Intelligent medicine sorting equipment based on machine vision

Abstract

The invention relates to the technical field of medicine sorting, in particular to intelligent medicine sorting equipment based on machine vision, and aims to solve the problem that box-packed medicines are staggered from a feeding port of a roller conveying subline, a limiting baffle is mainly used for providing limiting blocking for the box-packed medicines, and it is ensured that in the sorting and transferring process, the box-packed medicines are separated from the feeding port of the roller conveying subline; the boxed medicines can be smoothly sorted and transferred into the roller conveying subline, so that the smoothness of sorting and transferring work of the boxed medicines is ensured; according to the scheme, an auxiliary assembly is further arranged to solve the problem, the auxiliary assembly is connected with the bearing strip, in other words, the boxed medicine transferred to the roller conveying subline firstly falls on an auxiliary roller body, the auxiliary roller body is arranged on a supporting plate frame at the top of the movable rectangular strip, and the movable rectangular strip is arranged on the supporting plate frame. A flexible structure is further arranged at the bottom end of the movable rectangular strip, hard contact is avoided, a rubber ring sleeve and an auxiliary convex body are arranged on the outer side of the auxiliary roller body, and the corresponding stable auxiliary effect is achieved when the boxed medicine falls down.

Description

Technical Field

[0001] This invention relates to the field of pharmaceutical sorting technology, and in particular to a machine vision-based intelligent pharmaceutical sorting device. Background Technology

[0002] The machine vision-based intelligent drug sorting system achieves automated classification and grasping of drugs through image recognition, positioning algorithms, and collaborative control of robotic arms, significantly improving sorting efficiency and accuracy. For the boxed drug transport and sorting process, boxed drugs are transported to different areas, typically with different identification barcodes affixed to the boxes. The boxed tablets are transferred via a roller conveyor mainline, where they are scanned and identified by a vision inspection frame. When the boxed drugs pass through the sorting area, a lifting and transfer mechanism removes the boxed tablets from the roller conveyor mainline and transfers them to the sorting conveyor line.

[0003] For the sorting of packaged medicines, a lifting and transferring mechanism lifts the packaged medicines onto a belt conveyor assembly located at the top of the lifting and transferring mechanism, which then transfers the packaged medicines to a roller conveyor branch line, thus completing the sorting process. During the sorting and transfer of packaged medicines, the lifting and transferring mechanism needs to lift the packaged medicines above the top surface of the rollers before conveying them to the roller conveyor branch line. During this process, when the packaged medicines land on the rollers on the roller conveyor branch line, there is a corresponding height difference, which can cause vibration. On the other hand, the rollers on the main roller conveyor line transport the packaged medicines. When the lifting and transferring mechanism lifts the packaged medicines, the packaged medicines may also move forward. There is a lack of corresponding limiting mechanisms to prevent deviation between the packaged medicines and the feed inlet of the roller conveyor branch line, which could lead to sorting and transfer failure of the lifting and transferring mechanism.

[0004] To address these issues, this invention proposes a machine vision-based intelligent drug sorting device. Summary of the Invention

[0005] The purpose of this invention is to provide a machine vision-based intelligent pharmaceutical sorting device to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a machine vision-based intelligent pharmaceutical sorting equipment, comprising a main roller conveyor line, a secondary roller conveyor line, and a vision inspection frame set on the main roller conveyor line; a lifting and transfer mechanism for transferring boxed pharmaceuticals is also provided on the bottom side of the frame of the main roller conveyor line. A limit mechanism is also installed on the roller conveyor sub-line; The limiting mechanism includes a limiting baffle, which is used to limit the boxed medicines to prevent misalignment between the boxed medicines and the roller conveyor branch line; The limiting mechanism is connected to an auxiliary component, which provides a stable feeding function for the transfer of packaged medicines.

[0007] Preferably, the limiting mechanism further includes a servo motor, which is fixedly mounted on the frame of the roller conveyor sub-line. The output shaft of the servo motor is connected to the mounting plate, which is fixedly mounted to the bearing strip by screws. A limit baffle is fixedly installed at one end of the load-bearing strip.

[0008] Preferably, auxiliary balls are equidistantly and movably embedded in the side wall of the limiting baffle, and the arrangement of the auxiliary balls provides an auxiliary function for the sorting and transfer of packaged medicines.

