprises a second mounting plate and a push-pull electromagnet, the second mounting plate is fixedly connected to the second layer plate, a flange extends downward from the bottom of the cover plate, the push-pull electromagnet is fixedly installed on the second mounting plate, and the power end of the push-pull electromagnet is connected with the flange.

3. The intelligent traditional Chinese medicine metering sorting machine according to claim 1, characterized in that, The top and bottom of the storage rack are provided with first transverse sliding rails along the length thereof, first sliding blocks are slidably connected to the first transverse sliding rails, the first sliding blocks are connected through first vertical sliding rails, a first lifting frame is slidably connected to the first vertical sliding rails, and a first lifting driving mechanism for driving the first lifting frame to ascend or descend is arranged on the first vertical sliding rails, a first motor is fixedly installed at one end of the first transverse sliding rail, the output end of the first motor is in transmission connection with the first sliding block through a first synchronous belt transmission assembly, and the sorting execution mechanism is installed on the first lifting frame.

4. The intelligent traditional Chinese medicine metering sorting machine according to claim 3, characterized in that, The sorting actuator comprises a first support bottom plate, a moving base, at least one first clamping assembly, a first transmission belt and a second motor fixedly connected to the bottom of the first support bottom plate, wherein the first support bottom plate is fixedly connected to the first lifting frame, the upper surface of the first support bottom plate is fixedly connected with a first linear guide rail, the output end of the second motor is fixed with a first driving wheel through the top of the first support bottom plate, the top of the first support bottom plate is also rotatably connected with a first driven wheel, the first transmission belt is tensioned on the first driving wheel and the first driven wheel, the bottom of the moving base is fixedly connected with a transmission sliding block, the transmission sliding block is movably connected to the first linear guide rail and fixedly connected with the first transmission belt, and the transmission sliding block is used to drive the moving base to move along the first linear guide rail to approach or move away from the storage mechanism, the first clamping assembly comprises symmetrically arranged first clamping blocks and second clamping blocks, the first clamping blocks and the second clamping blocks are movably connected to the upper surface of the moving base, and the moving base is provided with a first clamping driving mechanism for driving the first clamping blocks and the second clamping blocks to move close to or away from each other.

5. The intelligent traditional Chinese medicine metering sorting machine according to claim 2, characterized in that, The discharging driving mechanism comprises a first mounting plate and a speed reducer, the first mounting plate is fixedly connected to the second layer plate, and the speed reducer is fixedly connected to the first mounting plate, the power end of the speed reducer is fixedly connected with a secondary transmission gear corresponding to the main transmission gear, the top and the bottom of the discharging frame are provided with second transverse sliding rails along the length of the discharging frame, the second transverse sliding rails are slidably connected with second sliding blocks, the two second sliding blocks are connected through a second vertical sliding rail, and the second vertical sliding rail is provided with a second lifting frame and a second lifting driving mechanism for driving the second lifting frame to move upward or downward, wherein one end of the second transverse sliding rail is fixedly provided with a third motor, and the output end of the third motor is in transmission connection with the second sliding block through a second synchronous belt transmission assembly; the material taking mechanism is installed on the second lifting frame and used to drive the material taking mechanism to move upward or downward.

6. The intelligent traditional Chinese medicine metering sorting machine according to claim 5, characterized in that, The material taking mechanism comprises a second support bottom plate, a mounting bottom plate slidably connected to the second support bottom plate, two connecting seats slidably connected to the upper surface of the mounting bottom plate and a second clamping assembly arranged on the connecting seat, wherein the second support bottom plate is fixedly connected to the second lifting frame, the bottom of the mounting bottom plate is fixedly connected with a rack, the upper part of the mounting bottom plate is provided with a second clamping driving mechanism for driving the two connecting seats to move close to or away from each other, the bottom of the second support bottom plate is fixedly connected with a fourth motor, the power end of the fourth motor is fixedly connected with a driving gear through the upper surface of the second support bottom plate, the driving gear is in meshing connection with the rack, and the driving gear is used to drive the mounting bottom plate to move close to or away from the second discharging position, the second clamping assembly comprises a fifth motor mounted on the connecting seat and a clamping bracket mounted on the connecting seat, a clamping plate is vertically connected to the clamping bracket, clamping transmission rollers are rotatably connected to the two ends of the clamping bracket close to the clamping plate, and second transmission belts are tensioned between the two clamping transmission rollers, and one section of the two second transmission belts is arranged in parallel in front of the clamping plate and forms a clamping channel capable of clamping and conveying the storage mechanism.

7. The intelligent traditional Chinese medicine metering sorting machine according to claim 1, characterized in that, The material receiving and output mechanism comprises a support frame, a material output conveyor belt, a baffle and a sixth motor, the support frame is fixedly connected to the material output frame, the sixth motor is arranged on the support frame, the material output conveyor belt is rotationally connected to the support frame through a transmission shaft, the output end of the sixth motor is in transmission connection with the material output conveyor belt through a third synchronous belt transmission assembly, and baffles are arranged on the two sides of the material output conveyor belt.

8. The intelligent traditional Chinese medicine metering sorting machine according to claim 1, characterized in that, The material output frame is further provided with a grabbing mechanical arm, which is used to directly grab the medicine in the material bin from the second material placing position and place it on the material receiving and output mechanism.

9. A traditional Chinese medicine sorting method implemented by the intelligent traditional Chinese medicine metering sorting machine according to any one of claims 1 to 8, comprising the steps of: S1, the sorting execution mechanism obtains a sorting instruction, and according to a preset medicine position of a corresponding storage mechanism of a required medicine in the sorting instruction, the preset medicine position is a first feeding position in the Bth column of the A th layer plate corresponding to the category of the medicine, the sorting execution mechanism sequentially takes H storage mechanisms required in the sorting instruction from the first feeding position of the corresponding position and transports them to the rotary switching table, wherein, A≥1, B≥1, H≥1; S2, the rotating switching table obtains a switching instruction, and the rotating switching table drives the storage mechanism to rotate and adjust the direction according to a preset angle corresponding to the switching instruction, the taking mechanism takes out the storage mechanism from the rotating switching table and conveys it to the second material placing position of the material output area; S3, start each material output driving mechanism on the second material placing position, determine the required medicine weight according to the change of the reading of the second weighing sensor, and drive the main transmission gear of the material output driving mechanism to advance the screw by a distance corresponding to the required medicine weight, so as to respectively make H storage mechanisms output medicines to the material receiving and output mechanism; S4, the taking mechanism takes out the storage mechanism from the second material placing position and conveys it to the rotating switching table, and then the sorting execution mechanism sends the storage mechanism back to the corresponding first material placing position for resetting.

10. The traditional Chinese medicine sorting method according to claim 9, characterized in that, The step S1 further comprises: the first weighing sensor on the first material placing position obtains the weight Q of the storage mechanism, detects whether the value of Q is not greater than a preset weight threshold, if yes, it is determined that the medicines in the storage mechanism are insufficient and need to be replenished; if not, it is determined that the medicines in the storage mechanism are sufficient.

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