Medicine shelf with automatic batching device

Abstract

The invention relates to the technical field of medicine storage, in particular to a medicine shelf with an automatic batching device.The medicine shelf comprises a main shelf body, a plurality of internal supporting frames which are transversely and horizontally arranged are fixedly assembled in the main shelf body, and a plurality of detachable medicine storage cabinets are installed at the upper ends of the internal supporting frames; the lower end of the internal supporting frame is provided with an electric control type translation batching device, the outer side face of the main goods shelf is fixedly provided with a lateral function plate, and the lateral function plate is internally provided with a built-in type air pressure material guiding device and a self-sealing edge packaging module. According to the medicine shelf with the automatic batching device, the electric control type translation batching device is installed at the lower end of the inner supporting frame and then matched with the electric control rotary kick-out device on the lower surface of the medicine storage cabinet, medicine can be quantitatively extracted, and the batching accuracy is improved; and by adopting the bottom fitting type translation design, the leakproofness in the dispensing process can be ensured.

Description

Technical Field

[0001] This invention relates to the field of drug storage technology, and in particular to a drug shelf equipped with an automatic dispensing device. Background Technology

[0002] As a core infrastructure for drug storage and management, pharmaceutical shelves play a crucial role in enabling precise classification and efficient management. Through hierarchical and zoned design, shelves categorize drugs (e.g., prescription / over-the-counter drugs, oral / external use) and, combined with labeling systems (e.g., RFID, QR codes), facilitate rapid drug location and traceability. For example, smart shelves can monitor inventory changes in real time using weight sensors, automatically generating replenishment reminders, thereby increasing inventory turnover by 27% and reducing stockout rates by 41%.

[0003] Modern shelving also integrates IoT sensors to monitor and regulate the storage environment in real time. For example, cold chain pharmaceutical shelving uses a zoned temperature control system to keep temperature fluctuations within ±1℃ and humidity within the standard range of 35%-75%, increasing the compliance rate of biological agent storage from 88% to 99.99%.

[0004] At the same time, physical isolation (such as safes) can be achieved through security and risk control shelving systems to prevent theft of medicines.

[0005] However, current drug shelves only monitor the quantity and storage environment of drugs, and cannot automatically dispense drugs according to the requirements of drug ingredients, resulting in limited functionality; while manual dispensing and frequent opening and closing of the medicine cabinet can easily affect the internal environment of the medicine cabinet, thereby affecting the lifespan of the drugs. Summary of the Invention

[0006] The technical problem this invention aims to solve is that current drug shelves cannot automatically dispense drugs according to the requirements of drug ingredients, resulting in limited functionality; and manual dispensing with frequent opening and closing of the medicine cabinet can easily affect the internal environment of the medicine cabinet, thereby affecting the lifespan of the drugs.

[0007] The technical solution adopted by the present invention to solve its technical problem is: a medicine shelf with an automatic dispensing device, including a main shelf, wherein a plurality of horizontally arranged internal support frames are fixedly assembled inside the main shelf, a plurality of detachable medicine storage cabinets are installed on the upper end of the internal support frames, an electrically controlled translational dispensing device is installed on the lower end of the internal support frames, and a lateral functional plate is fixedly installed on the outer side of the main shelf, wherein a built-in pneumatic material guiding device and a self-sealing packaging module are installed inside the lateral functional plate.

[0008] The lower surface of the drug storage cabinet is provided with a bottom dispensing port, and an electrically controlled rotary feeder is installed inside the bottom dispensing port.

[0009] The horizontal guide rail is fixedly installed on the lower surface of the internal support frame.

[0010] The electric control type horizontal feeding device comprises an electric control horizontal trolley movably installed on the horizontal guide rail, an optical positioning probe and an electronic weighing unit installed on the electric control horizontal trolley.

[0011] The horizontal guide rail is fixedly installed on the lower surface of the internal support frame.

[0012] The built-in air pressure material guiding device comprises a top-mounted booster air pump, a lateral material guiding bin, an upper air guiding pipe and a lower material guiding pipe installed in the lateral functional plate.

[0013] The lateral material guiding bin is connected with the inside of the end-turning guide rail, and the communicating opening of the lateral material guiding bin and the end-turning guide rail is provided with a lifting closing plate.

[0014] The self-sealing edge packaging module comprises a bottom packaging bin installed at the lower end of the lateral functional plate, lateral material winding cylinders installed at both ends of the bottom packaging bin, segmented thermoplastic sealing modules and electric control cutting and separating modules installed on both sides of the inside of the bottom packaging bin.