[0009] Preferably, the support bar is connected to the auxiliary component; The auxiliary component includes a connecting plate, which is fixedly disposed at equal intervals on the bottom side of the support bar, and the connecting plate is also connected to the loading frame.

[0010] Preferably, the loading frame and the connecting plate are set in the same number of groups, and the loading frame is located between adjacent rollers in the roller conveyor sub-line. The top and bottom ends of the loading frame are both through-type. The bottom opening of the loading frame is sealed by a mounting plate, which is then fixed with screws.

[0011] Preferably, a movable rectangular bar is movably disposed in the loading frame, and one movable rectangular bar is disposed in one loading frame, with a flexible structure disposed at the bottom end of the movable rectangular bar; The flexible structure includes connecting discs and auxiliary springs; connecting discs are fixedly installed at both ends of the auxiliary springs, one connecting disc is fixedly installed at the bottom end of the movable rectangular bar by screws, and the other connecting disc is fixedly installed on the mounting plate by screws.

[0012] Preferably, a support plate frame is symmetrically fixed at the top of the movable rectangular bar, and two sets of the support plate frame are provided to support the auxiliary roller body; The auxiliary roller is set between two sets of support plates via connecting pins. The auxiliary roller is movable. The number of sets of the auxiliary roller is the same as that of the movable rectangular strip. The top roller surface of the auxiliary roller is higher than the top roller surface of the roller in the roller conveyor sub-line. The auxiliary roller is also set between adjacent rollers in the roller conveyor sub-line.

[0013] Preferably, rubber rings are fixedly provided at equal intervals on the outer roller surface of the auxiliary roller body, and auxiliary protrusions are fixedly provided at equal intervals on the outer side wall of the rubber rings.

[0014] Preferably, the limiting baffle is configured as a set, which is parallel to the axis of the roller in the roller conveyor main line, and the horizontal limiting baffle provides a limit for the boxed medicines; The limit baffle is rotated to a vertical position by a servo motor, thus releasing the obstruction and limitation on the packaged medicines.

[0015] Preferably, the auxiliary protrusions are arranged in a ring at equal intervals, and the auxiliary protrusions provide a stabilizing effect for the boxed medicines during sorting operations.

[0016] Compared with the prior art, the beneficial effects of the present invention are: This invention discloses a machine vision-based intelligent pharmaceutical sorting device, comprising a main roller conveyor, a secondary roller conveyor, and a vision inspection frame mounted on the main roller conveyor. A lifting and transferring mechanism for transporting boxed pharmaceuticals is also provided on the underside of the frame of the main roller conveyor. A limiting mechanism is also provided on the secondary roller conveyor, including a limiting baffle to restrict the boxed pharmaceuticals and prevent misalignment between the boxed pharmaceuticals and the secondary roller conveyor. The limiting mechanism is connected to an auxiliary component, which provides a stable feeding function for the transport of the boxed pharmaceuticals. The issue of misalignment between the boxed medicines and the feed inlet of the roller conveyor branch line is mainly addressed by setting a limiting baffle to provide a limiting barrier, ensuring that the boxed medicines can be smoothly sorted and transferred to the roller conveyor branch line during the sorting and transfer process, thus ensuring the smooth operation of the boxed medicines sorting and transfer work. Based on this, the solution also includes an auxiliary component to address this issue. This auxiliary component is connected to the support bar. When the boxed medicine is transferred to the roller conveyor sub-line, it first falls onto the auxiliary roller. The auxiliary roller is mounted on a support plate frame at the top of the movable rectangular bar. A flexible structure is also provided at the bottom of the movable rectangular bar. This avoids hard contact and damage to the boxed medicine when it is transferred to the roller conveyor sub-line. Furthermore, rubber rings and auxiliary protrusions are provided on the outside of the auxiliary roller to provide a stabilizing effect when the boxed medicine falls. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the front side connection of a partial structure of the intelligent drug sorting device based on machine vision according to the present invention; Figure 2 for Figure 1 Enlarged schematic diagram of the structural connection at point A in the middle; Figure 3 This is a schematic diagram of a partial structure of the intelligent drug sorting device based on machine vision according to the present invention, showing the connection to the tail side. Figure 4 for Figure 3 Enlarged schematic diagram of the structural connection at point B; Figure 5 This is a schematic diagram of the connection of the limiting baffle structure of the present invention; Figure 6 This is a schematic diagram showing the connection between the auxiliary component and the support bar structure of the present invention; Figure 7 This is an exploded top view of the auxiliary component structure connection of the present invention; Figure 8 for Figure 7 Enlarged schematic diagram of the structural connection at point C; Figure 9 This is an exploded bottom view of the auxiliary component structure connection of the present invention; Figure 10 for Figure 9 Enlarged schematic diagram of the structural connection at point D.

