Traditional Chinese medicine dispensing equipment and control method

Abstract

The invention discloses traditional Chinese medicine dispensing equipment and a control method, and relates to the technical field of medicine dispensing equipment, the traditional Chinese medicine dispensing equipment comprises a rack, a plurality of groups of dispensing assemblies, a medicine dispensing mechanism, a transferring mechanism and a carrier conveying system, and the rack is provided with a plurality of dispensing stations and medicine dispensing stations. Each dispensing assembly corresponds to one dispensing station and comprises a plurality of metering units which are used for weighing different kinds of traditional Chinese medicinal materials respectively, and independent metering and sequential feeding of the single medicine are achieved. And the medicine dispensing mechanism is arranged at the medicine dispensing station, comprises a rotatable medicine supply container and is used for feeding the medicinal materials into the target metering unit through the feeding interface in the rotating process so as to realize material supplementation. And the transferring mechanism drives the medicine supply container to move in the space and to be positioned above the target. And the carrier conveying system is used for sequentially conveying the material receiving carriers to all the dispensing stations and receiving the medicinal materials fed by all the metering units at the stations, so that prescription compatibility is completed. The layout supports parallel processing and continuous operation of multiple medicines, and the automation degree is improved while the accuracy of the formula is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medicine dispensing equipment, in particular to a traditional Chinese medicine dispensing equipment and a control method. BACKGROUND

[0002] The preparation of traditional Chinese medicine prescriptions requires mixing multiple medicinal materials according to the prescription and a set dose. Traditional Chinese medicine pharmacies rely on manual weighing, dispensing and checking multiple times, which is a cumbersome process with low efficiency, and has problems such as large weighing error, easy mismatching and missing, and high labor intensity, which is difficult to meet the demand of modern medicine for efficient and accurate dispensing.

[0003] To improve the automation level, the existing technology has adopted a multi-station feeding mechanism equipped with a weighing hopper to replace manual medicine taking, achieving a certain degree of automation. However, due to the significant differences in physical properties (such as particle size, shape, density, hygroscopicity, flowability, etc.) of traditional Chinese medicinal materials, the existing feeding mechanism has poor adaptability when conveying different types of medicinal materials. For example, fine powder type medicinal materials are prone to caking and sticking, resulting in poor feeding or residue; granular type medicinal materials have good flowability but are prone to impulse, affecting the weighing accuracy; and sheet or irregular medicinal materials are prone to jamming in the conveying channel. These problems directly lead to unstable weighing results, affecting the accuracy of the prescription and limiting the versatility of the equipment. In addition, the storage capacity of most equipment is limited, and there is a lack of intelligent medicine quantity monitoring and automatic medicine replenishment mechanism. When the medicine is depleted, manual intervention is required to stop and replenish the medicine, interrupting the dispensing process and preventing continuous and intelligent operation. Therefore, it is urgent to provide an intelligent traditional Chinese medicine dispensing equipment that can automatically identify, accurately dispense and high-precision weigh medicinal materials according to prescription information, and has an automatic medicine replenishment function, to solve the problems of inaccurate weighing, poor versatility and frequent manual intervention in the existing technology, and to improve the efficiency, accuracy and automation level of traditional Chinese medicine preparation. SUMMARY

[0004] The main purpose of the present application is to provide a traditional Chinese medicine dispensing equipment and a control method, which aims to solve the problems of inaccurate weighing, poor versatility and insufficient automation in the existing dispensing technology.

[0005] To achieve the above-mentioned purpose, the traditional Chinese medicine dispensing equipment provided by the present application comprises:

[0006] A rack is provided with a plurality of stations, the plurality of stations comprising a plurality of dispensing stations spaced apart in a first horizontal direction and a plurality of dispensing stations spaced apart in the first horizontal direction, the dispensing stations and the dispensing stations being spaced apart in a second horizontal direction;

[0007] A plurality of dispensing assemblies are provided one by one corresponding to each dispensing station, each dispensing assembly comprising a plurality of metering units, each metering unit being used to weigh different types of traditional Chinese medicinal materials;

[0008] A dispensing mechanism is arranged at the dispensing station, and includes a rotatable medicine container for pouring the Chinese medicinal materials from the opening thereof to the feeding interface of the corresponding metering unit during rotation of the medicine container, so as to realize dispensing and replenishment of the medicinal materials;

[0009] A transfer mechanism is arranged for driving the medicine container to move in space and be positioned above the target metering unit; and

[0010] A carrier conveying system is arranged for conveying the material receiving carriers to the respective dispensing stations in sequence to receive the Chinese medicinal materials falling from the plurality of metering units at the corresponding dispensing stations.

[0011] In an embodiment, each of the metering units includes:

[0012] A fixed base;

[0013] A storage cavity is mounted to the fixed base, and is provided with a feeding interface at the top and a discharging port at the bottom, wherein the feeding interface is arranged correspondingly to the discharging path of the medicine container;

[0014] A feeding module is arranged below the storage cavity for conveying the medicinal materials falling from the discharging port in a second horizontal direction; and

[0015] A weighing assembly is arranged downstream of the feeding module, and includes a weighing part and a weighing container, wherein the weighing part is arranged for weighing the weighing container, and the weighing container includes a lower shell and a turnover baffle rotatably arranged at the discharging port of the lower shell, wherein the turnover baffle is arranged for closing the discharging port to receive the medicinal materials in a first working position, and opening the discharging port to release the medicinal materials in a second working position.

[0016] In an embodiment, the metering unit further includes a first driving motor, which is drivingly connected to the turnover baffle for driving the turnover baffle to switch between the first working position and the second working position.

[0017] In an embodiment, the turnover baffle is rotatably arranged about a first rotation axis extending in a first horizontal direction;

[0018] The turnover baffle is provided with a limiting column extending in the first horizontal direction;

[0019] The weighing assembly further includes a limiting plate fixedly connected to the fixed base, wherein the limiting plate is provided with an arc-shaped limiting groove extending in a circumferential direction of the first rotation axis and having a first end and a second end;

[0020] The limiting column is arranged to pass through the limiting groove, and when the limiting column abuts against the first end of the limiting groove, the turnover baffle is in the first working position;

[0021] When the limiting column abuts against the second end of the limiting groove, the turnover baffle is in a second working position.

[0022] In an embodiment, the weighing part comprises a weighing sensor, a first end of the weighing sensor being fixedly connected to the fixed base, and a second end of the weighing sensor being fixedly connected to a lower shell of the weighing container, so as to realize independent weighing of the weighing container.

[0023] In an embodiment, the feeding module comprises a main feeding sub-module and an auxiliary feeding sub-module.

[0024] The main feeding sub-module comprises two first transmission wheels, a first conveying belt and a second driving device, the first conveying belt being arranged around the periphery of the two first transmission wheels, and being used for high-speed conveying of the medicinal materials falling from the discharge port.

[0025] The auxiliary feeding sub-module is located below the main feeding sub-module, and comprises two second transmission wheels, a second conveying belt and a third driving device, the second conveying belt being used for receiving the medicinal materials falling from the first conveying belt and conveying the medicinal materials to the feeding port of the weighing container at a low speed.

[0026] The line speed of the second conveying belt driven by the third driving device is lower than that of the first conveying belt, so as to realize two-stage feeding of coarse feeding and fine feeding.

