A dispensing device

Abstract

This invention provides a dispensing device, comprising: a transmission module; a medicine bag holding mechanism, with a first side connected to the transmission module and a support wheel on the second side, the axis of rotation of the support wheel being perpendicular to the extension path of the transmission module; and a support rail, disposed on the side of the transmission module where the medicine bag holding mechanism is mounted, the extension path of the support rail being parallel to the extension path of the transmission module, for supporting the support wheel. By providing a support wheel on the side of the medicine bag holding mechanism away from the transmission module and a support rail for supporting the support wheel, this invention improves the support effect on the medicine bag holding mechanism, ensuring that the medicine bag holding mechanism remains horizontal during transmission, thereby improving the dispensing accuracy of the dispensing device. Simultaneously, it reduces wear on the transmission module, increasing its service life and operational stability.

Description

Technical Field

[0001] This invention belongs to the field of material preparation technology, specifically relating to a preparation device suitable for preparing granular formulations and powders. Background Technology

[0002] Dispensing refers to the process of quantitatively adding materials (granular preparations, powders) from a large container to a medicine bag. Before and after dispensing, a large number of other operations are required, such as the production of medicine bags, the conveying and transportation of medicine bags, the sealing and dropping of medicine bags, and so on.

[0003] The dispensing equipment is equipped with a medicine bag conveying system, including a conveying module and a medicine bag holding mechanism. In order to ensure the stability of the medicine bag during the conveying process and to prevent the medicine bag from falling or shifting its posture, the medicine bag holding mechanism needs to provide a stable holding space for the medicine bag. This requires the medicine bag holding mechanism to have certain structural dimensions and load-bearing area.

[0004] Medicine bags typically enter and exit the medicine bag holding mechanism from the bottom. When the medicine bag holding mechanism is assembled with a transmission module (such as a chain, conveyor belt, or other common transmission components), to avoid interference between the transmission module and the bottom of the medicine bag holding mechanism, the axis of the transmission module is usually set vertically, and the medicine bag holding mechanism is installed on the side of the transmission module to avoid space at the bottom of the medicine bag holding mechanism. For example, Chinese invention patent application number CN202110394997.3 discloses a dispensing system for granule products.

[0005] However, because the entire medicine bag holding mechanism extends outwards, its center of gravity is significantly offset from the support center of the transmission module, resulting in an outwardly eccentric state. This can easily lead to tilting of the medicine bag holding mechanism. Tilting of the medicine bag holding mechanism not only accelerates wear and reduces the service life of the equipment, but also causes materials to fall outside the medicine bag during dispensing.

[0006] In view of this, the present invention is proposed. Summary of the Invention

[0007] This invention provides a dispensing device designed to solve the tilting problem caused by the outward tilt of the medicine bag holding mechanism.

[0008] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by the present invention is as follows: a dispensing device, comprising: a transmission module; a medicine bag holding mechanism, the first side of which is connected to the transmission module and the second side of which is provided with a support wheel, the axis of rotation of the support wheel being perpendicular to the extension path of the transmission module; and a support rail, which is provided on the side of the transmission module where the medicine bag holding mechanism is installed, the extension path of the support rail being parallel to the extension path of the transmission module, and used to support the support wheel.

[0009] Furthermore, a first support plate is provided on the second side of the medicine bag holding mechanism, and the pivot of the support wheel is mounted on the first support plate; preferably, a first mounting portion protruding outward is provided on the top of the second side of the medicine bag holding mechanism, the first support plate is in contact with the end face of the first mounting portion and extends downward to the first mounting portion, and the support wheel is mounted on the first support plate through the pivot and is located below the first mounting portion; preferably, a bent portion is provided on the first support plate extending towards the side close to the transmission module, and the bent portion is in contact with the bottom of the first mounting portion.

[0010] Furthermore, the medicine bag holding mechanism includes a fixed body and a movable body installed on the fixed body, the fixed body and the movable body being spliced ​​together to form a space for accommodating the medicine bag; a first support plate is installed on the fixed body; preferably, the fixed body and the movable body are arranged opposite each other along a direction parallel to the extension path of the transmission module; the first support plate is attached to the movable body, and a first guide structure is provided between the first support plate and the movable body, the extension path of the first guide structure being parallel to the movement path of the movable body when the medicine bag holding mechanism is opened.

[0011] Furthermore, a second support plate is provided on the first side of the medicine bag holding mechanism. The second support plate is installed on the fixed body. A second guide structure is provided between the second support plate and the movable body. The extension path of the second guide structure is parallel to the movement path of the movable body when the medicine bag holding mechanism is opened. Preferably, the second support plate is configured as a U-shaped structure. A positioning roller is provided at the bag feeding station. The positioning roller is used to abut against the side of the second support plate away from the medicine bag holding mechanism to position the medicine bag holding mechanism.

[0012] Furthermore, the transmission module and the fixed body are detachably connected via an assembly assembly, which includes: a first assembly, mounted on the transmission module, having a plug-in hole; a second assembly, disposed on the fixed body, having a plug-in post that mates with the plug-in hole; and a locking member, passing through the side wall of the plug-in hole and abutting against the plug-in post, the locking member being threadedly engaged with the side wall of the plug-in hole; preferably, the second assembly is plugged into the first assembly along a direction parallel to the extension path of the transmission module, and the first assembly has multiple assembly holes for the locking member to pass through, the multiple assembly holes being spaced apart along the axial direction of the plug-in hole; preferably, one end of the plug-in hole is closed, a limit bolt is provided on the closed end of the plug-in hole, the limit bolt being threadedly engaged with the closed end of the plug-in hole, and the end of the limit bolt extending into the plug-in hole and abutting against the end of the plug-in post.

[0013] Furthermore, the transmission module includes: a chain; a chain guide rail with a chain guide groove at the top for accommodating the chain, and chain plates at the top of the chain disposed outside the chain guide groove and in contact with the top surface of the chain guide rail; a medicine bag holding mechanism is mounted on the chain plates at the top of the chain; preferably, an upwardly bent and extended medicine bag holding mechanism mounting plate is provided on the chain plates at the top of the chain, and a first assembly is fixed on the medicine bag holding mechanism mounting plate.

[0014] Furthermore, when the medicine bag holding mechanism is opened, the moving body moves in a horizontal direction away from the fixed body; the dispensing equipment is equipped with an opening bag holder mechanism at least at the top sealing station, the opening bag holder mechanism including: a first bracket, fixedly connected to the frame of the dispensing equipment; a second bracket, mounted on the first bracket via a transverse guide rail; the moving body is provided with a drive hole, and the second bracket is provided with a plug-in component extending in a direction perpendicular to the transverse guide rail for engaging with the drive hole; a first drive component for driving the second bracket to move is provided between the first bracket and the second bracket; a second drive component for driving the plug-in component to move is provided on the second bracket.

[0015] Furthermore, the dispensing equipment is equipped with a bag-opening and clamping mechanism at least at the bag-feeding station and the bag-dropping station; the rotating shaft of the bag-pressing block on the fixed body, which is used to limit the position of the medicine bag, extends horizontally; the bag-opening and clamping mechanism is located above the medicine bag holding mechanism, and the working end of the bag-opening and clamping mechanism moves vertically downward to push the bag-pressing block to rotate.