[0018] In the diagram: 1. Main roller conveyor line; 2. Vision inspection frame; 3. Packed medicine; 4. Lifting and transferring mechanism; 5. Sub-roller roller conveyor line; 601. Servo motor; 602. Mounting plate; 603. Bearing bar; 604. Limiting baffle; 605. Auxiliary ball bearing; 701. Connecting plate; 702. Loading frame; 703. Mounting sealing plate; 704. Movable rectangular bar; 705. Connecting disc; 706. Auxiliary spring; 707. Support plate frame; 708. Auxiliary roller; 709. Connecting pin; 801. Rubber ring; 802. Auxiliary protrusion. Detailed Implementation

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below. All other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present invention.

[0020] Example 1: Please refer to Figures 1-10 A machine vision-based intelligent drug sorting device includes a main roller conveyor line 1, a secondary roller conveyor line 5, and a vision inspection frame 2 installed on the main roller conveyor line 1. A lifting and transferring mechanism 4 for transferring boxed drugs 3 is also installed on the bottom side of the frame of the main roller conveyor line 1. A limit mechanism is also installed on the secondary roller conveyor line 5. The limiting mechanism includes a limiting baffle 604, which is used to limit the boxed medicine 3 to prevent misalignment between the boxed medicine 3 and the roller conveyor 5; the limiting mechanism is connected to an auxiliary component, which provides a stable feeding function for the transfer of the boxed medicine 3.

[0021] Please refer to the attached document. Figure 1-5As shown, in this solution, for the sorting of packaged medicine 3, packaged medicine 3 is conveyed on the main roller conveyor line 1, and then scanned and identified by the vision inspection frame 2. When packaged medicine 3 reaches the position of the roller conveyor sub-line 5, the lifting and transfer mechanism 4 lifts the packaged medicine 3 onto the top, and then the transfer conveyor belt at the top of the lifting and transfer mechanism 4 transports the roller conveyor sub-line 5, thus completing the sorting work.

[0022] In this process, to prevent misalignment between the packaged medicine 3 and the roller conveyor 5 (i.e., misalignment of the inlet positions of the packaged medicine 3 and the roller conveyor 5, which would lead to sorting and transfer failure), after scanning and identifying the packaged medicine 3 using the vision inspection frame 2, the limiting baffle 604 of the corresponding roller conveyor 5 can be rotated to a horizontal position to provide a limiting and blocking effect on the packaged medicine 3. A corresponding limiting mechanism and auxiliary components are set at the inlet position of each roller conveyor 5 to facilitate the sorting of the corresponding packaged medicine 3. The servo motor 601 in the limiting mechanism of this solution is fixedly mounted on the frame of the roller conveyor 5. The output shaft of machine 601 is connected to mounting plate 602, which is fixed to support bar 603 by screws. A limit baffle 604 is fixedly installed at one end of support bar 603. The limit baffle 604 is set as a group, and the limit baffle 604 is parallel to the axis of the roller in the roller conveyor main line 1. The horizontal limit baffle 604 provides a limit for the boxed medicine 3. The initial state of the limit baffle 604 is vertical. That is, when it is necessary to limit the boxed medicine 3, the servo motor 601 drives the support bar 603 to rotate, thereby driving the limit baffle 604 to rotate to a horizontal state. This can avoid affecting the conveying and sorting of other types of boxed medicine 3.

[0023] Therefore, the solution to address the misalignment between the inlet of the packaged medicine 3 and the feed inlet of the roller conveyor sub-line 5 is mainly achieved by setting a limiting baffle 604 to provide a limiting barrier, ensuring that the packaged medicine 3 can be smoothly sorted and transferred to the roller conveyor sub-line 5 during the sorting and transfer process, thus ensuring the smooth operation of the sorting and transfer of the packaged medicine 3.