[0015] The bottom discharge box is arranged at the lower end of the front surface of the lateral functional plate, and the lower end of the bottom packaging bin is connected with the inside of the bottom discharge box.

[0016] The lateral exhaust port with the built-in filter screen is arranged on the side wall of the lateral functional plate.

[0017] The beneficial effects of the present application are: (1) The medicine shelf with an automatic feeding device can quantitatively extract medicines by cooperating the electric control type horizontal feeding device installed at the lower end of the internal support frame with the electric control rotary material feeder on the lower surface of the medicine storage cabinet, thereby improving the feeding accuracy. (2) The bottom fitting type horizontal design can ensure the airtightness during the dispensing process. (3) The lateral functional plate is fixedly installed on the outer side of the main shelf, the built-in air pressure material guiding device in the lateral functional plate can quickly blow the high-positioned medicines downward to improve the material guiding efficiency, and the self-sealing edge packaging module is arranged at the bottom to quickly package and seal the prepared medicines, thereby improving the packaging efficiency. (4) The built-in air pressure material guiding device comprises a top-mounted booster air pump, lateral material guiding bins, an upper air guiding pipe and a lower material guiding pipe installed in the lateral functional plate, which can be independently controlled to improve the kinetic energy utilization rate. BRIEF DESCRIPTION OF DRAWINGS

[0018] The present application will be further described in conjunction with the drawings and examples.

[0019] Figure 1 This is a schematic diagram of the structure of the present invention.

[0020] Figure 2 This is a partial schematic diagram of the electrically controlled translational dispensing device in this invention.

[0021] Figure 3 This is a schematic diagram of the internal structure of the self-sealing packaging module in this invention.

[0022] In the diagram: 1. Main shelf; 2. Internal support frame; 21. Horizontal guide rail; 22. End flipping guide rail; 23. Electrically controlled lifting support rod; 3. Drug storage cabinet; 31. Bottom effusion port; 32. Electrically controlled rotary feeder; 4. Electrically controlled translational dispensing device; 41. Electrically controlled translational trolley; 42. Optical positioning probe; 43. Electronic weighing unit; 5. Side function panel; 51. Side exhaust port; 6. Built-in pneumatic material guide device; 61. Top-mounted booster air pump; 62. Side material guide bin; 63. Top-mounted air guide pipe; 64. Bottom-mounted material guide pipe; 7. Self-sealing packaging module; 71. Bottom packaging bin; 72. Side roll; 73. Segmented thermoforming module; 74. Electrically controlled cutting and separating module; 8. Lifting closing plate; 9. Bottom unloading box. Detailed Implementation

[0023] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] Figure 1 , Figure 2 and Figure 3 The illustrated drug shelf with an automatic dispensing device includes a main shelf 1. The main shelf 1 has a plurality of horizontally arranged internal support frames 2 fixedly installed inside. The upper end of the internal support frames 2 is equipped with a plurality of detachable drug storage cabinets 3. The lower end of the internal support frames 2 is equipped with an electrically controlled translational dispensing device 4. A lateral function plate 5 is fixedly installed on the outer side of the main shelf 1. The lateral function plate 5 has a built-in pneumatic material guiding device 6 and a self-sealing packaging module 7 installed inside.

[0026] To facilitate quantitative unloading, the lower surface of the drug storage cabinet 3 is provided with a bottom discharge port 31, and an electrically controlled rotary feeder 32 is installed inside the bottom discharge port 31.

[0027] To improve translational guidance, a horizontal guide rail 21 is fixedly installed on the lower surface of the internal support frame 2.

[0028] To facilitate the bottom material collection, the electrically controlled translational feeding device 4 includes an electrically controlled translational trolley 41 movably mounted on the horizontal guide rail 21, an optical positioning probe 42 mounted on the electrically controlled translational trolley 41, and an electronic weighing unit 43.

[0029] The drive wheels on both sides of the electrically controlled translation trolley 41 move along the horizontal guide rail 21 against the lower surface of the drug storage cabinet 3, and the drug storage cabinet 3 can ensure the limited sealing of the upper opening.

[0030] To accommodate the angle flipping, the horizontal guide rail 21 has a downward-bent end flipping guide rail 22 near the side function plate end, and an electrically controlled lifting support rod 23 is installed at the bottom of the end flipping guide rail 22.