[0027] In an embodiment, the transfer mechanism comprises a three-dimensional displacement platform, which is used for driving the medicine supply container to independently move in a first horizontal direction, a second horizontal direction and a vertical direction.

[0028] The transfer mechanism further comprises a tilting driving unit, which is installed at an output end of the three-dimensional displacement platform, and is used for driving the medicine supply container to tilt around a horizontal shaft, so as to pour the medicinal materials in the medicine supply container to the feeding interface of the target metering unit.

[0029] The application further provides a control method of the traditional Chinese medicine dispensing equipment, comprising the following steps:

[0030] Obtaining target prescription information, and analyzing the types and target weights of various medicinal materials;

[0031] Controlling the transfer mechanism to drive the medicine supply container to move above the target metering unit, and controlling the tilting driving unit to tilt the medicine supply container, so as to pour the medicinal materials into the corresponding metering unit through the feeding interface;

[0032] Starting the feeding module of the metering unit, conveying the medicinal materials falling from the discharge port to the feeding port of the weighing assembly, and monitoring the weight of the medicinal materials in real time by the weighing part.

[0033] When the weight of the medicinal material reaches the target weight, the feeding module is stopped from running, and the first driving motor is controlled to drive the turnover baffle to turn over, so that the medicinal material on the turnover baffle falls into the lower receiving carrier through the discharge port;

[0034] After the turnover baffle is reset, it is determined whether the metering unit needs to be supplied with medicinal material again, and if so, the above-mentioned medicinal material supply process is repeated;

[0035] After all the metering units at the dispensing station complete the discharging, the carrier conveying system is controlled to convey the receiving carrier to the next station.

[0036] In an embodiment, when the metering unit is configured with a main feeding submodule and an auxiliary feeding submodule, the step of starting the feeding module of the metering unit comprises:

[0037] The main feeding submodule is started to perform high-speed rough feeding;

[0038] When the weighing part detects that the weight of the medicinal material reaches a preset proportion threshold of the target weight, the main feeding submodule is stopped, and the auxiliary feeding submodule is switched to perform low-speed fine feeding;

[0039] The auxiliary feeding submodule runs at a linear speed lower than that of the main feeding submodule to realize fine feeding.

[0040] In an embodiment, the control method further comprises the following steps:

[0041] Before starting the low-speed fine feeding, the corresponding preset proportion threshold is determined according to the physical property information of the target medicinal material, wherein the physical property information includes density, particle size distribution and flowability parameters;

[0042] Based on the physical property information, a matching threshold interval is queried from a preset mapping relationship, and the feeding module is controlled to switch to a low-speed fine feeding mode when the threshold is reached.

[0043] In an embodiment, the control method further comprises the following steps:

[0044] When a plurality of dispensing stations run in parallel, it is determined whether there is a target station with progress lag according to the current task progress and the estimated completion time of each dispensing station;

[0045] If so, the dispensing priority of the target station is controlled to be adjusted, or the replenishment operation of other non-urgent stations is controlled to be suspended, so as to coordinate the task rhythm of each station and match the pipeline rhythm.

[0046] In an embodiment, the control method further comprises the following steps:

[0047] According to the deviation value between the actual feeding weight after each weighing is completed and the target weight, it is determined whether the same metering unit continuously appears deviation beyond a preset range for N times.

[0048] If so, when weighing the metering unit subsequently, the weighing stop threshold or the drive parameters of the feeding module will be controlled and adjusted to compensate for systematic weighing errors.

[0049] In one embodiment, the control method further includes the following steps:

[0050] Based on the cumulative demand and amount already delivered for the target medicinal material in the current prescription queue, calculate the expected consumption progress of the medicinal material in subsequent prescriptions;

[0051] Based on the projected consumption schedule, it is determined whether the medicinal material will be exhausted before the entire prescription is completed;

[0052] If so, the transfer mechanism will trigger the replenishment operation of the drug supply container in advance to ensure the continuous supply of the drug in the key prescription.

[0053] The technical solution of this invention arranges the dispensing station and the medicine dispensing station at intervals in the first and second horizontal directions, respectively, providing operational space for the movement and positioning of the medicine supply container and avoiding motion interference. Each dispensing assembly is equipped with multiple metering units, each used to weigh different types of Chinese medicinal materials, realizing independent metering and sequential dispensing of single herbs. The medicine dispensing mechanism replenishes the target metering unit at the medicine dispensing station through a rotatable medicine supply container. The carrier conveying system sequentially transports the receiving carrier to each dispensing station, receiving all the medicinal materials at that station to complete the prescription. This allows for parallel processing and continuous operation of multiple herbs, ensuring the accuracy of the prescription while improving the automation level of the dispensing process. Attached Figure Description

[0054] 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.

[0055] Figure 1 This is a schematic diagram of the structure of an embodiment of the traditional Chinese medicine dispensing device provided by the present invention;

[0056] Figure 2 for Figure 1 A partial structural diagram of a traditional Chinese medicine dispensing equipment;

[0057] Figure 3 for Figure 2 A partial side view of a traditional Chinese medicine dispensing equipment;

[0058] Figure 4 for Figure 2Structure schematic diagram of the carrier conveying system and the dispensing assembly;

[0059] Figure 5 For Figure 2 Structure schematic diagram of the moving mechanism and the dispensing mechanism;

[0060] Figure 6 For Figure 2 Structure schematic diagram of an embodiment of the metering unit;

[0061] Figure 7 And Figure 8 For Figure 2 Structure schematic diagram of another embodiment of the metering unit;

[0062] Figure 9 Flowchart of a first embodiment of the control method of the traditional Chinese medicine dispensing equipment provided by the present application.

[0063] Explanation of reference numerals:

[0064] 100, traditional Chinese medicine dispensing equipment; 10, rack; 20, dispensing assembly; 21, metering unit; 211, fixed base; 212, storage cavity; 212a, feeding interface; 212b, discharging port; 213, feeding module; 2131, main feeding sub-module; 21311, first transmission wheel; 21312, first conveying belt; 2132, auxiliary feeding sub-module; 21321, second transmission wheel; 21322, second conveying belt; 214, weighing assembly; 2141, weighing part; 21411, weighing sensor; 2142, weighing container; 21421, lower shell; 21422, turnover baffle; 21423, limiting column; 21424, limiting plate; 21424a, limiting groove; 215, first driving motor; 30, dispensing mechanism; 31, medicine supply container; 40, moving mechanism; 41, three-dimensional displacement platform; 42, tilting driving unit; 50, carrier conveying system;

[0065] 200, material receiving carrier.

[0066] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the protection scope of the present application.

[0068] 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, motion condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications will also change accordingly.

[0069] In addition, if the embodiments of the present application involve descriptions such as "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 or implicitly indicating the number of indicated technical features. Therefore, the features defined as "first", "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 are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B 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 fact that a person skilled in the art can realize it, 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 required by the present application.

[0070] The present application provides a traditional Chinese medicine dispensing equipment 100, which aims to solve the problems of inaccurate weighing, poor universality and insufficient automation in existing dispensing technology.