[0024] Furthermore, according to the appendix Figure 5As shown, auxiliary balls 605 are equidistantly and movably embedded on the side wall of the limiting baffle 604. The auxiliary balls 605 provide assistance for the sorting and transfer of the packaged medicines 3. That is, when the limiting baffle 604 blocks and limits the packaged medicines 3, the packaged medicines 3 will come into contact with the side wall of the limiting baffle 604. At this time, when the packaged medicines 3 are sorted and transferred, the contact between the packaged medicines 3 and the limiting baffle 604 will cause corresponding frictional resistance, which will hinder the sorting and transfer of the packaged medicines 3. Therefore, the purpose of uniformly arranging auxiliary balls 605 on the side wall of the limiting baffle 604 in this solution is, on the one hand, to help reduce the frictional resistance of the packaged medicines 3 and avoid scratching damage to the side wall of the packaged medicines 3; on the other hand, it is also beneficial to the sorting and transfer of the packaged medicines 3.

[0025] According to the appendix Figure 4 and appendix Figure 6-10 As shown, when the boxed medicine 3 is sorted and transferred to the roller conveyor branch line 5, if there is a height difference between the lifted boxed medicine 3 and the rollers in the roller conveyor branch line 5, then during the transfer process of the boxed medicine 3 falling onto the roller conveyor branch line 5, on the one hand, the boxed medicine 3 will experience corresponding vibration, which poses a threat to the outer box and the medicine inside; on the other hand, the position of the boxed medicine 3 falling onto the roller conveyor branch line 5 will also be uncertain. Therefore, this solution also includes an auxiliary component to address this problem, wherein the auxiliary component and... The support bar 603 is connected so that the boxed medicine 3 transferred to the roller conveyor sub-line 5 will first fall on the auxiliary roller body 708. The auxiliary roller body 708 is set on the support plate frame 707 on the top of the movable rectangular bar 704. A flexible structure is also set at the bottom of the movable rectangular bar 704. That is, when the boxed medicine 3 is transferred to the roller conveyor sub-line 5, it avoids hard contact and damage to the boxed medicine 3. In addition, a rubber ring 801 and an auxiliary protrusion 802 are set on the outside of the auxiliary roller body 708, which have a corresponding stabilizing and assisting effect when the boxed medicine 3 falls.

[0026] The use of auxiliary components here is also controlled by servo motor 601. When servo motor 601 controls the bearing bar 603 to rotate, the limiting baffle 604 will rotate into the main roller conveyor line 1 until the limiting baffle 604 is in a horizontal position, that is, parallel to the axis of the roller in the main roller conveyor line 1. At the same time, the loading frame 702 will be located between adjacent rollers near the feed inlet of the roller conveyor sub-line 5.

[0027] According to the appendix Figure 6-7As shown, the connecting plate 701 in the auxiliary component is fixedly arranged at equal intervals on the bottom side of the bearing bar 603, and the connecting plate 701 is also connected to the loading frame 702; the loading frame 702 is located between adjacent rollers in the roller conveyor sub-line 5, and the top and bottom ends of the loading frame 702 are through-connected; the bottom opening of the loading frame 702 is sealed by a mounting sealing plate 703, and the mounting sealing plate 703 is fixed by screws; the purpose of the through-connection of the loading frame 702 is to facilitate the replacement and maintenance of the movable rectangular bar 704 and the auxiliary roller 708 in the later stage; the auxiliary roller 708 is set at the top of the movable rectangular bar 704, and a flexible structure is set at the bottom end of the movable rectangular bar 704.

[0028] For the assembly of the movable rectangular bar 704 with the flexible structure and the loading frame 702, first install the flexible structure with the movable rectangular bar 704. That is, fix the connecting plate 705 at one end of the auxiliary spring 706 to the bottom end of the movable rectangular bar 704 with screws. Then fix the connecting plate 705 at the other end of the auxiliary spring 706 to the mounting plate 703 with screws. Follow this operation to install the other flexible structures in sequence. Then insert the movable rectangular bar 704 into the bottom frame opening of the loading frame 702 until the mounting plate 703 is tightly attached to the bottom frame opening of the loading frame 702. Finally, fix the mounting plate 703 with screws.

[0029] Combined with the appendix Figure 10 As shown, the flexible structure includes connecting discs 705 and auxiliary springs 706. Connecting discs 705 are fixedly mounted at both ends of the auxiliary spring 706. One connecting disc 705 is fixed to the bottom end of the movable rectangular bar 704 by screws, and the other connecting disc 705 is fixed to the mounting plate 703 by screws. The auxiliary spring 706 used in this flexible structure is achieved by symmetrically mounting connecting discs 705 at both ends. One connecting disc 705 is detachably mounted at the bottom end of the movable rectangular bar 704, and the other is detachably mounted on the mounting plate 703. This facilitates the replacement of the auxiliary spring 706 later. That is, if the auxiliary spring 706 experiences elastic fatigue or its flexibility decreases during long-term operation, the corresponding auxiliary spring 706 can be replaced to meet the requirements of flexible operation.