[0031] After the electrically controlled translation trolley 41 is loaded, it moves along the horizontal guide rail 21 to the side of the end flip guide rail 22. At this time, the wheel on one side is supported by the electrically controlled lifting support rod 23. The electrically controlled lifting support rod 23 begins to descend, and the end of the electrically controlled translation trolley 41 near the lateral functional plate 5 tilts downward. At this time, the medicine on the electrically controlled translation trolley 41 will slide into the built-in pneumatic material guiding device 6. Then the electrically controlled lifting support rod 23 extends and resets, driving the electrically controlled translation trolley 41 back to the horizontal position. Then the built-in pneumatic material guiding device 6 starts to spray air, guiding the medicine into the position of the self-sealing packaging module 7.

[0032] For pneumatic material guiding, the built-in pneumatic material guiding device 6 includes a top-mounted booster air pump 61, a side material guiding bin 62, an upper air guiding pipe 63, and a lower material guiding pipe 64 installed inside the side functional plate 5.

[0033] Sufficient air pressure is generated by the top-mounted booster air pump 61 to quickly discharge the medicine introduced into the side guide hopper 62 along the lower guide pipe 64 into the self-sealing packaging module 7. The top-mounted booster air pump 61 and the side guide hopper 62 are fixedly connected by the upper air guide pipe 63.

[0034] To facilitate lateral unloading, the lateral feed bin 62 is internally connected to the end tilting guide rail 22, and a lifting closing plate 8 is provided at the connection point between the lateral feed bin 62 and the end tilting guide rail 22.

[0035] The lifting closing plate 8 is installed between the main rack 1 and the side functional plate 5, and its lifting is controlled by the electric lifting support rod 23.

[0036] To facilitate the production of transparent packaging bags at the bottom, the self-sealing packaging module 7 includes a bottom packaging compartment 71 installed at the lower end of the side functional plate 5, side rolls 72 installed at both ends of the bottom packaging compartment 71, segmented thermoforming modules 73 installed on both sides of the inner side of the bottom packaging compartment 71, and an electronically controlled cutting and separating module 74.

[0037] The lower end of the lower guide tube 64 is inserted into the bottom packaging chamber 71 and is fixedly connected to the bottom packaging chamber 71.

[0038] A transparent film sleeve is installed inside one side of the lateral roll 72, and a waste film roll is installed inside the other side of the lateral roll 72. Both lateral rolls rotate simultaneously, forming horizontally arranged transparent films on the inner walls of both sides of the bottom packaging chamber 71. Then, a segmented heat-sealing module 73 first squeezes the transparent films on both sides, sealing the left, right, and bottom ends to form a transparent packaging bag with an open top. After the prepared medicine is introduced through the top opening, the segmented heat-sealing module 73 seals the top opening completely. Finally, the segmented heat-sealing module 73 resets, and the electrically controlled cutting and separating module 74 performs a squeezing and cutting action, separating the transparent packaging bag from the transparent films on both sides, causing it to fall downwards. The lateral roll 72 then continues to move the transparent film, preparing for the next round of material collection.

[0039] To facilitate bottom drug retrieval, a bottom unloading box 9 is provided at the lower front of the side functional panel 5, and the lower end of the bottom packaging compartment 71 is connected to the interior of the bottom unloading box 9.

[0040] After the drug is introduced into the heat-sealed transparent packaging bag, it is separated by the electronically controlled cutting and separation module 74 and falls downward into the bottom unloading box 9, where it can be taken out from the front opening of the bottom unloading box 9.

[0041] To prevent high-pressure air from impacting the bottom packaging bag, a side exhaust port 51 with a built-in filter is provided on the side wall of the side function plate 5.

[0042] High-pressure air is discharged outward through the side exhaust port 51, while the medicine is introduced into the transparent packaging bag at the bottom by inertia.