[0016] Furthermore, the dispensing equipment is equipped with a rejection station between the bag-giving station and the dispensing station. The rejection station is equipped with a bag-opening clamping mechanism, a bag-opening support mechanism, and a bag-dropping mechanism for knocking the medicine bags off. The bag-opening detection module of the dispensing equipment is installed on the bag-opening clamping mechanism at the bag-giving station and / or the rejection station, and is fixedly connected to the mounting bracket of the bag-opening clamping mechanism. Preferably, the bag-opening detection module includes a camera device for identifying whether the bag opening of the medicine bag is fully opened.

[0017] Furthermore, at least at the bag feeding station and the bag dropping station, the support rail and the transmission module are spaced apart, and the interval between the transmission module and the support rail corresponds to the space of the medicine bag holding mechanism for accommodating the medicine bag, so as to allow the medicine bag to enter the medicine bag holding mechanism and detach from the medicine bag holding mechanism.

[0018] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art.

[0019] 1. This invention improves the support effect of the medicine bag holding mechanism by setting a support wheel on the side of the medicine bag holding mechanism away from the transmission module and setting a support rail for supporting the support wheel. This ensures that the medicine bag holding mechanism is always in a horizontal state during transmission, improves the dispensing accuracy of the dispensing equipment, and reduces the wear of the transmission module, thereby increasing the service life and working stability of the transmission module.

[0020] 2. In this invention, the mutually cooperating support wheels and support rails provide structural support for the working method of the bag opening mechanism to move vertically downward and push the bag pressing block to rotate. On this basis, the bag opening mechanism is set above the medicine bag holding mechanism, which can avoid the space around the transmission module, optimize the overall layout effect, and help reduce the volume of the dispensing equipment.

[0021] 3. This invention utilizes a camera device to identify whether the opening of the medicine bag is properly opened, which improves the detection accuracy of the medicine bag's status, further ensuring the medicine bag's ability to receive materials and improving dispensing accuracy.

[0022] 4. By setting the support track and the transmission module to be spaced apart, the present invention can avoid the space used to hold medicine bags. The medicine bags at the bag feeding station can smoothly enter the space used to hold medicine bags from the bottom of the medicine bag holding mechanism, and the sealed medicine bags can smoothly fall from the space used to hold medicine bags.

[0023] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0024] The accompanying drawings, as part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention, but do not constitute an undue limitation of the invention. Obviously, the drawings described below are merely some embodiments, and those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings:

[0025] Figure 1 This is a schematic diagram of the structure of the medicine bag holding mechanism in an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of the medicine bag holding mechanism and the assembly components in an embodiment of the present invention;

[0027] Figure 3 This is a cross-sectional view of the medicine bag holding mechanism and assembly components in an embodiment of the present invention;

[0028] Figure 4 This is a cross-sectional view of the assembly components in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of the medicine bag holding mechanism and the transmission module in an embodiment of the present invention;

[0030] Figure 6 This is an enlarged view of the cooperation structure between the medicine bag holding mechanism and the transmission module in an embodiment of the present invention;

[0031] Figure 7 This is an enlarged structural schematic diagram of the bag-opening mechanism in an embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of the overall structure of the bag-opening mechanism in an embodiment of the present invention;

[0033] Figure 9 This is a schematic diagram of the bag dropping mechanism in an embodiment of the present invention;

[0034] Figure 10 This is an enlarged view of the lower end of the bag-dropping rod in an embodiment of the present invention;

[0035] Figure 11 This is a schematic diagram of the bag opening mechanism in an embodiment of the present invention;

[0036] Figure 12 This is a top view of the transmission module in an embodiment of the present invention.

[0037] Key components described in the diagram: 23. Transmission module support profile; 4. Medicine bag holding mechanism; 4-1. First linear guide rail structure; 4-2. Second linear guide rail structure; 4-3. First mounting part; 4-4. Second mounting part; 4-5. Clearance groove; 4-6. Clearance notch; 40. Medicine bag; 41. Support wheel; 411. First support plate; 4110. First guide structure; 4111. First strip opening; 4112. First guide protrusion; 412. Bending part; 413. Plug bolt; 42. Fixed body; 421. Guide film groove; 43. Movable body; 431. Slot; 432. Drive hole; 44. Space for accommodating the medicine bag; 45. Second support plate; 450. Second guide structure; 4501, second strip opening; 4502, second guide protrusion; 46, bag pressing block; 461, abutment part; 47, assembly assembly; 471, first assembly part; 4711, assembly hole; 4712, limit bolt; 4713, lock nut; 472, second assembly part; 4721, plug-in post; 473, locking element; 48, positioning roller; 5, transmission module; 50, support rail; 501, rail support rib; 51, chain; 51-1, chain piece; 51-2, medicine bag holding mechanism mounting plate; 511, first transmission section; 512, second transmission section; 513, third transmission section; 5131, first transmission segment; 5132, second transmission segment Section; 5133, Third transmission section; 52, Chain drive assembly; 521, Chain drive gear; 53, Driven wheel; 54, Chain tension assembly; 55, Chain guide rail; 551, Chain guide groove; 611, Support frame; 6111, Frame top plate; 6112, Frame bottom plate; 6113, Frame support column; 612, First support plate; 613, Support front plate; 62, First motor; 63, Guide assembly; 631, Guide seat; 632, Guide rod; 64, Drive seat; 65, First drive rod; 66, Crank-connecting rod structure; 67, First position detection device; 671, First baffle; 672, First photoelectric sensor; 6721, First sensor bracket; 7, Bag opening Detection module; 71. Camera device; 72. Camera bracket; 721. First U-shaped part; 722. Second U-shaped part; 723. U-shaped bracket; 81. First bracket; 82. Second bracket; 821. Second support plate; 83. Gear and rack structure; 84. Second motor; 85. Second lead screw motor module; 86. Second drive rod; 87. Third position detection device; 88. Fourth position detection device; 881. Fourth photoelectric sensor; 882. Fourth baffle; 91. First lead screw motor module; 911. Working end of the first lead screw motor module; 92. Bag dropping rod; 921. Bag patting head; 9211. Strip groove; 93. Second position detection device; 931. Second baffle.

[0038] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0040] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0041] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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.

[0042] like Figures 1 to 12 As shown in the embodiment of the present invention, a dispensing device is introduced. The dispensing device includes a frame, a dispensing module, and a transmission module 5. The dispensing module and the transmission module 5 are respectively installed on the frame. A medicine bag holding mechanism 4 is installed on the transmission module 5. The transmission module 5 is used to drive the medicine bag holding mechanism 4 to move along its extension path. The dispensing module is used to quantitatively output the material stored inside, so that the material quantitatively falls into the medicine bag 40 carried in the medicine bag holding mechanism 4.

[0043] The dispensing module includes multiple dispensing cabinets, each containing a hopper filled with different types of materials. These materials can be powders or granules of traditional Chinese medicine or Mongolian medicine. Each dispensing cabinet is used to quantitatively dispense the materials stored in its hopper.