[0030] Combined with the appendix Figure 6-10As shown, two sets of support plates 707 are symmetrically fixed at the top of the movable rectangular bar 704 to support the auxiliary roller 708. The auxiliary roller 708 is positioned between the two sets of support plates 707 via connecting pins 709. The auxiliary roller 708 is movable, and the number of sets of auxiliary rollers 708 is the same as that of the movable rectangular bar 704. The top roller surface of the auxiliary roller 708 is higher than the top roller surface of the roller in the roller conveyor sub-line 5. The auxiliary roller 708 is also located adjacent to the roller in the roller conveyor sub-line 5. Between the rollers; that is, when the boxed medicine 3 falls onto the roller conveyor sub-line 5, ensure that the bottom end of the boxed medicine 3 first contacts the auxiliary roller 708. Under the action of the flexible structure set in the movable rectangular bar 704, the boxed medicine 3 falls more smoothly. Under the action of the weight of the boxed medicine 3 itself, the auxiliary roller 708 and the movable rectangular bar 704 will be pressed down until the bottom of the boxed medicine 3 contacts the cylinder surface of the roller in the roller conveyor sub-line 5. At the same time, the boxed medicine 3 continues to be conveyed under the conveying action of the roller in the roller conveyor sub-line 5.

[0031] In this process, the auxiliary roller 708 is movably mounted between the two support plates 707 via a connecting pin 709. That is, the auxiliary roller 708 itself can rotate. The advantage of this setting is that when the roller conveyor branch line 5 continues to convey the boxed medicine 3, the auxiliary roller 708 will not obstruct its conveying work. In other words, the auxiliary roller 708 will not cause frictional resistance to the bottom of the conveying boxed medicine 3. When the boxed medicine 3 continues to move forward, the auxiliary roller 708 that contacts the bottom of the boxed medicine 3 will also rotate to avoid friction affecting the sorting and conveying of the boxed medicine 3.

[0032] From the appendix Figure 10 As can be seen from the diagram, this solution has rubber rings 801 fixedly and equidistantly on the outer roller surface of the auxiliary roller body 708, and auxiliary protrusions 802 fixedly and equidistantly on the outer side wall of the rubber rings 801. The auxiliary protrusions 802 are arranged in a ring shape at equal intervals. The auxiliary protrusions 802 provide a stabilizing effect for the boxed medicines 3 during sorting. That is, when the boxed medicines 3 fall, the rubber rings 801 and the auxiliary protrusions 802 on the outer side of the auxiliary roller body 708 will contact the bottom end of the boxed medicines 3. The auxiliary protrusions 802 provide a corresponding stabilizing effect for the box of the boxed medicines 3, that is, to prevent the position of the boxed medicines 3 from moving along the roller axis of the roller conveyor 5 when it falls, so as to avoid collisions with the side frame of the roller conveyor 5.

[0033] After the packaged medicine 3 is sorted and conveyed, it comes into contact with the auxiliary roller 708. Simultaneously, the movable rectangular bar 704 and the auxiliary roller 708 are pushed back to their original positions by the auxiliary spring 706. After the sorting of the packaged medicine 3 is completed, the limiting mechanism and auxiliary components need to be reset promptly, that is, the limiting baffle 604 and the auxiliary components need to be reset to avoid affecting the sorting and transfer of other types of packaged medicine 3. This is achieved by reversing the servo motor 601, which drives the carrying bar... 603 rotates and resets until the limit baffle 604 is vertical. The limit baffle 604 is rotated to a vertical position by the servo motor 601, releasing the obstruction and limitation on the boxed medicine 3. At the same time, the loading frame 702 between the adjacent rollers near the feed inlet of the roller conveyor sub-line 5 will also separate. The next time the corresponding boxed medicine 3 needs to be sorted and conveyed from the roller conveyor sub-line 5 at this position, the servo motor 601 will be started again to rotate the limit baffle 604 to a horizontal position to provide a limiting function.