[0071] Please refer to Figures 1 to 3 In an embodiment of the present application, the traditional Chinese medicine dispensing equipment 100 includes a rack 10, multiple dispensing assemblies 20, a medicine distributing mechanism 30, a transplanting mechanism and a carrier conveying system 50. Multiple dispensing stations are arranged at intervals in a first horizontal direction, and each dispensing station is configured with a set of dispensing assemblies 20. Each set of dispensing assemblies 20 includes multiple metering units 21, each of which is used to weigh different types of traditional Chinese medicinal materials. The dispensing station and the medicine distributing station are arranged transversely staggered in a second horizontal direction to provide equipment layout and movement avoidance space. The medicine distributing station is also distributed at intervals in the first horizontal direction to set the medicine distributing mechanism 30 and realize the replenishment of medicinal materials for each metering unit 21.

[0072] The medicine distributing mechanism 30 is arranged at the medicine distributing station and includes a rotatable medicine supply container 31. The medicine supply container 31 is loaded with a predetermined traditional Chinese medicinal material inside, and the bottom or side wall thereof is provided with an opening. When the medicine supply container 31 rotates around its own axis, the internal medicinal materials are poured out from the opening under the action of gravity. The pouring path points to the upper material interface 212a of the target metering unit 21 below to realize the directional placement of medicinal materials.

[0073] The transfer mechanism 40 is used to drive the medicine supply container 31 to move in three-dimensional space and position it directly above the feeding interface 212a of the target metering unit 21. The transfer mechanism 40 has movement freedom in the first horizontal direction, the second horizontal direction and the vertical direction, and realizes precise positioning through multi-axis linkage structure driven by a servo motor. The control system determines the type of medicine to be replenished and the position of the corresponding metering unit 21 according to the prescription information, calls the medicine supply container 31 and controls the transfer mechanism 40 to transport it to the target point. After the replenishment is completed, the medicine supply container 31 returns to the standby position with the transfer mechanism 40 or moves to the next replenishment point. The specific implementation form of the transfer mechanism 40 is not limited in the present specification, and different structures can be selected according to the space layout of the equipment and the motion accuracy requirement, which is not limited here.

[0074] The carrier conveying system 50 is used to convey the receiving carrier 200 along the first horizontal direction to each dispensing station in turn. The receiving carrier 200 is used to receive all the Chinese herbal medicines weighed by all the metering units 21 in a complete set of dispensing assembly 20 at a dispensing station, thereby forming a mixture of a complete prescription.

[0075] It should be noted that the conveying system adopts a synchronous belt, a chain or a stepping push rod structure, and is provided with a positioning sensor to ensure that the receiving carrier 200 is accurately positioned at each dispensing station. When the receiving carrier 200 is positioned or has been positioned at the corresponding dispensing station, the weighing containers 2142 of all the metering units 21 of the dispensing station release the medicines, and the compounding is completed.

[0076] Specifically, in a specific embodiment, the metering unit 21 includes a fixed base 211, a storage cavity 212, a feeding module 213 and a weighing assembly 214. The fixed base 211 is used to mount the entire metering unit 21 on the rack 10 or the dispensing station platform, and provides structural support. The storage cavity 212 is mounted on the fixed base 211, and the top thereof is provided with a feeding interface 212a for receiving the poured medicines from the medicine supply container 31; the bottom is provided with a discharge port 212b for controlling the release of the medicines. The feeding interface 212a is located at the top opening of the storage cavity 212 and is correspondingly arranged with the discharge path of the medicine supply container 31, so as to ensure that the medicines smoothly enter the cavity during the replenishment process.

[0077] It should be noted that the volume of the storage cavity 212 is designed to accommodate the required dose for single or multiple dispensing, reducing the frequency of replenishment.

[0078] Please refer to Figures 6 to 8The feeding module 213 is arranged below the storage cavity 212, and is used to transport the medicinal materials falling from the discharge port 212b to the downstream weighing assembly 214 along a second horizontal direction. The feeding module 213 can adopt the form of a vibrating disc, a screw conveyor, a belt conveying mechanism or a reciprocating pushing rod, etc. In the replenishment stage, the discharge port 212b of the storage cavity 212 is opened, and the medicinal materials fall into the feeding module 213 by gravity, and then are transported by the feeding module 213 to above the weighing container 2142 of the weighing assembly 214.

[0079] The weighing assembly 214 is located downstream of the feeding module 213, and includes a weighing part 2141 and a weighing container 2142. The weighing part 2141 is a high-precision weighing sensor 21411 (such as a strain sensor or an electromagnetic balance sensor), which is used for real-time weight detection of the weighing container 2142. The weighing container 2142 includes a lower shell 21421 and a turnover baffle 21422 rotatably arranged at a discharge port thereof. The turnover baffle 21422 is connected to the lower shell 21421 through a rotating shaft and is driven by a first driving motor 215, and can be switched between a first working position and a second working position: in the first working position, the turnover baffle 21422 closes the discharge port to form a closed cavity to receive the medicinal materials transported from the feeding module 213; in the second working position, the turnover baffle 21422 is rotated to open the discharge port, so that the medicinal materials in the weighing container 2142 are completely poured into the lower receiving carrier 200.

[0080] In the working process, according to the target dose of a certain medicinal material in the prescription, the control system first controls the discharge port 212b of the storage cavity 212 to be opened, so that the medicinal materials enter the weighing container 2142 through the feeding module 213. The weighing part 2141 collects the weight signal in real time, and when the target value is approached, the control system slows down or stops feeding. After reaching the target dose, the weighing container 2142 remains in a closed state. When the receiving carrier 200 is accurately positioned below the dispensing station under the action of the carrier conveying system 50, the turnover baffle 21422 is rotated to the second working position to release the weighed medicinal materials. Each metering unit 21 completes the feeding in turn to form a complete prescription.

[0081] The present specification does not limit the driving mode of the turnover baffle 21422, which can be electromagnetic driving, gear transmission driven by a micro motor, a pneumatic push rod or shape memory alloy driving, etc., and the specific selection can be based on the response speed and reliability requirements. The lower shell 21421 of the weighing container 2142 can be designed in a funnel shape or a U-shaped structure to facilitate complete discharge of the medicinal materials and reduce residue. Of course, other possible shapes can also be used, and the specific shape can be determined according to the actual situation, and the present specification does not limit the embodiment.

[0082] The discharge port 212b of the storage cavity 212 can be provided with a gate or a rotary valve for controlling the release timing and flow of medicinal materials. The running speed and start-stop timing of the feeding module 213 are adjusted by the control system according to the type of medicinal materials and the target dose to adapt to different material properties.

[0083] The traditional Chinese medicine dispensing equipment 100 arranges the dispensing stations and the medicine dispensing stations in the first horizontal direction and the second horizontal direction respectively to provide operation space for the movement and positioning of the medicine containers 31 and avoid motion interference. Each dispensing assembly 20 is configured with multiple metering units 21 for weighing different types of medicinal materials to realize independent metering and sequential feeding of single medicinal materials. The medicine dispensing mechanism 30 feeds the target metering unit 21 with materials at the medicine dispensing station through the rotatable medicine container 31. The carrier conveying system 50 conveys the receiving carriers 200 to each dispensing station in turn to complete the prescription matching of all medicinal materials at the station. This enables parallel processing and continuous operation of multiple medicinal materials, ensuring the accuracy of the prescription while improving the automation level of the dispensing process.