[0044] The dispensing equipment is equipped with a bag feeding station, a dispensing station, a top sealing station, and a bag dropping station. When the transmission module 5 is working, it drives the medicine bag holding mechanism 4 installed on it to move, so that the medicine bag holding mechanism 4 passes through the bag feeding station, the dispensing station, the top sealing station, and the bag dropping station.

[0045] The space 44 for accommodating the medicine bag on the medicine bag holding mechanism 4 extends vertically through the medicine bag holding mechanism 4. When the medicine bag holding mechanism 4 moves to the bag feeding station, the medicine bag 40 enters the medicine bag holding mechanism 4 from the bottom. The medicine bag holding mechanism 4 squeezes the two sides of the medicine bag 40, opening the top of the medicine bag 40. After entering, the top of the medicine bag 40 is open. The bottom of the dispensing module has a dispensing station. When the medicine bag holding mechanism 4 moves to the dispensing station, the dispensing cabinet operates, conveying a fixed amount of material into the medicine bag 40. When the medicine bag holding mechanism 4 moves to the top sealing station, the top sealing device seals the top of the medicine bag 40. When the medicine bag holding mechanism 4 moves to the bag dropping station, the bag pressing block 46 of the medicine bag holding mechanism 4 opens, and the medicine bag 40 detaches from the bottom of the medicine bag holding mechanism 4.

[0046] In this embodiment, the first side of the medicine bag holding mechanism 4 is connected to the transmission module 5, and the second side of the medicine bag holding mechanism 4 is provided with a support wheel 41. The rotation axis of the support wheel 41 is perpendicular to the extension path of the transmission module 5. A support rail 50 is also provided on the frame. The support rail 50 is located on the side of the transmission module 5 where the medicine bag holding mechanism 4 is installed. The extension path of the support rail 50 is parallel to the extension path of the transmission module 5 and is used to support the support wheel 41.

[0047] Thus, the first side of the medicine bag holding mechanism 4 is fixed to the transmission module 5, and the second side of the medicine bag holding mechanism 4 is supported on the support rail 50 by the support wheel 41, which improves the support effect of the medicine bag holding mechanism 4. Specifically, the axis of the transmission module 5 is vertical. In this embodiment, by setting the support wheel 41 on the second side of the medicine bag holding mechanism 4, the synchronous belt or chain 51 of the transmission module 5 can be prevented from deforming due to the weight of the medicine bag holding mechanism 4, and the second side of the medicine bag holding mechanism 4 can be prevented from tilting downward under the action of gravity. This ensures that the medicine bag holding mechanism 4 is always in a horizontal state during transmission, improves the dispensing accuracy of the dispensing equipment, and reduces the wear of the transmission module 5, thereby improving the service life and working stability of the transmission module 5.

[0048] In this embodiment, the transmission module 5 can be a synchronous belt assembly or a chain 51 assembly. The "axis of the transmission module 5" specifically refers to the axis of the synchronous belt drive roller of the synchronous belt assembly or the axis of the chain drive assembly 52 of the chain 51 assembly.

[0049] In this embodiment, the extension path of the transmission module 5 is a closed loop, driving the medicine bag holding mechanism 4 to cyclically move between the bag feeding station, the rejection station, the dispensing station, the top sealing station, and the bag dropping station. Multiple medicine bag holding mechanisms 4 are evenly arranged on the transmission module 5. In some preferred embodiments, to expand the number of medicine bag holding mechanisms 4 that the transmission module 5 can support while ensuring the operational stability of the transmission module 5, the transmission module 5 is configured as a chain 51 assembly. Preferably, a rejection station is also provided between the bag feeding station and the dispensing station. The rejection station is equipped with a bag opening mechanism and a bag dropping mechanism. A bag opening detection module for identifying whether the opening of the medicine bag 40 is fully open is located above the rejection station. The bag opening detection module includes a camera device for identifying whether the opening of the medicine bag 40 is fully open. The working end of the camera device faces the rejection station. When the medicine bag holding mechanism 4 moves to the rejection station, the camera device recognizes the image of the medicine bag 40, and the control center of the dispensing equipment determines whether the opening of the medicine bag 40 is fully open based on the image. If the opening of medicine bag 40 is not fully opened, the bag clamping mechanism will squeeze and press the bag block, and the bag dropping mechanism will operate to knock medicine bag 40 off. When the bag tray moves to the dispensing station, the dispensing cabinet corresponding to the bag tray will not operate.

[0050] Specifically, the transmission module 5 includes a chain 51, a chain drive assembly 52, and a driven wheel 53. The chain 51 is connected end to end to form a closed loop structure. The chain drive assembly 52 is used to drive the chain 51 to move cyclically along the closed loop structure. The medicine bag holding mechanism 4 is detachably mounted on the chain 51. The chain drive assembly 52 includes a chain drive gear 521 that meshes with the chain 51 and a chain drive motor that is connected to the chain drive gear 521 and used to drive the chain drive gear 521 to rotate. By driving the chain drive gear 521 to rotate through the chain drive motor, the chain 51 can be moved, ensuring transmission accuracy.

[0051] Multiple driven wheels 53 are located at different positions on the chain 51 and mesh with the chain 51 respectively. Specifically, a chain drive gear 521 and multiple driven wheels 53 are respectively located on the inner side of each corner of the chain 51. Preferably, at least two driven wheels 53 are provided between two adjacent rows of transmission segments to prevent the chain 51 from bending too much at one position and interfering with the turning process of the medicine bag holding mechanism 4, thus avoiding jamming and ensuring transmission accuracy.

[0052] The medicine bag holding mechanism 4 is installed on the outside of the chain 51. The first side of the medicine bag holding mechanism 4 is fixedly connected to the chain 51. The second side of the medicine bag holding mechanism 4 is equipped with a support wheel 41. The rotation axis of the support wheel 41 extends horizontally and is perpendicular to the extension path of the transmission module 5.

[0053] In this embodiment, a first support plate 411 is provided on the second side of the medicine bag holding mechanism 4, and the rotating shaft of the support wheel 41 is mounted on the first support plate 411.

[0054] The support wheel 41 is installed on the side of the first support plate 411 away from the transmission module 5, and / or the support wheel 41 is installed on the side of the first support plate 411 close to the transmission module 5.

[0055] like Figures 1 to 6 As shown, in some specific embodiments, a stop bolt 413 is installed on the first support plate 411, and the support wheel 41 is sleeved on the stop bolt 413. The stop bolt 413 constitutes the pivot of the support plate.

[0056] Specifically, the plug bolt 413 includes a first bolt segment and a second bolt segment coaxially arranged. The outer diameter of the first bolt segment is smaller than that of the second bolt segment. The first bolt segment has external threads and passes through a first support plate 411, connecting with a suitable nut. The first support plate 411 is clamped between the end of the second bolt segment and the nut, achieving a fixed fit with the first support plate 411. The outer peripheral wall of the second bolt segment is a smooth cylindrical surface. A support wheel 41 is sleeved on the second bolt segment and is limited between the head of the plug bolt 413 and the first support plate 411.