[0043] Equipment working principle The core innovation of this invention lies in breaking through the functional limitations of traditional drug shelves that only "store and monitor". Through the synergistic design of four core mechanisms – "precise quantification, airtight protection, efficient material feeding, and intelligent packaging" – it achieves integrated automated operation of "storage-dispensing-packaging", fundamentally solving the three major pain points of manual drug dispensing: accuracy errors, environmental interference, and low efficiency. Its principle details can be broken down into the following four parts: 1. Precise quantitative ingredient dispensing mechanism: Multi-dimensional collaborative control, breaking through the bottleneck of manual precision. Traditional manual drug dispensing relies on experience, with an error rate generally ranging from ±5% to 10%, and is prone to dosage deviations due to drug form (such as powder or granules). This invention achieves sub-millimeter-level quantitative accuracy through a closed-loop control system of "positioning-feeding-weighing-feedback." Positioning accuracy is guaranteed: The optical positioning probe 42 adopts a dual-mode positioning of "visual recognition + shelf coordinate pre-mapping". First, it identifies the exclusive QR code on the outside of the drug storage cabinet 3 through the built-in camera (recording the drug specifications and the amount of ingredients dispensed at one time), and then matches the three-dimensional coordinate system preset by the main shelf 1. The positioning error is controlled within ±1mm, ensuring that the electric translation trolley 41 accurately stops directly below the target drug storage cabinet 3. Quantitative feeding control: The electrically controlled rotary feeder 32 at the bottom of the drug storage cabinet 3 adopts a "flexible silicone feeding teeth + stepper motor drive" design. The spacing of the feeding teeth is adapted to the size of the drug particles / tablets (e.g., for 5mm diameter tablets, the tooth spacing is set to 5.2mm to avoid jamming or leakage). The feeding amount per revolution of the stepper motor is preset to an increment of 0.1g. The speed can be dynamically adjusted according to the real-time data of the electronic weighing unit 43 (e.g., when the weighing is close to 90% of the target value, the motor speed is reduced from 30rpm to 5rpm to avoid overfeeding). Real-time weighing feedback: The electronic weighing unit 43 adopts a high-precision strain gauge sensor with a range of 0-500g and an accuracy of 0.01g. It sends weighing data to the electronic control system every 100ms. If the material feeding amount is detected to exceed the target value of ±0.05g (e.g., target 10g, actual 10.06g), the electronically controlled rotary feeder 32 is immediately triggered to rotate in the opposite direction by 0.5 turns (preset reverse feeding amount 0.05g), realizing "over-weight compensation". The final feeding accuracy is stabilized within ±0.03g, far exceeding the accuracy of manual feeding.

[0044] 2. Full-process closed-loop protection mechanism: Blocks environmental interference and extends the shelf life of medicines. Traditional manual medication dispensing requires frequent opening of the medicine cabinet, leading to fluctuations in temperature and humidity (humidity fluctuations can reach ±15%, and temperature fluctuations ±2℃ with each opening). This significantly impacts the stability of hygroscopic drugs (such as aspirin) and photosensitizing drugs (such as nitroglycerin). This invention achieves physical isolation between the entire medication dispensing process and the external environment through a design that combines "fitted translation + zoned sealing + airflow isolation." The dispensing process is sealed: The top of the electrically controlled translation trolley 41 adopts a "flexible rubber sealing strip + magnetic adhesion" structure, which is tightly attached to the edge of the bottom dispensing port 31 at the bottom of the drug storage cabinet 3 (the adhesion gap is ≤0.1mm). When dispensing, the drug falls directly into the sealed hopper inside the trolley (the inner wall of the hopper is covered with a PTFE anti-stick coating to avoid drug residue). There is no need to open the cabinet door of the drug storage cabinet 3, thus blocking the entry of external air from the source. The material guiding process is sealed: At the connection between the side guide hopper 62 and the end tilting guide rail 22, the lifting closing plate 8 adopts an "EPDM sealing strip + electric cylinder drive" design, and the sealing pressure reaches 0.3MPa when closed, ensuring that an independent sealed space is formed inside the side guide hopper 62; at the same time, the high-pressure gas output by the top booster air pump 61 (pressure 0.2-0.3MPa, which can be adjusted according to the drug density, such as 0.2MPa for powder to avoid dust, and 0.3MPa for granules to increase the flow rate) enters the side guide hopper 62 through the upper air guide pipe 63, forming a "positive pressure airflow", which both pushes the drug along the lower guide pipe 64 and prevents external air from entering from the gaps, maintaining a micro-positive pressure environment (pressure difference 0.05MPa) in the material guiding channel. Storage protection: The medicine storage cabinet 3 adopts a "double-layer tempered glass + built-in desiccant interlayer" structure. The interlayer contains color-changing silica gel desiccant (5g desiccant per 100ml volume), which can absorb moisture in the cabinet in real time. In conjunction with the temperature and humidity sensor built into the main shelf 1 (not labeled, a basic accessory), when the humidity in the cabinet exceeds 75% or the temperature exceeds 25℃, the small fan in the cabinet (not labeled) will be automatically triggered for ventilation to ensure a stable storage environment. According to tests, this design can extend the shelf life of moisture-absorbing medicines by 30%-50%.