[0084] Specifically, referring to Figures 6 to 8 In this embodiment, the metering unit 21 further includes a first driving motor 215 that is drivingly connected with the turnover baffle 21422 for driving the turnover baffle 21422 to switch between the first working position and the second working position.

[0085] In this way, the first driving motor 215 drives the baffle to switch between the two working positions after being started, and the action is controlled by the control system according to the weighing signal and the feeding instruction to match the discharge timing and the dose.

[0086] The first driving motor 215 can be a stepper motor or a servo motor that can accurately control the rotation angle and speed. When receiving the feeding instruction, the motor drives the turnover baffle 21422 to rotate to the open position, so that the medicinal materials fall into the receiving carrier 200 under the action of gravity; after the feeding is completed, the motor reverses to reset the baffle to the closed position, preparing for the next weighing.

[0087] The rotation angle of the turnover baffle 21422 can be determined according to actual conditions, which is not limited in the embodiments of the present specification. The present specification does not limit the transmission mode between the motor and the shaft, which can be direct connection, gear, synchronous belt or connecting rod mechanism, etc., which will not be described in detail here.

[0088] Specifically, referring to Figure 6In the embodiment, the turnover baffle 21422 is rotatably arranged around the first rotation axis extending in the first horizontal direction; the turnover baffle 21422 is provided with a limiting column 21423 extending in the first horizontal direction; the weighing assembly 214 further includes a limiting plate 21424 fixedly connected to the fixed base 211, the limiting plate 21424 is provided with an arc-shaped limiting slot 21424a extending along the circumferential direction of the first rotation axis and having a first end and a second end; the limiting column 21423 is arranged in the limiting slot 21424a, when the limiting column 21423 abuts against the first end of the limiting slot 21424a, the turnover baffle 21422 is in the first working position; when the limiting column 21423 abuts against the second end of the limiting slot 21424a, the turnover baffle 21422 is in the second working position.

[0089] The limiting slot 21424a extends along the circumferential direction of the first rotation axis and has a first end and a second end, and the limiting column 21423 is arranged in the limiting slot 21424a and slides along the slot body during the rotation of the turnover baffle 21422, and the limiting slot 21424a is used to limit the rotation range of the turnover baffle 21422.

[0090] Specifically, when the limiting column 21423 abuts against the first end of the limiting slot 21424a, the turnover baffle 21422 is completely closed and is in the first working position; when the limiting column 21423 abuts against the second end of the limiting slot 21424a, the discharge port is completely opened and the turnover baffle 21422 is in the second working position. Through the mechanical limiting structure, the end position of each opening and closing action is consistent, and over-rotation or insufficient rotation caused by motor inertia or assembly error is avoided.

[0091] The arc angle of the limiting slot 21424a is designed according to the required rotation angle of the turnover baffle 21422, and can be determined according to actual conditions, and the embodiment of the present application does not limit this.

[0092] Specifically, please refer to Figure 6 In the embodiment, the weighing part 2141 includes a weighing sensor 21411, the first end of the weighing sensor 21411 is fixedly connected to the fixed base 211, and the second end is fixedly connected to the lower shell 21421 of the weighing container 2142, so as to realize independent weighing of the weighing container 2142.

[0093] The total weight of the weighing container 2142 is transmitted through the sensor to form an independent weighing unit. It should be noted that the weighing sensor 21411 can be strain or electromagnetic, and the installation method can be suspended or supported, which is selected according to the structure layout. The connection between the sensor and the lower shell 21421 can be realized through threads, flanges or buckle structures to ensure firm connection without additional stress.

[0094] The specific form and installation position of the sensor are not limited in the specification, and can be adjusted according to actual needs. Of course, other equivalent connection methods can also be used, which can be determined according to actual conditions, and the embodiments of the specification do not limit this.

[0095] The weighing sensor 21411 is directly connected to the fixed base 211 to realize independent bearing of the weighing container 2142, so as to reduce the vibration interference in feeding or equipment operation, and improve the stability and accuracy of weight detection.

[0096] Specifically, please refer to Figure 7 and Figure 8 In the embodiment, the feeding module 213 includes a main feeding submodule 2131 and an auxiliary feeding submodule 2132; the main feeding submodule 2131 includes two first driving wheels 21311, a first conveying belt 21312 and a second driving device, the first conveying belt 21312 is arranged around the periphery of the two first driving wheels 21311, and is used for high-speed conveying of the medicinal materials falling from the discharge port 212b; the auxiliary feeding submodule 2132 is located below the main feeding submodule 2131, and includes two second driving wheels 21321, a second conveying belt 21322 and a third driving device, the second conveying belt 21322 is used for receiving the medicinal materials falling from the first conveying belt 21312 and conveying the medicinal materials to the feeding port of the weighing container 2142 at a low speed; wherein the linear speed of the second conveying belt 21322 driven by the third driving device is lower than that of the first conveying belt 21312, so as to realize two-stage feeding of coarse feeding and fine feeding.

[0097] The first conveying belt 21312 is arranged around the periphery of the first driving wheel 21311 and is driven by the second driving device, and is used for quickly conveying the medicinal materials falling from the discharge port 212b of the storage cavity 212 to complete the feeding of most of the dose.

[0098] The auxiliary feeding submodule 2132 is located below the main feeding submodule 2131, and specifically includes two second driving wheels 21321, a second conveying belt 21322 and a third driving device. The second conveying belt 21322 receives the medicinal materials falling from the first conveying belt 21312 and conveys the medicinal materials to the feeding port of the weighing container 2142 at a lower speed. The third driving device independently controls the second conveying belt 21322, and the linear speed of the second conveying belt 21322 is lower than that of the first conveying belt 21312.

[0099] In operation, the control system first starts the main feeding sub-module 2131 to perform fast feeding; when approaching the target weight, the second conveying belt 21322 feeds at low speed to realize precise control. Through speed grading, overshoot phenomenon when approaching the target value is reduced.

[0100] The speed of the second conveying belt 21322 can be set according to actual needs, which can be determined according to actual conditions, and the embodiments of the present specification are not limited thereto. The material and structure of the conveying belt are not limited in the present specification, and can be selected according to space and material characteristics.

[0101] Through the two-stage conveying belts of the main feeding sub-module 2131 and the auxiliary feeding sub-module 2132, high-speed coarse feeding and low-speed fine feeding are realized respectively to improve the feeding efficiency while suppressing the impulse error and improving the weighing accuracy.

[0102] Specifically, please refer to Figure 3 and Figure 5 In the present embodiment, the transfer mechanism 40 includes a three-dimensional displacement platform 41 for driving the medicine supply container 31 to move independently in the first horizontal direction, the second horizontal direction and the vertical direction; the transfer mechanism 40 further includes a tilting driving unit 42 mounted on the output end of the three-dimensional displacement platform 41 for driving the medicine supply container 31 to rotate around a horizontal axis to pour the internal medicine to the upper feeding interface 212a of the target metering unit 21.

[0103] The three-dimensional displacement platform 41 has a movable stroke in the first horizontal direction, the second horizontal direction and the vertical direction, and can drive the medicine supply container 31 to move freely in space. The platform is composed of multiple linear modules, such as servo electric sliding tables in X-axis, Y-axis and Z-axis directions, which are driven by a control system to accurately move the medicine supply container 31 to the exact above of the upper feeding interface 212a of the target metering unit 21, ensuring the accuracy of the feeding position.