[0034] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A machine vision-based intelligent pharmaceutical sorting equipment, comprising a main roller conveyor line (1), a secondary roller conveyor line (5), and a vision inspection frame (2) set on the main roller conveyor line (1). A lifting and transfer mechanism (4) for transferring boxed pharmaceuticals (3) is also provided on the bottom side of the frame of the main roller conveyor line (1). Its features are: A limit mechanism is also provided on the roller conveyor sub-line (5); The limiting mechanism includes a limiting baffle (604), which is used to limit the boxed medicine (3) to avoid misalignment between the boxed medicine (3) and the roller conveyor sub-line (5); The limiting mechanism is connected to the auxiliary component, which is used to provide a stable feeding function for the transfer of the packaged medicine (3).

2. The intelligent pharmaceutical sorting equipment based on machine vision according to claim 1, characterized in that: The limiting mechanism also includes a servo motor (601), which is fixedly mounted on the frame of the roller conveyor sub-line (5). The output shaft of the servo motor (601) is connected to the mounting plate (602), which is fixedly mounted to the bearing strip (603) by screws. A limit baffle (604) is fixedly installed at one end of the bearing strip (603).

3. The intelligent pharmaceutical sorting equipment based on machine vision according to claim 2, characterized in that: An auxiliary ball bearing (605) is equidistantly and movably embedded on the side wall of the limiting baffle (604). The arrangement of the auxiliary ball bearing (605) provides an auxiliary function for the sorting and transfer of the packaged medicines (3).

4. The intelligent pharmaceutical sorting equipment based on machine vision according to claim 2, characterized in that: The support bar (603) is connected to the auxiliary components; The auxiliary component includes a connecting plate (701) which is fixedly disposed at equal intervals on the bottom side of the support bar (603) and is also connected to the loading frame (702).

5. The intelligent pharmaceutical sorting equipment based on machine vision according to claim 4, characterized in that: The loading frame (702) and the connecting plate (701) are set with the same number of sets, and the loading frame (702) is located between adjacent rollers in the roller conveyor sub-line (5). The top and bottom ends of the loading frame (702) are both through-set. The bottom opening of the loading frame (702) is sealed by a mounting plate (703), and the mounting plate (703) is fixed by screws.

6. The intelligent pharmaceutical sorting equipment based on machine vision according to claim 5, characterized in that: A movable rectangular bar (704) is movably disposed in the loading frame (702), and one movable rectangular bar (704) is disposed in one loading frame (702), and a flexible structure is disposed at the bottom end of the movable rectangular bar (704); The flexible structure includes a connecting disc (705) and an auxiliary spring (706); connecting discs (705) are fixedly installed at both ends of the auxiliary spring (706), one of the connecting discs (705) is fixedly installed at the bottom end of the movable rectangular bar (704) by screws, and the other connecting disc (705) is fixedly installed on the mounting plate (703) by screws.

7. A machine vision-based intelligent pharmaceutical sorting device according to claim 5, characterized in that: A support plate frame (707) is symmetrically fixed at the top of the movable rectangular bar (704). Two sets of the support plate frame (707) are provided to support the auxiliary roller body (708). The auxiliary roller (708) is set between two sets of support plate frames (707) by connecting pins (709). The auxiliary roller (708) is movable. The number of sets of the auxiliary roller (708) is the same as that of the movable rectangular strip (704). The top roller surface of the auxiliary roller (708) is higher than the top roller surface of the roller in the roller conveyor sub-line (5). The auxiliary roller (708) is also set between adjacent rollers in the roller conveyor sub-line (5).

8. The intelligent pharmaceutical sorting equipment based on machine vision according to claim 7, characterized in that: Rubber rings (801) are fixedly arranged at equal intervals on the outer roller surface of the auxiliary roller body (708), and auxiliary protrusions (802) are fixedly arranged at equal intervals on the outer side wall of the rubber rings (801).

9. A machine vision-based intelligent pharmaceutical sorting device according to claim 2, characterized in that: The limiting baffle (604) is set as a set, which is parallel to the axis of the roller in the roller conveyor main line (1). The horizontal limiting baffle (604) provides a limit for the boxed medicine (3). The limit baffle (604) is rotated to a vertical position by the servo motor (601) to release the obstruction limit on the packaged medicine (3).

10. A machine vision-based intelligent pharmaceutical sorting device according to claim 8, characterized in that: The auxiliary protrusion (802) is arranged in a ring at equal intervals, and the auxiliary protrusion (802) provides a stabilizing effect for the boxed medicines (3) being sorted and operated.

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