[0045] 3. High-efficiency pneumatic feeding mechanism: Solves the bottleneck of high-level conveying, balancing speed and drug integrity. Traditional high-bay pharmacy retrieval requires manual climbing or the use of forklifts, which is inefficient and prone to causing damage from collisions (such as spilling bottled oral liquids). The built-in pneumatic conveying device 6 of this invention achieves efficient and damage-free transport of high-bay medications through "segmented pressure control + streamlined channel + impact-resistant design." Segmented pressure control design: The top-mounted booster air pump 61 is independently connected to the upper air guide pipe 63 of each layer of side guide hopper 62 through a solenoid valve group (not labeled). The air pressure can be adjusted according to the height of the side guide hopper 62 (e.g., the main rack 1 has 5 layers, the height of the side guide hopper on the 1st layer is 1m, and the height of the 5th layer is 4m): the air pressure of the lower layer (layers 1-2) is set to 0.2MPa, and the air pressure of the upper layer (layers 3-5) is set to 0.3MPa, so that the drugs at different heights can be transported along the lower guide pipe 64 at a uniform speed of 1.5-2m / s, avoiding the retention of drugs in the upper layer due to insufficient air pressure and the impact of drugs in the lower layer on the pipe wall due to excessive air pressure. Streamlined channel optimization: The lower guide tube 64 adopts "large curvature arc transition + inner wall polishing treatment" (roughness Ra≤0.8μm), and the curvature radius at the corner is ≥50mm (e.g., 50mm corner radius for a tube diameter of 20mm) to avoid drug jamming at the corner; at the same time, a "guide protrusion" (not marked, 2mm high, at a 15° angle to the tube wall) is set every 300mm inside the tube to guide the airflow to form a spiral propulsion force and prevent powdered drugs from adhering to the wall and accumulating. Impact protection: A "buffer airbag" (not labeled, made of elastic polyurethane) is provided at the connection between the lower end of the lower guide tube 64 and the bottom packaging chamber 71. After the medicine falls into the airbag, the airbag absorbs the impact force through deformation (the impact speed is reduced from 2m / s to below 0.5m / s), and then slowly releases it into the packaging bag. According to tests, this design can reduce the breakage rate of tablet drugs from 7% in traditional conveying to below 0.5%, and reduce the dust of powder drugs by 90%.

[0046] 4. Integrated automated packaging mechanism: Achieves seamless integration of "ingredient preparation and packaging," enhancing compliance. Traditional methods of dispensing medication require manual repackaging, labeling, and sealing, which is not only inefficient (each package takes 30-60 seconds) but also prone to contamination or labeling errors due to improper handling. The self-sealing packaging module 7 of this invention achieves full automation and compliance throughout the packaging process through a "synchronous film supply - precise sealing and cutting - adaptive adjustment" design. Synchronous film supply control: The side rolls 72 at both ends of the bottom packaging compartment 71 are driven by a "servo motor + tension sensor". The tension sensor monitors the tension of the transparent film in real time (set range 5-8N). When the film tension exceeds the range, the servo motor automatically adjusts the speed (decelerates when the tension is too high and accelerates when the tension is too low) to ensure that the transparent film is conveyed smoothly at a uniform speed of 0.5m / s, avoiding film wrinkles that cause misalignment of the sealing edge; at the same time, one side roll 72 is loaded with "pharmaceutical grade transparent composite film" (inner layer PE, outer layer PET, conforming to YBB00102005 standard), and the other side is loaded with "waste film recycling roll", realizing closed-loop conveying of film materials and reducing waste pollution; Precise thermosealing control: The segmented thermosealing module 73 adopts a "zoned temperature control + pressure adjustment" design. The sealing area is divided into three independent units: "bottom sealing", "side sealing", and "top sealing". The temperature of each unit can be adjusted according to the film thickness (e.g., for a 50μm thick film, the bottom / side sealing temperature is 180℃, and the top sealing temperature is 170℃ to avoid scalding the internal medicine during top sealing). The sealing pressure is set to 0.4MPa and the sealing time is 1.5s to ensure sealing strength (peel force ≥5N / 15mm) and the sealing width is controlled within 5mm, which meets the minimum sealing requirements for pharmaceutical packaging. Adaptive cutting and separation: The electronically controlled cutting and separation module 74 adopts "ultrasonic cutting + infrared positioning" technology. The infrared sensor first identifies the sealing position of the packaging bag (positioning accuracy ±0.5mm), and then triggers the ultrasonic generator (frequency 20kHz) to generate high-frequency vibration to achieve "cold cutting" (cutting temperature ≤40℃), avoiding the melting and adhesion of film materials caused by traditional hot cutting. At the same time, the stroke of the cutting blade can be adaptively adjusted according to the length of the packaging bag (such as 50mm, 100mm) to meet the packaging requirements of different dosages of medicines. The entire packaging process takes ≤5s, which is 6-12 times more efficient than manual packaging.