[0104] The output end of the three-dimensional displacement platform 41 is provided with a tilting driving unit 42, which is used to drive the medicine supply container 31 to rotate around a horizontal axis, so that the opening of the medicine supply container 31 faces downward, and the internal medicine is poured to the upper feeding interface 212a of the metering unit 21 below by gravity. The tilting driving unit 42 can adopt a motor cooperating with a gear, a cam, a connecting rod or a synchronous belt mechanism to realize smooth rotation. The rotation angle can be adjusted according to the type of medicine and the amount of feeding.

[0105] During the replenishment process, the control system determines the position of the metering unit 21 to be replenished according to the prescription information, first positions the medicine supply container 31 to the position through the three-dimensional displacement platform 41, and then starts the tilting drive unit 42 to make the medicine supply container 31 tilt, and completes the medicine delivery. After the pouring is completed, the tilting drive unit 42 is reset, the medicine supply container 31 returns to the vertical or horizontal storage posture, and is driven by the three-dimensional displacement platform 41 to return to the standby position or move to the next replenishment point.

[0106] The specific structure of the three-dimensional displacement platform 41 is not limited in the specification, and can be a gantry type, a cantilever type or a multi-axis truss structure, as long as three-dimensional movement can be achieved. The mounting mode and transmission form of the tilting drive unit 42 can also be adjusted according to the weight and size of the medicine supply container 31.

[0107] Based on the above traditional Chinese medicine dispensing equipment 100, please refer to Figure 9 The application also provides a control method of the traditional Chinese medicine dispensing equipment 100, which specifically comprises the following steps:

[0108] Step S1, obtaining target prescription information, analyzing the types and target weights of each traditional Chinese medicine.

[0109] The control system first obtains the target prescription information, which includes the types of the required traditional Chinese medicines, the target weights of each medicine and the delivery sequence. The system analyzes the processing parameters of each medicine according to the prescription content, and matches the corresponding metering unit 21 and medicine supply container 31.

[0110] Step S2, controlling the transfer mechanism 40 to drive the medicine supply container 31 to move above the target metering unit 21, and controlling the tilting drive unit 42 to overturn the medicine supply container 31 to deliver the traditional Chinese medicine into the corresponding metering unit 21 through the feeding interface 212a.

[0111] The control system starts the transfer mechanism 40, and the three-dimensional displacement platform 41 drives the medicine supply container 31 to move in the first horizontal direction, the second horizontal direction and the vertical direction, and accurately positions the medicine supply container 31 above the feeding interface 212a of the target metering unit 21. After positioning, the control system starts the tilting drive unit 42 to drive the medicine supply container 31 to overturn around the horizontal axis, so that the opening of the medicine supply container 31 faces downward, and the internal medicine falls into the storage cavity 212 of the metering unit 21 through the feeding interface 212a under the action of gravity, and the replenishment is completed.

[0112] Step S3, starting the feeding module 213 of the metering unit 21 to deliver the medicine falling from the discharge port 212b to the feeding port of the weighing assembly 214, and monitoring the weight of the medicine in real time by the weighing part 2141.

[0113] After the material is in place, the feeding module 213 of the metering unit 21 is started. The main feeding submodule 2131 first feeds the medicinal material from the discharge port 212b to the auxiliary feeding submodule 2132 at a high speed, and then the second conveying belt 21322 running at a low speed stably feeds the medicinal material into the feed inlet of the weighing assembly 214. The weighing sensor 21411 in the weighing part 2141 collects the weight signal of the weighing container 2142 and its contents in real time and feeds back to the control system.

[0114] Step S4, when the weight of the medicinal material reaches the target weight, stop the feeding module 213 from running, and control the first drive motor 215 to drive the turnover baffle 21422 to turn over, so that the medicinal material on the turnover baffle 21422 falls into the lower receiving carrier 200 through the discharge port.

[0115] When it is detected that the weight of the medicinal material approaches the target value, the control system gradually slows down the running speed of the auxiliary feeding submodule 2132; when the actual weight reaches the target weight, the feeding module 213 is immediately stopped to ensure the accuracy of the dose. Subsequently, the first drive motor 215 is controlled to act to drive the turnover baffle 21422 to rotate from the first working position to the second working position, so that the medicinal material on the baffle completely falls into the lower receiving carrier 200.

[0116] Step S5, after the turnover baffle 21422 is reset, it is judged whether the metering unit 21 needs to supply medicinal material again. If yes, the above-mentioned medicinal material supply process is repeated.

[0117] After the turnover baffle 21422 completes the feeding, the first drive motor 215 drives it to reset to the closed state. The control system judges whether the metering unit 21 needs to be supplied again (for example, the amount of medicinal material in the storage cavity 212 is insufficient or multiple doses of prescriptions need to be processed), and if the medicinal material needs to be supplied, the transfer mechanism 40 and the tilting drive unit 42 are called again to perform the material supply process.

[0118] Step S6, after all the metering units 21 of the dispensing station complete the discharging, the carrier conveying system 50 is controlled to convey the receiving carrier 200 to the next station.

[0119] The above process is sequentially performed on each metering unit 21 of the dispensing station, and each medicinal material is weighed and fed according to the prescription sequence. After all the metering units 21 complete the feeding to the receiving carrier 200, the control system confirms that the compounding is completed, and then issues an instruction to control the carrier conveying system 50 to convey the receiving carrier 200 to the next station, such as a review, soaking or decoction station, to enter the subsequent processing link.

[0120] By acquiring prescription information and sequentially performing positioning and feeding, grading and feeding, real-time weighing, precise feeding and process judgment, each kind of traditional Chinese medicine is put in the required position after the receiving carrier 200 is positioned, and closed-loop control is realized during the weighing process, so as to reduce the impulse error, avoid mismatching and missing, improve the dispensing accuracy, and realize the automation and standardization of traditional Chinese medicine preparation.

[0121] Based on the first embodiment, when the metering unit 21 is configured with a main feeding sub-module 2131 and an auxiliary feeding sub-module 2132, in the second embodiment, the step of starting the feeding module 213 of the metering unit 21 includes:

[0122] Step S31, start the main feeding sub-module 2131 for high-speed rough feeding.

[0123] When starting the feeding module 213 of the metering unit 21, the control system first starts the main feeding sub-module 2131 to run at a higher speed. The first conveying belt 21312 quickly forwards the medicine falling from the discharge port 212b of the storage cavity 212 to complete the feeding of most of the dose and improve the initial feeding efficiency.

[0124] Step S32, when the weighing part 2141 detects that the weight of the medicine reaches a preset proportion threshold of the target weight, stop the main feeding sub-module 2131 and switch to low-speed precise feeding by the auxiliary feeding sub-module 2132.

[0125] The auxiliary feeding sub-module 2132 runs at a lower linear speed than the main feeding sub-module 2131 to achieve fine feeding.

[0126] When the weighing part 2141 detects that the real-time weight of the medicine in the weighing container 2142 reaches a preset proportion threshold of the target weight, the control system stops the main feeding sub-module 2131 from running. The specific value of the threshold can be set according to the type of medicine, fluidity and equipment inertia parameters to balance the speed and accuracy.