[0057] Preferably, a limiting ring is provided between the support wheel 41 and the first support plate 411. The limiting ring is sleeved on the second bolt section to create a gap between the support wheel 41 and the first support plate 411, thereby reducing the frictional resistance during the rotation of the support wheel 41.

[0058] In this embodiment, the second side of the medicine bag holding mechanism 4 is provided with a first mounting part 4-3 that protrudes outward and extends outward. The first support plate 411 is attached to the end face of the first mounting part 4-3 and extends downward to the first mounting part 4-3. The support wheel 41 is mounted on the first support plate 411 through a rotating shaft.

[0059] The first mounting part 4-3 is provided such that a space for mounting the support wheel 41 is formed between the first support plate 411 and the second side of the medicine bag holding mechanism 4.

[0060] In some possible embodiments, the support wheel 41 is mounted on the side of the first support plate 411 away from the transmission module 5. Specifically, a bolt 413 passes through the first support plate 411 from the side away from the transmission module 5 and is connected to a nut. The space below the first mounting portion 4-3 is used to accommodate the nut that mates with the bolt 413.

[0061] In some preferred embodiments, the support wheel 41 is mounted on the side of the first support plate 411 near the transmission module 5. Specifically, a bolt 413 passes through the first support plate 411 from the side near the transmission module 5 and is connected to a nut. The space below the first mounting portion 4-3 is used to accommodate the support wheel 41. This improves the overall structural compactness of the medicine bag holding mechanism 4.

[0062] Preferably, in this embodiment, the support wheel 41 is located directly below the first mounting part 4-3, thereby improving the overall integrity of the medicine bag holding mechanism 4.

[0063] Preferably, the first support plate 411 and the medicine bag holding mechanism 4 are connected by bolts. The first support plate 411 is provided with a bent portion 412 extending towards the side close to the transmission module 5, and the bent portion 412 fits against the bottom of the first mounting portion 4-3. This improves the pre-positioning effect between the first support plate 411 and the medicine bag holding mechanism 4 and enhances the installation stability of the first support plate 411, thereby improving the installation efficiency between the first support plate 411 and the medicine bag holding mechanism 4 and ensuring the working stability of the support wheel 41.

[0064] like Figure 1 As shown, in some specific embodiments, the first support plate 411 is a metal plate with a cut made downwards from the top of the first support plate 411. Then, a portion near the edge of the first support plate 411 is bent from the cut towards the medicine bag holding mechanism 4, forming the bent portion 412. Bolts for fixing the first support plate 411 pass through the first support plate 411 and are tightened on the end face of the first mounting portion 4-3; and / or, bolts for fixing the first support plate 411 pass through the bent portion 412 and are tightened on the bottom surface of the first mounting portion 4-3. The "end face of the first support portion" refers to the end face of the first mounting portion 4-3 away from the transmission module 5.

[0065] Preferably, in this embodiment, the support wheel 41 is located directly below the first mounting part 4-3, and the second side of the medicine bag holding mechanism 4 is provided with an avoidance notch 4-6 corresponding to the support wheel 41. The avoidance notch 4-6 is used to accommodate the head of the plug bolt 413.

[0066] Preferably, the clearance notch 4-6 connects the space 44 for accommodating the medicine bag and the space directly below the first mounting part 4-3. The head of the plugging bolt 413 is located at the clearance notch 4-6, and the head of the plugging bolt 413 is located outside the space 44 for accommodating the medicine bag. The above arrangement can minimize the thickness of the medicine bag holding mechanism 4 and avoid interfering with the medicine bag 40 carried inside the medicine bag holding mechanism 4.

[0067] Preferably, a clearance groove 4-5 is provided on the second side of the medicine bag holding mechanism 4. The clearance groove 4-5 is arranged around the clearance notch 4-6. The clearance groove 4-5 can avoid the support wheel 41, preventing the support wheel 41 from contacting the medicine bag holding mechanism 4, and further improving the smoothness of the rotation of the support wheel 41.

[0068] In some possible embodiments, the medicine bag holding mechanism 4 is configured as a single piece.

[0069] In some other possible embodiments, the medicine bag holding mechanism 4 includes a fixed body 42 and a movable body 43, which are joined together to form a space 44 for accommodating the medicine bag. The space 44 for accommodating the medicine bag extends vertically through the medicine bag holding mechanism 4. Specifically, the fixed body 42 is provided with a first curved groove, and the movable body 43 is provided with a second curved groove. The first curved groove and the second curved groove are arranged opposite to each other, and the first curved groove and the second curved groove are joined together to form the space 44 for accommodating the medicine bag.

[0070] In this embodiment, the medicine bag holding mechanism 4 can keep the medicine bag 40 in a state of top openness.

[0071] In this embodiment, the fixed body 42 is fixedly connected to the transmission module 5, the movable body 43 is closably mounted on the fixed body 42, and the support wheel 41 is mounted on the fixed body 42. The first support plate 411 is mounted on the fixed body 42.

[0072] In some possible embodiments, the fixed body 42 and the movable body 43 are arranged sequentially along the direction close to the transmission module 5.

[0073] In some other preferred embodiments, the fixed body 42 and the movable body 43 are arranged opposite each other along a direction parallel to the extension path of the transmission module 5; the first support plate 411 is attached to the movable body 43, and a first guide structure 4110 is provided between the first support plate 4111 and the movable body 43, the extension path of the first guide structure 4110 being parallel to the movement path of the movable body 43 when the medicine bag holding mechanism 4 is opened.

[0074] In this embodiment, each medicine bag holding mechanism 4 is provided with only one space 44 for accommodating the medicine bag, and the width direction of the medicine bag 40 is parallel to the extension direction of the transmission module 5, thereby further reducing the thickness of the medicine bag holding mechanism 4.

[0075] In this embodiment, the "thickness dimension of the medicine bag holding mechanism 4" refers to the dimension of the medicine bag holding mechanism 4 in the direction from the first side to the second side. The "width direction of the medicine bag 40" refers to the direction from the side seal edge of the medicine bag 40 to the folded edge on the opposite side of the side seal edge.

[0076] In this embodiment, the first support plate 411 corresponds to the seam between the fixed body 42 and the movable body 43. The first support plate 411 is fixedly connected to the portion of the first mounting part 4-3 located on the fixed body 42 and extends along the end face of the first mounting part 4-3 towards the movable body 43. The first guide structure 4110 includes a first strip opening 4111 provided on the first support plate 411 and a first guide protrusion 4112 provided on the movable body 43. During the opening and closing of the medicine bag holding mechanism 4, the first guide protrusion 4112 slides along the first strip opening 4111. The extending direction of the first strip opening 4111 is parallel to the moving path of the movable body 43 when the medicine bag holding mechanism 4 is opened.

[0077] like Figure 2 As shown, a second support plate 45 is provided on the first side of the medicine bag holding mechanism 4. The second support plate 45 is installed on the fixed body 42. A second guide structure 450 is provided between the second support plate 45 and the movable body 43. The extension path of the second guide structure 450 is parallel to the movement path of the movable body 43 when the medicine bag holding mechanism 4 is opened.