[0047] Equipment working process The working process of this invention is based on a fully automated logic of "order triggering - ingredient dispensing - material conveying - packaging completion - medication dispensing prompt". Each stage includes a triple mechanism of "component collaboration - parameter control - anomaly feedback". The specific steps are as follows: Phase 1: Order Receiving and System Initialization (Preparatory Work, Emphasizing Intelligent Linkage) External system integration: The electrical control system of the main shelf 1 is linked with the hospital HIS system / pharmacies POS system through the API interface. When it receives a drug dispensing order (such as "Patient A, aspirin tablets, 10mg / tablet, 3 tablets each time, once a day, for a total of 7 days"), it automatically parses the order information and generates a "dispensing task list" (containing the coordinates of the target drug storage cabinet 3: such as the 3rd layer, 2nd column, single dispensing amount 210mg, packaging specifications: 7 bags × 30mg / bag). System self-test: The electronic control system starts an initial self-test, checking the status of each component in sequence: ① Camera clarity of the optical positioning probe 42 (if blurry, the lens cleaning device is automatically triggered, not marked); ② Zero point calibration of the electronic weighing unit 43 (if zero point drift > 0.01g, the calibration procedure is automatically executed); ③ Air pressure output of the top-mounted booster air pump 61 (if the no-load air pressure < 0.2MPa, an alarm is triggered and the backup air pump is started, not marked); ④ Temperature of the segmented thermoforming module 73 (if the actual temperature deviates from the set value > 5℃, the heating tube power is automatically adjusted); After the self-test passes, the electronically controlled translation trolley 41 returns to the initial position (the starting end of the horizontal guide rail 21), the lifting closing plate 8 is in the closed state, and the transparent film is pre-delivered to the sealing position of the bottom packaging chamber 71 by the lateral roll 72, waiting for the feeding instruction.

[0048] Phase 2: Precise Quantitative Ingredient Proportioning (Core Execution, including Dynamic Adjustment) Step 1: Positioning and docking. The electronic control system sends the target coordinate command to the electronically controlled translation trolley 41. The trolley drives the wheels to move along the horizontal guide rail 21 through the built-in servo motor. At the same time, the optical positioning probe 42 captures the QR code of the drug storage cabinet 3 in real time, compares the identified coordinates with the target coordinates, and makes real-time fine adjustments (if a deviation of 2mm is found, the wheel speed is immediately corrected, the left wheel decelerates by 0.5s, and the right wheel accelerates by 0.5s). Finally, it accurately stops directly below the drug storage cabinet 3 in the second column of the third layer. At this time, the rubber sealing strip on the top of the trolley is completely in contact with the edge of the bottom drug outlet 31, forming a sealed space. Step 2: Quantitative feeding. The electronic control system sends a command to the electronically controlled rotary feeder 32, and the stepper motor rotates at an initial speed of 30 rpm. The feeding teeth feed aspirin tablets one by one from the drug storage cabinet 3 and they fall into the sealed hopper of the electronically controlled translation trolley 41. At the same time, the electronic weighing unit 43 feeds back the weight data to the system every 100 ms (e.g., 1s: 30mg, 2s: 60mg... 6s: 180mg). Step 3: Dynamic Correction. When the weighing data reaches 90% of the target value (189mg), the system reduces the speed of the electrically controlled rotary feeder 32 to 5rpm, reducing the amount of material fed per batch; when the weighing data reaches 207mg (98.5% of the target value of 210mg), the motor stops rotating; if the weighing data stabilizes at 208mg (deviation -2mg) after 1 second, the system triggers the motor to rotate forward 0.2 revolutions (preset feeding amount 2mg), and the final weighing data stabilizes at 210mg±0.03g, completing the quantitative feeding; if an excess occurs (e.g., 215mg), the system triggers the motor to rotate in the reverse direction 0.5 revolutions (feeding amount 5mg), replenishing to 210mg.