[0127] After the main feeding sub-module 2131 is stopped, the auxiliary feeding sub-module 2132 is switched to low-speed precise feeding. The second conveying belt 21322 runs continuously at a lower linear speed than the first conveying belt 21312 to stably convey the remaining medicine to the feeding port of the weighing container 2142. Since the auxiliary feeding sub-module 2132 runs at a lower speed, the amount of feeding per unit time is reduced, which facilitates the control system to fine-tune near the target weight and effectively suppresses the impulse error.

[0128] The auxiliary feeding sub-module 2132 keeps running throughout the fine feeding stage until the weighing unit 2141 feeds back that the weight reaches the target value, and the turnover baffle 21422 is controlled to move to the second working position. The two-stage feeding method is classified by speed, so that the large-dose medicinal materials can be quickly fed, and fine control is realized in the key weighing stage.

[0129] The preset proportion threshold value can be dynamically adjusted according to actual debugging results. Of course, other possible setting methods can also be used, and the specific method can be determined according to actual conditions, and the embodiments of the present application are not limited thereto. The present application does not limit the specific numerical value of the main conveying belt and the auxiliary conveying belt, as long as the auxiliary feeding speed is lower than the main feeding speed.

[0130] By first starting the main feeding sub-module 2131 to perform high-speed rough feeding, and then switching to the auxiliary feeding sub-module 2132 for low-speed fine feeding when the preset proportion threshold value is reached, the feeding process can be controlled in sections, thereby improving the feeding efficiency at the initial stage, achieving smooth feeding near the target weight, reducing overshoot, and improving the weighing repeatability and accuracy.

[0131] Based on the second embodiment, in the third embodiment, the control method further includes the following steps:

[0132] Step S321, before starting the low-speed fine feeding, determining a corresponding preset proportion threshold value according to the physical property information of the target medicinal material, wherein the physical property information includes density, particle size distribution and flowability parameters.

[0133] Before starting the low-speed fine feeding, the control system obtains the physical property information of the current target medicinal material, including density, particle size distribution and flowability parameters. These parameters can be pre-stored in the system database, or retrieved through external input, barcode identification, material number, etc. Density affects the weight per unit volume, particle size distribution determines the flow uniformity, and flowability parameters (such as repose angle and flow rate) reflect the ease of discharging, all of which affect the impulse characteristics during the feeding process.

[0134] Step S322, based on the physical property information, querying a matching threshold interval from a preset mapping relationship, and controlling the feeding module 213 to switch to a low-speed fine feeding mode when the threshold is reached.

[0135] The control system queries a matching preset proportion threshold interval from a preset mapping relationship based on the acquired physical characteristic information. The mapping relationship is a data table or an algorithm model established in advance through experiments or experience, which classifies different characteristics of medicinal materials and sets appropriate switching threshold ranges for each class. For example, for granular medicinal materials with good fluidity and uniform particle size (such as Poria cocos and Alisma orientalis), the impulse is large, and the preset proportion threshold is set to 70% to 80%; for fine powder and easily adhering medicinal materials (such as Salvia miltiorrhiza powder and Panax notoginseng powder), the fluidity is poor, and the impulse is small, which can be set to 90% to 95%; for flaky or irregular medicinal materials, the intermediate value is set according to the actual test results.

[0136] When the system determines the threshold interval corresponding to the target medicinal material, a moderate value in the interval or a dynamic adjustment according to historical error feedback is selected as the switching point for this weighing. When the weighing unit 2141 real-time monitors that the weight of the medicinal material reaches the threshold, the control system stops the main feeding sub-module 2131 and switches to the auxiliary feeding sub-module 2132 for low-speed precision feeding.

[0137] The mapping relationship can be stored in the control system and supported for manual maintenance and update. Of course, other possible modeling methods such as neural networks and fuzzy logic can also be used, and the specific method can be determined according to the actual situation, which is not limited in the embodiments of the present specification. The present specification does not limit the acquisition method of the physical characteristic information, which can be achieved by a preset database, code scanning identification or manual input.

[0138] Based on the first embodiment, to solve the problem that the overall pipeline rhythm is blocked due to uneven task allocation and lagging progress of individual workstations when multiple dispensing workstations run in parallel, in the fourth embodiment, the control method further includes the following steps:

[0139] Step S7, when multiple dispensing workstations run in parallel, whether there is a target workstation with lagging progress is judged according to the current task progress and the estimated completion time of each dispensing workstation.

[0140] It should be noted that during the operation of the equipment, the control system acquires the task state information of each dispensing workstation in real time, including whether the current is being fed, the replenishment demand of each metering unit 21, the weighing progress and the estimated completion time. The estimated completion time is calculated based on the current process stage, the type of medicinal material, the target weight and the historical execution cycle.

[0141] The control system determines whether there is a target workstation with lagging progress based on the acquired information. The basis for judgment includes: the estimated completion time of the workstation exceeds the standard rhythm of the pipeline, or the subsequent workstation is waiting for the material, or the pre-process is delayed, resulting in a late start time.

[0142] Step S8, if yes, the control adjusts the dispensing priority of the target station, or controls to suspend the dispensing operation of other non-urgent stations, to coordinate the task rhythm of each station and match the pipeline rhythm.

[0143] When confirming the existence of a lagging station, the control system starts the coordination strategy. First, the dispensing priority of the target station is adjusted so that it has a higher scheduling weight in the task queue of the transfer mechanism 40. For example, the replenishment task originally executed in sequence is preferentially responded to the replenishment request of the lagging station, and the waiting time is shortened.

[0144] Secondly, when resources are scarce or the transfer mechanism 40 is busy, the control system can suspend the dispensing operation of other non-urgent stations. The non-urgent station refers to a station whose current task progress is normal or slightly sufficient, and does not affect the overall rhythm. The suspension operation includes temporarily suspending the execution of its replenishment request, but does not affect its ongoing weighing or dispensing process.

[0145] By preferentially guaranteeing the replenishment demand of the lagging station, the waiting time is reduced, and the station is made to complete the compounding as soon as possible, thereby avoiding becoming a bottleneck of the pipeline. After the task of the station returns to the normal track, the control system restores the original scheduling strategy, and the other stations continue to execute the replenishment task.

[0146] The present specification does not limit the specific algorithm of progress judgment, which can be a simple comparison based on a time threshold, or a comprehensive evaluation combined with a weighted scoring model. Of course, other possible scheduling strategies can also be used, and the specific scheduling strategy can be determined according to the actual situation, and the present specification does not limit the embodiments.

[0147] By monitoring the task progress of each dispensing station in real time, it is determined whether there is a lagging situation, and the dispensing priority is adjusted or the dispensing operation of non-urgent stations is suspended according to the situation, so that the resources are inclined to the key station, thereby coordinating the running rhythm of multiple stations, matching the pipeline rhythm of the carrier conveying system 50, and improving the overall operation efficiency and continuity.

[0148] Based on the first embodiment, in order to suppress the repetitive weighing error of the same metering unit 21 caused by mechanical deviation or material characteristics, and avoid frequent manual calibration, in the fifth embodiment, the control method further includes the following steps:

[0149] Step S9, according to the deviation value between the actual dispensing weight after each weighing and the target weight, it is judged whether the same metering unit 21 has a deviation exceeding the preset range for N consecutive times.