[0078] Preferably, in this embodiment, the top of the first side of the medicine bag holding mechanism 4 is provided with a second mounting part 4-4 that protrudes towards the direction of the transmission module 5. The second support plate 45 is fixed to the end face of the second mounting part 4-4. The second support plate 45 and the part of the second mounting part 4-4 located on the fixed body 42 are fixedly connected. A second guide structure 450 is provided between the second support part and the part of the second mounting part 4-4 located on the movable body 43.

[0079] The second guide structure 450 includes a second strip-shaped opening 4501 disposed on the second support plate 45 and a second guide protrusion 4502 disposed on the movable body 43. During the opening and closing of the medicine bag holding mechanism 4, the second guide protrusion 4502 slides along the second strip-shaped opening 4501. The extending direction of the second strip-shaped opening 4501 is parallel to the moving path of the movable body 43 when the medicine bag holding mechanism 4 is opened.

[0080] In this embodiment, the end face of the second mounting part 4-4 is the end face of the second mounting part 4-4 facing the transmission module 5.

[0081] Preferred, such as Figure 3As shown, the second support plate 45 is configured with a U-shaped structure; a positioning roller 48 is provided at the bag-feeding station. The positioning roller 48 is used to abut against the side of the second support plate away from the bag-holding mechanism 4 to position the bag-holding mechanism 4. Specifically, the positioning roller 48 is mounted on the frame above the bag-feeding station via a roller frame. The rotation axis of the positioning roller 48 extends vertically and is fixed on the roller frame. During the process of the bag-holding mechanism 4 moving to the bag-feeding station, the side of the second support plate 45 away from the bag-holding mechanism 4 abuts against the positioning roller 48 and slides along the positioning roller 48. Under the support of the positioning roller 48, the bag-holding mechanism 4 is positioned at the bag-feeding station, which can avoid the deviation of the position of the bag-holding mechanism 4 in the horizontal direction perpendicular to the extension direction of the transmission module due to the deviation of the transmission module and / or the interference of other components. This further improves the accuracy of positioning the bag-holding mechanism 4 and improves the smoothness of the bag entering the bag-holding mechanism 4.

[0082] Preferably, the positioning rollers 48 include at least two arranged at intervals along the extension path parallel to the transfer module 5. When the medicine bag holding mechanism 4 moves to the bag feeding station, the second support plate 45 abuts against at least two positioning rollers 48.

[0083] In some specific embodiments, a bag-making device is provided below the bag-giving station, and the positioning roller 48 can improve the positioning accuracy between the medicine bag holding mechanism 4 and the bag-making device.

[0084] Preferably, in this embodiment, the roller bracket is fixedly mounted on the frame by bolts, and the mounting position of the roller bracket on the frame is adjustable in the horizontal direction perpendicular to the extension direction of the transmission module. Specifically, the through hole on the roller bracket for the bolt to pass through can be set as an oblong hole. In this embodiment, the support rail 50 has a width margin for the medicine bag holding mechanism 4 to generate displacement in the horizontal direction perpendicular to the extension direction of the transmission module.

[0085] In this embodiment, the movable body 43 is rotatably mounted on the fixed body 42. Alternatively, the movable body 43 can slide along a direction that is closer to or farther from the fixed body 42.

[0086] Preferably, when the medicine bag holding mechanism 4 is opened, the moving body 43 moves along a path that is translating away from the fixed body 42.

[0087] In this embodiment, a first linear guide structure is provided between the portion of the first mounting part 4-3 located on the fixed body 42 and the portion of the first mounting part 4-3 located on the movable body 43.

[0088] The first linear guide structure 4-1 includes a first optical axis passing through the first mounting portion 4-3 in a direction from the fixed body 42 to the movable body 43, and a first linear bearing disposed on the portion of the first mounting portion 4-3 located on the movable body 43, the first linear bearing being sleeved with the first optical axis. In this embodiment, a first compression spring for driving the movable body 43 to move closer to the fixed body 42 is disposed between the end of the first optical axis away from the fixed body 42 and the movable body 43. Limiting nuts are respectively disposed at both ends of the first optical axis for limiting engagement with the side of the fixed body 42 away from the movable body 43 and for limiting engagement with the end of the first compression spring away from the fixed body 42.

[0089] In this embodiment, a second linear guide structure is provided between the portion of the second mounting part 4-4 located on the fixed body 42 and the portion of the second mounting part 4-4 located on the movable body 43.

[0090] The second linear guide structure 4-2 includes a second optical axis passing through the second mounting portion 4-4 in the direction from the fixed body 42 to the movable body 43, and a second linear bearing disposed on the portion of the second mounting portion 4-4 located on the movable body 43, the second linear bearing being sleeved with the second optical axis. In this embodiment, a second compression spring is provided between the end of the second optical axis away from the fixed body 42 and the movable body 43 for driving the movable body 43 to move towards the side closer to the fixed body 42. Limiting nuts are respectively provided at both ends of the second optical axis for limiting engagement with the side of the fixed body 42 away from the movable body 43 and for limiting engagement with the end of the second compression spring away from the fixed body 42.

[0091] The first linear guide structure and the second linear guide structure can be set individually or simultaneously.

[0092] like Figures 2 to 5 As shown, the transmission module 5 and the fixed body 42 are detachably connected via an assembly assembly 47. The assembly assembly 47 includes a first assembly 471 mounted on the transmission module 5, a second assembly 472 mounted on the fixed body 42, and a locking member 473. The first assembly 471 has a plug hole, and the second assembly 472 has a plug post 4721 that mates with the plug hole. The locking member 473 passes through the side wall of the plug hole and abuts against the plug post 4721. The locking member 473 is threadedly engaged with the side wall of the plug hole to lock the first assembly 471 and the second assembly 472, preventing relative displacement between them.

[0093] Preferably, the second assembly 472 is inserted into the first assembly 471 along a direction parallel to the extension path of the transmission module 5. The first assembly 471 has a plurality of mounting holes 4711 through which the locking member 473 passes, arranged at intervals along the axial direction of the insertion holes.

[0094] Specifically, the second fitting 472 protrudes from the second side of the fixed body 42 and bends and extends toward the movable body 43 to form the plug-in post 4721. The second fitting 472 is connected to the second side of the fixed body 42 and is located below the second mounting part 4-4.

[0095] Preferably, the extension direction of the plug post 4721 is parallel to the extension direction of the second guide structure 450.

[0096] The shape of the insertion hole on the first assembly 471 is adapted to the shape of the insertion post 4721, and the insertion post 4721 is inserted into the insertion hole from one end. Preferably, the insertion post 4721 and the insertion hole are circumferentially matched.

[0097] Preferably, the vertical cross-section of the plug post 4721 is rectangular.

[0098] Preferably, the locking member 473 is a hand-tightening screw, which is threaded into any one of the mounting holes 4711. The end of the locking member 473 passes through the mounting hole 4711 and abuts against the insertion post 4721, locking the first mounting part 471 and the second mounting part 472. By providing multiple mounting holes 4711, the adjustment range of the installation position of the medicine bag holding mechanism 4 can be increased.