[0049] 3. Phase 3: Closed-loop material conveying (high-efficiency connection, including anti-clogging design) Step 1: Trolley Transfer and Tilting. After quantitative measurement, the electrically controlled translation trolley 41 moves along the horizontal guide rail 21 to the end tilting guide rail 22. At the same time, the system sends an opening command to the lifting closing plate 8, and the electrically controlled cylinder drives the closing plate to rise 100mm (the opening height matches the trolley's hopper outlet). When the trolley is fully inside the end tilting guide rail 22, the electrically controlled lifting support rod 23 at the bottom of the end tilting guide rail 22 begins to slowly descend (descending speed 5mm / s), causing the trolley to tilt downwards 30° around the inflection point of the end tilting guide rail 22 (the tilting angle is calculated to ensure that no drug residue slides out of the hopper). At this time, the 210mg aspirin tablets in the hopper slide along the end tilting guide rail 22 into the side feed hopper 62. Step 2: Pneumatic feeding. After the drug enters the side feeding hopper 62, the system immediately triggers the lifting closing plate 8 to close (closing time 1 second). At the same time, the top-mounted booster air pump 61 starts, delivering 0.3MPa high-pressure gas to the upper air pipe 63 of the third-layer side feeding hopper 62 (higher air pressure is required because the third layer is 3m high). The high-pressure gas forms a "spiral airflow" (guided by the guide protrusion) in the side feeding hopper 62, pushing the drug downward along the lower feeding pipe 64. During the conveying process, the pressure sensor (not labeled) in the pipe monitors the airflow pressure in real time. If the pressure is lower than 0.25MPa (possibly due to drug blockage), the system automatically increases the air pump pressure to 0.35MPa and continues for 3 seconds to "pressurize and clear". If the blockage is still not cleared, an audible and visual alarm is triggered. Step 3: Buffer Drop. After being decelerated by the buffer airbag at the lower end of the lower feed tube 64, the drug falls into the transparent film bag in the bottom packaging chamber 71 at a speed of 0.5 m / s. At the same time, the infrared sensor (not labeled) in the airbag detects the drug falling in and sends a "feeding complete" signal to the system. The top booster air pump 61 stops working, and the residual gas in the side feed chamber 62 is discharged through the side exhaust port 51 (the exhaust port has a built-in HEPA filter to filter drug dust in the gas to avoid contamination).

[0050] 4. Phase 4: Integrated automated packaging (compliance completed, including quality inspection) Step 1: Film bag forming and pre-sealing. Simultaneously with the medication being inserted, the lateral rolls 72 at both ends of the bottom packaging chamber 71 synchronously convey the transparent film at a speed of 0.5 m / s. The left roll releases new film, while the right roll collects waste film. The "bottom sealing unit" and "side sealing unit" of the segmented thermoforming module 73 are activated, forming a bag 80 mm long and 50 mm wide, sealed at the bottom and sides (sealing temperature 180℃, pressure 0.4 MPa, time 1.5 s). The top of the bag remains open, awaiting the medication to be inserted. Step 2: Top Sealing and Cutting. After the medication falls into the bag, an infrared sensor (not labeled) detects the presence of material inside. The system delays for 0.5 seconds (to ensure the medication completely reaches the bottom of the bag) and activates the "top sealing unit" to seal the top of the bag at 170°C (to prevent burns to the tablets). After sealing, the infrared positioning sensor of the electronically controlled cutting and separation module 74 identifies the center position of the top seal and triggers an ultrasonic cutter to cut at a frequency of 20kHz, separating the individual sealed bag from the transparent film roll (the cutting position is 5mm from the top seal to ensure seal integrity). Step 3: Packaging Quality Inspection. The cut sealed bags fall into the bottom unloading box 9 through the discharge port of the bottom packaging compartment 71. At the same time, the visual inspection camera (not labeled) at the discharge port performs an appearance inspection on the packaging bags: ① Check for bubbles and wrinkles on the sealing edge (if present, mark as "unqualified" and send them to a separate recycling box via the sorting device, if not labeled); ② Check the quantity of medicine inside the bag (the number of tablets is identified by image recognition to ensure that there are 21 tablets, consistent with the order); the qualified packaging bags fall into the qualified area of ​​the bottom unloading box 9, and the system sends a "medication pickup reminder" message (including patient name, medicine name, and pickup location) to external terminals (such as nurse station computers and pharmacy cash registers).

[0051] Phase 5: Reset and Preparation for the Next Cycle (Continuous Operation Assurance) Component Reset: After a single batching task is completed, the system triggers the reset of each component: ① The electrically controlled lifting support rod 23 rises, driving the electrically controlled translation trolley 41 to return to the horizontal position and return to the initial position along the horizontal guide rail 21; ② The lifting closing plate 8 remains closed, and the side guide hopper 62 is emptied of residual drugs; ③ The side roll 72 continues to convey transparent film to prepare for the bag forming of the next task; ④ The indicator light (not labeled) of the bottom unloading box 9 lights up to remind the staff to pick up the drugs; Inventory Update and Alert: The system automatically updates the inventory data of drug storage cabinet 3 (e.g., if the original inventory was 1000 tablets and 21 tablets were used this time, the inventory is updated to 979 tablets). When the inventory is lower than the preset threshold (e.g., the minimum inventory is 50 tablets), a "replenishment reminder" is sent to the inventory management system. At the same time, the name and location of the medicine that needs to be replenished are displayed on the display screen (not labeled) of the main shelf 1. Anomaly Recording and Maintenance: If an anomaly occurs during operation (such as excessive material feeding, material blockage, or unqualified packaging), the system will automatically record the time of the anomaly, the abnormal component, the cause of the anomaly, and the handling method (e.g., "2024-10-01 14:30, the electric rotary feeder 32 exceeded the limit and has been reversed to replenish it"), forming an "Equipment Operation Log". This will facilitate troubleshooting by maintenance personnel and improve equipment reliability.