[0150] After each weighing, the control system records the deviation of the actual dispensing weight from the target weight. The deviation is the actual value minus the target value, reflecting the degree of overshoot or undershoot of this weighing. The system compares the deviation with a preset allowable range to determine whether it exceeds the set threshold. The preset range can be set according to the type of medicinal material, for example, ±50mg or ±1%, and more stringent standards can be set for precious and fine medicinal materials.

[0151] The control system continuously tracks the weighing results of the same metering unit 21 to determine whether the deviation exceeds the preset range for N consecutive times. N is a preset number of times, usually set to 2 to 5 times, to exclude occasional error interference. When it is confirmed that there is a continuous deviation, the system determines that the metering unit 21 has a systematic error tendency, which can be caused by wear of the feeding module 213, change in belt tension, drift of the weighing sensor 21411, or accumulation characteristics of the medicinal material.

[0152] Step S10, if yes, then when subsequent weighing of the metering unit 21 is performed, the control adjusts the weighing stop threshold or the driving parameters of the feeding module 213 to compensate for the systematic weighing error.

[0153] When subsequent weighing of the metering unit 21 is performed, the control system actively adjusts the control parameters to compensate for the error. The adjustment method can be to adjust the weighing stop threshold, for example, when the historical data are consistently low, the stop point is set in advance to make the actual dispensing amount slightly higher than the original target value; when it is consistently high, the stop point is delayed.

[0154] The adjustment method can also be to adjust the driving parameters of the feeding module 213, such as reducing the linear speed of the auxiliary feeding sub-module 2132 or shortening the pulse feeding time to reduce the feeding amount per unit time and improve the fine adjustment accuracy.

[0155] If the deviation returns to the normal range, the current parameters are maintained; if there is still a trend error, the compensation amplitude can be further increased or a maintenance reminder can be triggered.

[0156] The present specification does not limit the specific setting of N, which can be adjusted according to the stability of the equipment and the type of medicinal material. Of course, other possible statistical methods, such as moving average and standard deviation analysis, can also be used to judge the systematic deviation, which can be determined according to the actual situation, and the present specification does not limit this.

[0157] By continuously recording the deviation of the actual dispensing weight from the target weight, it is determined whether the same metering unit 21 has exceeded the error for N consecutive times, and the weighing stop threshold or the feeding driving parameters are adjusted in subsequent weighing, so that the system can automatically identify and compensate for repetitive errors, thereby improving the weighing consistency, reducing manual intervention, and ensuring the accuracy of the formula under long-term operation.

[0158] Based on the first embodiment, in order to avoid the interruption of dispensing or the disorder of prescriptions caused by the accidental depletion of medicinal materials during the execution of the prescription queue, in the sixth embodiment, the control method further comprises the following steps:

[0159] Step S11, according to the cumulative demand quantity and the already put quantity of the target medicinal material in the current prescription queue, the predicted consumption progress of the medicinal material in the subsequent prescriptions is calculated.

[0160] The control system calculates the cumulative demand quantity of the target medicinal material according to the current prescription queue to be processed. The cumulative demand quantity is the sum of the required medicinal materials of all prescriptions in the queue. At the same time, the system records the total amount of the medicinal material that has been put into each metering unit 21, i.e. the already put quantity. Based on the cumulative demand quantity and the already put quantity, the predicted consumption progress of the medicinal material in the subsequent prescriptions is calculated, reflecting the remaining use time or the remaining number of prescriptions that can be processed.

[0161] Step S12, based on the predicted consumption progress, it is judged whether the medicinal material will be depleted before all prescriptions are completed.

[0162] Based on the predicted consumption progress, the system judges whether the medicinal material will be depleted before all prescriptions are completed. The judgment basis includes whether the remaining amount of medicinal material is lower than the total demand of the subsequent prescriptions, or whether the storage amount in the current dispensing container 31 is insufficient to support the next dose of high-dose prescription. If the calculation result shows that the storage amount is insufficient, it is determined that there is a risk of material interruption.

[0163] Step S13, if yes, the control moves the transfer mechanism 40 to trigger the replenishment operation of the dispensing container 31 in advance to ensure the continuous supply of the medicinal material in the key prescription.

[0164] When it is confirmed that the medicinal material may be depleted in advance, the control system immediately dispatches the transfer mechanism 40 to trigger the replenishment operation of the dispensing container 31 in advance. In this way, it is not dependent on the conventional replenishment condition (such as the emptying of the metering unit 21), but is actively executed based on future demand. The transfer mechanism 40 drives the dispensing container 31 to move above the corresponding metering unit 21, and the tilting driving unit 42 is started to supplement the medicinal material to the storage cavity 212, ensuring that it has sufficient supply when the key prescription is executed.

[0165] The present specification does not limit the calculation method of the consumption progress, which can be accumulated according to the order of the prescriptions, or can be combined with priority weighting processing. Of course, other possible early warning strategies can also be used, which can be determined according to the actual situation, and the present specification does not limit the embodiments.

[0166] By calculating the cumulative demand and the already put quantity of the target medicinal material in the prescription queue, the consumption progress is predicted, and the replenishment operation is triggered in advance when the medicinal material may be depleted in advance, so that the supply of medicinal materials matches the rhythm of prescription execution, thereby avoiding the interruption of the process caused by the interruption of the material during the process.

[0167] The above merely illustrates the embodiments of the present application, and is not intended to limit the patent scope of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields, or the like, within the technical concept of the present application, and based on the content of the present application and the accompanying drawings, are included in the patent protection scope of the present application.

Claims

1. A traditional Chinese medicine dispensing apparatus (100), characterized in that, The application relates to a traditional Chinese medicine dispensing system. The rack (10) is provided with a plurality of workstations, including a plurality of dispensing workstations and a plurality of dispensing workstations which are spaced apart in a first horizontal direction, and the dispensing workstations and the dispensing workstations are spaced apart in a second horizontal direction. A plurality of dispensing assemblies (20) are arranged one-to-one with each dispensing workstation, and each dispensing assembly (20) comprises a plurality of metering units (21) for weighing different kinds of traditional Chinese medicinal materials. The dispensing mechanism (30) is arranged at the dispensing workstation, and the dispensing mechanism (30) comprises a rotatable medicine container (31) for pouring traditional Chinese medicinal materials from the opening thereof to the feeding interface (212a) of the corresponding metering unit (21) during rotation, so as to realize the dispensing and replenishment of medicinal materials. The transfer mechanism (40) is used for driving the medicine container (31) to move and position above the target metering unit (21); and The carrier conveying system (50) is used for conveying the receiving carriers (200) to each dispensing workstation in sequence to receive the traditional Chinese medicinal materials falling from the plurality of metering units (21) at the corresponding dispensing workstation.