[0099] Preferred, such as Figure 4 As shown, one end of the insertion hole is closed, and a limiting bolt 4712 is provided on the closed end of the insertion hole. The limiting bolt 4712 is threadedly engaged with the closed end of the insertion hole, and the end of the limiting bolt 4712 extends into the insertion hole and abuts against the end of the insertion post 4721. Preferably, the end of the insertion post 4721 is provided with a groove for accommodating the end of the limiting bolt 4712. The setting of the limiting bolt 4712 can further improve the assembly stability between the first assembly 471 and the second assembly 472. At the same time, when installing the medicine bag holding mechanism 4 next time, the limiting bolt 4712 can be used to quickly position the relative position between the first assembly 471 and the second assembly 472, and then the locking member 473 can be used to lock it, which improves the installation efficiency.

[0100] Preferably, the limiting bolt 4712 is further provided with a locking nut 4713 for locking the relative position between the limiting bolt 4712 and the closed end of the insertion hole, and the locking nut 4713 abuts against the outer side of the closed end of the insertion hole.

[0101] In this embodiment, the chain 51 includes multiple chain segments 51-1 hinged in sequence. A medicine bag holding mechanism mounting plate 51-2 is provided on the chain segment 51-1 for mounting the medicine bag holding mechanism 4. The medicine bag holding mechanism 4 is mounted on the medicine bag holding mechanism mounting plate 51-2 through the assembly assembly 47, that is, the first assembly 471 is fixed on the medicine bag holding mechanism mounting plate 51-2.

[0102] Preferred, such as Figures 2 to 5 As shown, in this embodiment, the transmission module 5 further includes a chain guide rail 55. The top of the chain guide rail 55 is provided with a chain guide groove 551 for accommodating the chain 51. The chain piece 51-1 at the top of the chain 51 is disposed outside the chain guide groove 551 and fits against the top surface of the chain guide rail 55. The medicine bag holding mechanism 4 is installed on the chain piece 51-1 at the top of the chain 51.

[0103] Specifically, chain 51 is a flexible transmission component formed by hinged links in sequence. Each link is equipped with two relatively parallel chain plates 51-1. Both ends of the chain plates 51-1 are provided with circular through holes for engaging with the hinge shaft. The chain plates 51-1 of adjacent links are staggered and overlapped, and are connected through the through holes.

[0104] like Figure 5 As shown, the chain 51 is partially housed within a chain guide groove 551. The chain guide groove 551 includes a groove body adapted to the bottom of the chain 51 and a constriction adapted to the middle of the hinge shaft. The groove body accommodates the lower end of the hinge shaft and two overlapping chain plates 51-1 located at the bottom of the chain 51. The width of the constriction matches the outer diameter of the hinge shaft between the opposing chain plates 51-1. Two overlapping chain plates 51-1 located at the top of the chain 51 are disposed outside the chain guide groove 551. Of these two overlapping chain plates 51-1 located at the top of the chain 51, one is in contact with the top surface of the chain guide rail 55, and the other is used to mount the medicine bag holding mechanism mounting plate 51-2. This arrangement improves the load-bearing capacity of the transmission module 5 itself and prevents the hinge shaft of the chain 51 from rotating outwards due to the weight of the medicine bag holding mechanism 4.

[0105] In this embodiment, the medicine bag holding mechanism mounting plate 51-2 extends upward from the outside of the chain piece 51-1 at the top of the chain 51, and the first mounting part 471 is fixed on the medicine bag holding mechanism mounting plate 51-2.

[0106] Specifically, the bottom of the first assembly 471 is provided with a socket groove. The shape of the socket groove is adapted to the top shape of the medicine bag holding mechanism mounting plate 51-2. The groove wall of the socket groove fits against the inner and outer sides of the medicine bag holding mechanism mounting plate 51-2. The groove wall that fits against the inner side of the medicine bag holding mechanism mounting plate 51-2 extends downward and is fixedly connected to the medicine bag holding mechanism mounting plate 51-2 by bolts.

[0107] In this embodiment, the frame includes a transmission module support profile 23, the chain guide rail 55 is installed on the top of the transmission module support profile 23, and the support rail 50 is installed on the side of the transmission module support profile 23 through the rail support rib 501.

[0108] In this embodiment, the support track 50 is ring-shaped and arranged around the outside of the transmission module 5, forming a circumference around the transmission module 5. At least at the bag feeding station and the bag dropping station, the support track 50 is spaced apart from the transmission module 5. The interval between the transmission module 5 and the support track 50 corresponds to the space 44 of the medicine bag holding mechanism 4 for accommodating the medicine bag, allowing the medicine bag 40 to enter and exit the medicine bag holding mechanism 4. The gap between the edge of the support track 50 near the transmission module 5 and the transmission module 5 forms a channel for the medicine bag 40 to enter and exit the medicine bag holding mechanism 4. The medicine bag 40 of the dispensing device can smoothly enter the space for accommodating the packaging bag from the bottom of the medicine bag holding mechanism 4, and the sealed medicine bag 40 can smoothly fall from the space for accommodating the packaging bag.

[0109] In this embodiment, the dispensing equipment is provided with a bag opening support mechanism at least at the top sealing station, and a bag opening clamping mechanism at least at the bag dispensing station and the bag dropping station.

[0110] Specifically, the fixed body 42 is provided with a guide film groove 421 for accommodating the side sealing edge of the medicine bag 40. The guide film groove 421 is located in the middle of the first curved groove and is recessed from the middle of the first curved groove in a direction away from the movable body 43.

[0111] A pressure block 46 for fixing the medicine bag 40 within the medicine bag holding mechanism 4 is disposed on the side of the fixed body 42 away from the movable body 43. The pressure block 46 is rotatably engaged with the fixed body 42, and a torsion spring is provided between the pressure block 46 and the fixed body 42. The pressure block 46 is disposed outside the guide film groove 421, and a clearance opening is provided on the groove wall of the guide film groove 421 near the pressure block 46. The torsion spring is used to force the pressure block 46 to rotate into the guide film groove 421, so that the pressure block 46 extends at least partially into the guide film groove 421, pressing the side seal of the medicine bag 40 against the groove wall of the guide film groove 421 away from the pressure block. Specifically, the pressure block 46 includes a squeezing part extending towards the side of the guide film groove 421 for squeezing the side seal, and an abutting part 461 extending away from the guide film groove 421.

[0112] In some preferred embodiments, a slot 431 is further provided in the middle of the second curved groove. This slot 431 is used to receive the side of the medicine bag 40 opposite to the side seal. The slot 431 and the guide film groove 421 are opposite each other. The slot 431 extends obliquely upward from bottom to top towards the guide film groove 421. After the medicine bag 40 is introduced into the space 44 for receiving the medicine bag, as the medicine bag 40 moves upward, the slot 431 squeezes the side of the medicine bag 40 opposite to the side seal, causing the top opening of the medicine bag 40 to open.

[0113] In this embodiment, the rotating shaft of the bag-pressing block 46 on the fixed body 42, which is used to limit the position of the medicine bag 40, extends in the horizontal direction; the bag-opening clamping mechanism is located above the medicine bag holding mechanism 4, and the working end of the bag-opening clamping mechanism moves vertically downward to push the bag-pressing block 46 to rotate.