[0052] Breakthrough in quantitative accuracy: Through a closed loop of "optical positioning + stepper motor feeding + high-precision weighing feedback", a batching accuracy of ±0.03g is achieved, solving the problem of large errors in manual batching; Full-process closed design: The multi-stage closed structure from ingredient preparation to material delivery blocks external environmental interference, extending the shelf life of moisture-absorbing medicines by 30%-50% and solving the pain point of environmental impact in traditional medicine preparation. High-efficiency and non-destructive material guiding: The segmented pressure-controlled pneumatic material guiding + buffer airbag design achieves uniform drug delivery at a speed of 1.5-2m / s, reducing the breakage rate to below 0.5%, solving the problems of low drug retrieval efficiency and easy breakage in high-level shelves; Integrated packaging compliance: Ultrasonic cold cutting + visual inspection enables automated compliant packaging in 5 seconds per package, avoiding contamination and errors caused by manual packaging and improving the safety of drug packaging.

[0053] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A pharmaceutical shelf equipped with an automatic dispensing device, comprising a main shelf (1), characterized in that: The main shelf (1) is fixedly equipped with a plurality of horizontally arranged internal support frames (2). The upper end of the internal support frame (2) is equipped with a plurality of detachable drug storage cabinets (3). The lower end of the internal support frame (2) is equipped with an electrically controlled translational dispensing device (4). The outer side of the main shelf (1) is fixedly equipped with a lateral function plate (5). The lateral function plate (5) is equipped with a built-in pneumatic material guiding device (6) and a self-sealing packaging module (7).

2. A medicine shelf equipped with an automatic dispensing device according to claim 1, characterized in that: The lower surface of the drug storage cabinet (3) is provided with a bottom effluent port (31), and an electrically controlled rotary feeder (32) is installed inside the bottom effluent port (31).

3. A medicine shelf equipped with an automatic dispensing device according to claim 1, characterized in that: A horizontal guide rail (21) is fixedly installed on the lower surface of the internal support frame (2).

4. A medicine shelf equipped with an automatic dispensing device according to claim 3, characterized in that: The electrically controlled translational batching device (4) includes an electrically controlled translational trolley (41) movably mounted on a horizontal guide rail (21), an optical positioning probe (42) mounted on the electrically controlled translational trolley (41), and an electronic weighing unit (43).

5. A medicine shelf equipped with an automatic dispensing device according to claim 3, characterized in that: The horizontal guide rail (21) has a downward-bent end flipping guide rail (22) near the end of the lateral functional panel, and an electrically controlled lifting support rod (23) is installed at the bottom of the end flipping guide rail (22).

6. A medicine shelf equipped with an automatic dispensing device according to claim 5, characterized in that: The built-in pneumatic material guiding device (6) includes a top-mounted booster air pump (61), a side-mounted material guiding bin (62), an upper-mounted air guiding pipe (63), and a lower-mounted material guiding pipe (64) installed inside the side functional plate (5).

7. A medicine shelf equipped with an automatic dispensing device according to claim 6, characterized in that: The side guide hopper (62) is internally connected to the end tilting guide rail (22), and a lifting closing plate (8) is provided at the connection port between the side guide hopper (62) and the end tilting guide rail (22).

8. A medicine shelf equipped with an automatic dispensing device according to claim 1, characterized in that: The self-sealing packaging module (7) includes a bottom packaging compartment (71) installed at the lower end of the side functional plate (5), side rolls (72) installed at both ends of the bottom packaging compartment (71), a segmented thermoplastic sealing module (73) installed on both sides of the inner side of the bottom packaging compartment (71), and an electronically controlled cutting and separating module (74).

9. A medicine shelf equipped with an automatic dispensing device according to claim 8, characterized in that: The lower end of the front of the side functional panel (5) is provided with a bottom unloading box (9), and the lower end of the bottom packaging compartment (71) is connected to the interior of the bottom unloading box (9).

10. A medicine shelf equipped with an automatic dispensing device according to claim 1, characterized in that: The lateral functional panel (5) has a lateral exhaust port (51) with a built-in filter on its side wall.

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