2. The traditional Chinese medicine dispensing apparatus (100) according to claim 1, characterized in that, Each metering unit (21) comprises: A fixed base (211); A storage cavity (212) mounted on the fixed base (211), which is provided with a feeding interface (212a) at the top and a discharging port (212b) at the bottom, and the feeding interface (212a) is arranged corresponding to the discharging path of the medicine container (31); A feeding module (213) arranged below the storage cavity (212) and used for conveying the medicinal materials falling from the discharging port (212b) along the second horizontal direction; and A weighing assembly (214) located downstream of the feeding module (213) and comprising a weighing part (2141) and a weighing container (2142), the weighing part (2141) is used for weighing the weighing container (2142), and the weighing container (2142) comprises a lower shell (21421) and a turnover baffle (21422) rotatably arranged at the discharging port of the lower shell (21421), and the turnover baffle (21422) is used for closing the discharging port to receive the medicinal materials in the first working position and opening the discharging port to release the medicinal materials in the second working position.

3. The traditional Chinese medicine dispensing apparatus (100) according to claim 2, characterized in that, The metering unit (21) further comprises a first driving motor (215) which is drivingly connected with the turnover baffle (21422) and used for driving the turnover baffle (21422) to switch between the first working position and the second working position.

4. The traditional Chinese medicine dispensing apparatus (100) according to claim 3, characterized in that, The turnover baffle (21422) is rotatably arranged around a first rotation axis extending in the first horizontal direction; The turnover baffle (21422) is provided with a limiting column (21423) extending in the first horizontal direction. The weighing assembly (214) further comprises a limiting plate (21424) fixedly connected to the fixed base (211), and an arc-shaped limiting groove (21424a) is arranged on the limiting plate (21424) and extends along the circumferential direction of the first rotation axis and has a first end and a second end; The limiting column (21423) is arranged in the limiting groove (21424a), and when the limiting column (21423) abuts against the first end of the limiting groove (21424a), the turnover baffle (21422) is in the first working position; When the limiting column (21423) abuts against the second end of the limiting groove (21424a), the turnover baffle (21422) is in the second working position.

5. The traditional Chinese medicine dispensing apparatus (100) according to claim 2, characterized in that, The weighing part (2141) comprises a weighing sensor (21411), and a first end of the weighing sensor (21411) is fixedly connected to the fixed base (211), and a second end of the weighing sensor (21411) is fixedly connected to a lower shell (21421) of the weighing container (2142), so that independent weighing of the weighing container (2142) is realized.

6. The traditional Chinese medicine dispensing apparatus (100) according to claim 2, characterized in that, The feeding module (213) comprises a main feeding sub-module (2131) and an auxiliary feeding sub-module (2132); The main feeding sub-module (2131) comprises two first transmission wheels (21311), a first conveying belt (21312) and a second driving device, the first conveying belt (21312) is arranged around the periphery of the two first transmission wheels (21311) and is used for high-speed conveying of the medicinal materials falling from the discharge port (212b); The auxiliary feeding sub-module (2132) is located below the main feeding sub-module (2131) and comprises two second transmission wheels (21321), a second conveying belt (21322) and a third driving device, the second conveying belt (21322) is used for receiving the medicinal materials falling from the first conveying belt (21312) and conveying the medicinal materials to the feeding port of the weighing container (2142) at a low speed; The linear speed of the second conveying belt (21322) driven by the third driving device is lower than that of the first conveying belt (21312), so that two-stage feeding of rough feeding and fine feeding is realized.

7. The traditional Chinese medicine dispensing apparatus (100) according to claim 1, wherein, The transfer mechanism (40) comprises a three-dimensional displacement platform (41) for driving the medicine supply container (31) to independently move in a first horizontal direction, a second horizontal direction and a vertical direction; The transfer mechanism (40) further comprises a tilting driving unit (42) mounted on the output end of the three-dimensional displacement platform (41) and used for driving the medicine supply container (31) to tilt about a horizontal shaft, so that the medicinal materials in the medicine supply container (31) are poured into the feeding interface (212a) of the target metering unit (21).

8. A control method of the traditional Chinese medicine dispensing apparatus (100) according to any one of claims 1 to 7, characterized in that, The method comprises the following steps: Obtaining target prescription information and analyzing the types and target weights of various medicinal materials; Controlling the transfer mechanism (40) to drive the medicine supply container (31) to move above the target metering unit (21) and controlling the tilting driving unit (42) to tilt the medicine supply container (31), so that the medicinal materials are poured into the corresponding metering unit (21) through the feeding interface (212a). The feeding module (213) of the metering unit (21) is started to transport the medicine falling from the discharge port (212b) to the feeding inlet of the weighing assembly (214), and the weight of the medicine is monitored in real time by the weighing part (2141); When the weight of the medicine reaches the target weight, the operation of the feeding module (213) is stopped, and the first driving motor (215) is controlled to drive the turnover baffle (21422) to turn over, so that the medicine on the turnover baffle (21422) falls into the lower receiving carrier (200) through the discharge port; After the turnover baffle (21422) is reset, it is judged whether the metering unit (21) needs to be supplied again, and if so, the above-mentioned medicine supply process is repeated; After all the metering units (21) of the dispensing station complete the discharging, the carrier conveying system (50) is controlled to convey the receiving carrier (200) to the next station.

9. The control method according to claim 8, characterized by, When the metering unit (21) is provided with a main feeding sub-module (2131) and an auxiliary feeding sub-module (2132), the step of starting the feeding module (213) of the metering unit (21) comprises: The main feeding sub-module (2131) is started to perform high-speed coarse feeding; When the weighing part (2141) detects that the weight of the medicine reaches a preset proportion threshold of the target weight, the main feeding sub-module (2131) is stopped, and the auxiliary feeding sub-module (2132) is switched to perform low-speed fine feeding; The auxiliary feeding sub-module (2132) operates at a linear speed lower than that of the main feeding sub-module (2131) to realize fine feeding.

10. The control method according to claim 9, characterized by, The control method further comprises the following steps: Before starting the low-speed fine feeding, the corresponding preset proportion threshold is determined according to the physical property information of the target medicine, wherein the physical property information includes density, particle size distribution and flowability parameters; Based on the physical property information, a matching threshold interval is queried from a preset mapping relationship, and the feeding module (213) is controlled to switch to a low-speed fine feeding mode when the threshold is reached.

11. The control method according to claim 8, characterized by, The control method further comprises the following steps: When a plurality of dispensing stations operate in parallel, whether there is a target station with progress lag is judged according to the current task progress and the estimated completion time of each dispensing station; If so, the dispensing priority of the target station is adjusted, or the medicine supplement operation of other non-urgent stations is paused to coordinate the task rhythm of each station and match the pipeline rhythm.

12. The control method according to claim 8, characterized by, The control method further comprises the following steps: According to the deviation value between the actual delivery weight after each weighing and the target weight, whether the same metering unit (21) continuously appears deviation beyond the preset range for N times is judged; If so, when the metering unit (21) is weighed subsequently, the weighing stop threshold or the driving parameters of the feeding module (213) are controlled to compensate for systematic weighing errors.

13. The control method according to claim 8, characterized by, The control method further comprises the following steps: According to the cumulative demand amount and the amount already delivered of the target medicine in the current prescription queue, the estimated consumption progress of the medicine in subsequent prescriptions is calculated; Based on the estimated consumption progress, whether the medicine will be exhausted before all prescriptions are completed is judged; If so, the control of the transfer mechanism (40) triggers the replenishment operation of the medicine container (31) in advance to ensure the continuous supply of the medicine in the critical prescription.

Images