[0114] In this embodiment, the cooperating support wheel 41 and support track 50 provide structural support for the working mode of the bag opening and clamping mechanism to move vertically downward and push the bag pressing block 46 to rotate. On this basis, the bag opening and clamping mechanism is set above the medicine bag holding mechanism 4, which can avoid the space around the transmission module 5 and optimize the overall layout effect. When the bag opening support mechanism and the bag opening and clamping mechanism are laid out at the same time, the interference between the two can be avoided.

[0115] Specifically, such as Figure 7 and Figure 8 As shown, the bag-opening mechanism is a modular structure, including a mounting bracket and a first drive rod 65 corresponding to the abutment portion 461 of the bag-pressing block 46, used to push the bag-pressing block 46 to rotate. A drive device is provided on the mounting bracket, which drives the first drive rod 65 to reciprocate vertically. The first drive rod 65 constitutes the working end of the bag-opening mechanism.

[0116] Specifically, the driving device can be a lead screw and slider assembly, with the first driving rod 65 disposed on the slider of the lead screw and slider assembly; the driving device can also be a crank and slider assembly, with the first driving rod 65 disposed on the slider of the crank and slider assembly.

[0117] In this embodiment, the driving device includes a guide assembly 63 and a crank-connecting rod assembly mounted on a mounting bracket. Specifically, the guide assembly 63 includes a guide seat 631 fixed on the mounting bracket and a guide rod 632 passing through the guide seat 631. A linear bearing is provided between the guide rod 632 and the guide seat 631, and the guide rod 632 slides along the guide seat 631. A drive seat 64 is fixedly mounted on the guide rod 632, and the crank-connecting rod assembly is disposed between the mounting bracket and the drive seat 64 for driving the drive seat 64 to reciprocate along the guide assembly 63. The first drive rod 65 is mounted on the drive seat 64.

[0118] In this embodiment, a first motor 62 is provided on the mounting bracket. The motor shaft of the first motor 62 extends in the horizontal direction. A crank is installed on the motor shaft. A connecting rod is hinged to the end of the crank away from the motor shaft. The end of the connecting rod away from the crank is hinged to the drive seat 64, forming a crank-connecting rod structure 66 between the first motor 62 and the drive seat 64.

[0119] The guide assembly 63 extends vertically and includes two sets of parallel guide seats 631 and guide rods 632. The drive seat 64 is mounted on the lower end of the two guide rods 632.

[0120] The first drive rod 65 is installed at the bottom of the drive base 64. When the first motor 62 is working, it drives the drive base 64 to move downward through the crank-connecting rod structure 66. The first drive rod 65 moves downward with the drive base 64, so that the lower end of the first drive rod 65 abuts against the abutment part 461 of the bag-pressing block 46, pushing the bag-pressing block 46 to rotate. This causes the squeezing part of the bag-pressing block 46 to rotate outward of the guide film groove 421, releasing the squeezing of the medicine bag 40. At this time, the medicine bag 40 can detach from the medicine bag holding mechanism 4 and fall under the action of gravity and / or the action of the bag dropping mechanism.

[0121] Preferably, in this embodiment, two pressure blocks 46 are provided on the fixing body 42 of the medicine bag holding mechanism 4. The two pressure blocks 46 are respectively arranged on the left and right sides of the guide film groove 421, and the two pressure blocks 46 are staggered in the vertical direction. Avoidance openings corresponding to the squeezing parts of the two pressure blocks 46 are respectively provided on the two groove walls of the guide film groove 421. The two avoidance openings on the left and right groove walls of the guide film groove 421 are staggered in the vertical direction to avoid interference between the two pressure blocks 46. Two first drive rods 65 are provided on the drive seat 64, and the two first drive rods 65 are respectively arranged opposite to the abutment parts 461 of the two pressure blocks 46. The lengths of the two first drive rods 65 on the same drive seat 64 are configured such that when the drive seat 64 moves downward to a preset position, it synchronously pushes the two pressure blocks 46 to rotate, so that the two pressure blocks 46 synchronously release the squeezing of the medicine bag 40.

[0122] Preferably, the first drive rod 65 is threadedly engaged with the drive seat 64. By rotating the first drive rod 65, the downward extension length of the first drive rod 65 relative to the drive seat 64 can be adjusted. Thus, either of the first drive rods 65 can be adjusted so that both first drive rods 65 can synchronously drive the two pressure bag blocks 46 to rotate.

[0123] In this embodiment, the bag opening mechanism is further provided with a first position detection device 67, which is used to detect the position of the first drive rod 65.

[0124] The first position detection device 67 includes a first baffle 671 and a first photoelectric sensor 672. There are two first photoelectric sensors 672, which are fixed on the mounting bracket and are spaced apart in the vertical direction. The first baffle 671 is fixed on the drive base 64 or the guide rod 632. When the first drive rod 65 moves downward to release the pressure of the bag 46 on the medicine bag 40, the first baffle 671 is in the lower first photoelectric sensor 672. When the first drive rod 65 returns to its original position, the first baffle 671 is in the upper first photoelectric sensor 672.

[0125] In this embodiment, the first position detection device 67 further includes a first sensor bracket 6721, and two first photoelectric sensors 672 are respectively fixed on the first sensor bracket 6721. The mounting position of the first photoelectric sensors 672 on the first sensor bracket 6721 is adjustable. The first sensor bracket 6721 is fixed on a mounting bracket.

[0126] In this embodiment, the pressure block 46 includes a pressing position and a depressing position. The upper first photoelectric sensor 672 is communicatively connected to the first motor 62 and is used to control the first drive rod 65 to reset. When the first drive rod 65 resets, the pressure block 46 is in the pressing position, and the first drive rod 65 is higher than the medicine bag holding mechanism 4 and the medicine bag 40. The lower first photoelectric sensor 672 is communicatively connected to the first motor 62 and is used to control the first drive rod 65 to push the pressure block 46 to release the pressure on the medicine bag 40. When the first baffle 671 corresponds to the lower first photoelectric sensor 672, the pressure block 46 is in the depressing position.

[0127] In this embodiment, the bag-opening mechanism at the bag-feeding station is used to open the bag-pressing block 46, allowing the medicine bag 40 to smoothly enter the medicine bag holding mechanism 4. The bag-opening mechanism at the bag-dropping station is used to open the bag-pressing block 46, allowing the medicine bag 40 to detach from the medicine bag holding mechanism 4.

[0128] Preferably, in this embodiment, the dispensing device further includes a bag opening detection module 7, which is used to detect whether the opening of the medicine bag 40 is fully opened.

[0129] In this embodiment, the bag opening detection module 7 is installed at the bag opening and clamping mechanism of the bag dispensing station and is fixedly connected to the mounting bracket of the bag opening and clamping mechanism. Alternatively, the dispensing equipment can be equipped with a separate rejection station, which is configured with a bag opening and clamping mechanism, a bag opening support mechanism, and a bag dropping mechanism for knocking the medicine bags 40 off. The bag opening detection module 7 can also be installed at the bag opening and clamping mechanism of the rejection station and fixedly connected to the mounting bracket of the bag opening and clamping mechanism.

[0130] The bag opening detection module 7 is detachably installed at the bottom of the mounting bracket.

[0131] Specifically, the mounting bracket includes a support frame 611 and a pair of first support plates 612 disposed at the bottom of the support frame 611. The support frame 611 includes a frame top plate 6111, a frame bottom plate 6112, and multiple frame pillars 6113 connecting the frame top plate 6111 and the frame bottom plate 6112. The frame top plate 6111 is used to be bolted to the frame. The first support plates 612 are fixed to the bottom plate of the frame bottom plate 6112. The two first support plates 612 extend vertically and are parallel to each other.

[0132] The extension direction of the first support plate 612 is perpendicular to the extension direction of the transmission module 5. A vertically extending support front plate 613 is provided on the side of the two first support plates 612 near the transmission module 5. The first motor 62 is fixed on the support front plate 613 and is located between the two first support plates 612. The motor shaft of the first motor 62 passes through the support front plate 613. The crank connecting rod structure 66 and the guide assembly 63 are provided on the side of the support front plate 613 near the transmission module 5.

[0133] The bag opening detection module 7 includes a camera device 71 for identifying whether the opening of the medicine bag 40 is fully opened and a camera bracket 72 for mounting the camera device 71. The camera bracket 72 includes a first U-shaped portion 721, a second U-shaped portion 722, and a U-shaped bracket 723. The opening of the first U-shape faces upward, and the two opposite sidewalls of the first U-shaped portion 721 are fitted onto the outside of the two first support plates 612 from the bottom, with the two sidewalls of the first U-shaped portion 721 respectively abutting against the two first support plates 612.

[0134] The second U-shaped part 722 is fixed to the bottom wall of the first U-shaped part 721. The second U-shaped part 722 extends downward from the bottom wall of the first U-shaped part 721. The opening of the second U-shaped part 722 faces the transmission module 5. The bottom wall of the second U-shaped part 722 extends vertically. The camera device 71 is disposed on the bottom wall of the second U-shaped part 722.

[0135] Specifically, a U-shaped bracket 723 is provided on the bottom wall of the second U-shaped part 722. The U-shaped bracket 723 includes two long side plates arranged opposite each other and a long bottom plate connected between the two long side plates. The long bottom plate is attached to the bottom wall of the second U-shaped part 722, and the camera device 71 is installed between the two long side plates.

[0136] Preferably, the first U-shaped part 721 is bolted to the first support plate 612, and the hole on the side wall of the first U-shaped part 721 for the bolt to pass through is set as an elongated strip, so that the installation position of the bag opening detection module 7 can be adjusted in the direction of being closer to / away from the transmission module 5.

[0137] The U-shaped bracket 723 is connected to the bottom wall of the second U-shaped part 722 by bolts. The holes on the bottom wall of the U-shaped bracket 723 for the bolts to pass through are elongated, so that the installation position of the U-shaped bracket 723 on the second U-shaped part 722 can be adjusted in the vertical direction.

[0138] The camera device 71 is connected to the U-shaped bracket by bolts. The holes for the bolts to pass through on the long side plate of the U-shaped bracket 723 are long strips, so that the installation position of the camera device 71 on the U-shaped bracket 723 can be adjusted in the direction of being closer to or farther away from the transmission module 5.

[0139] The camera device 71 is clamped between two long side plates of the U-shaped bracket 723. The camera device 71 is connected to the single long side plate by a bolt. The bolts on both sides of the camera device 71 for assembly with the long side plates are coaxial, thereby making the installation angle of the camera device 71 adjustable.

[0140] The working end of the camera device 71 is positioned facing the medicine bag holding mechanism 4. The camera device 71 is used to identify the image of the medicine bag 40 after it enters the medicine bag holding mechanism 4. The control center of the dispensing equipment determines whether the opening of the medicine bag 40 is properly opened based on the image.

[0141] If the opening of medicine bag 40 is not fully opened, medicine bag 40 will be rejected. When the bag tray is moved to the dispensing station, the dispensing order cabinet corresponding to the bag tray will not operate.

[0142] In this embodiment, the drive seat 64 is configured as a U-shaped structure, comprising two opposing side rods and a bottom rod connecting the two side rods. The drive seat 64 extends horizontally, with its opening facing away from the drive module, i.e., towards the side where the camera device 71 is located. The guide rod 632 is positioned close to the opening of the drive seat 64. The first drive rod 65 is connected to the bottom rod of the drive seat 64.

[0143] The opening width of the U-shaped drive seat 64 is greater than the width of the camera device 71, so as to avoid interference between the drive seat 64 and the camera device 71 during the up and down movement.

[0144] In some specific embodiments, the camera device 71 is communicatively connected to the first position detection device 67, and when the first drive rod 65 is reset, the camera device 71 begins to acquire images of the medicine bag 40.

[0145] In this embodiment, the dispensing equipment may have a separate rejection station, or the dispensing equipment may be configured to reject medicine bags 40 whose openings are not fully open at the bag dropping station. Preferably, the dispensing equipment is equipped with a rejection station located downstream of the bag feeding station, between the bag feeding station and the dispensing station. The rejection station is equipped with a bag opening and clamping mechanism, a bag opening and holding mechanism, and a bag dropping mechanism for knocking down the medicine bags 40. When the bag holding mechanism carrying the medicine bags 40 to be rejected moves to the rejection station, the bag opening and clamping mechanism opens the bag holding mechanism, the bag opening and clamping mechanism opens the bag pressing block 46, and then the bag dropping mechanism operates to knock down the medicine bags 40 whose openings are not fully open.

[0146] In this embodiment, the bag dropping mechanism can be the bag dropping mechanism in CN202520066883.X. It is only necessary to adjust the shape of the bag dropping rod 92 to match the shape of the space 44 for accommodating the medicine bag in the medicine bag holding mechanism of the present invention.

[0147] Preferred, such as Figure 9 and Figure 10 As shown, in this embodiment, the bag dropping mechanism is mounted on the frame and includes a first lead screw motor module 91 and a bag dropping rod 92 mounted on the working end 911 of the first lead screw motor module.

[0148] The lead screw motor module and the bag dropping rod 92 extend vertically. The lower end of the bag dropping rod 92 is provided with a bag-tapping head 921. When the medicine bag holding mechanism 4 is opened, the bag-tapping head 921 corresponds to the gap between the fixed body 42 and the movable body 43.

[0149] In the direction parallel to the first linear guide structure 4-1 / second linear guide structure 4-2, the width of the bag-patting head 921 gradually decreases along the downward extension direction, which can avoid interference between the bag-patting rod and the medicine bag holding mechanism 4; and the maximum width of the bag-patting head 921 is less than the gap width between the fixed body 42 and the movable body 43 when the medicine bag holding mechanism 4 is opened.

[0150] In the direction perpendicular to the first linear guide structure 4-1 / second linear guide, the width of the bag head 921 gradually increases along the downward extension direction, and the maximum width of the bag head 921 is less than the distance between the first optical axis and the second optical axis.

[0151] Preferably, in this embodiment, in the direction perpendicular to the first linear guide structure 4-1 / the second linear guide, the width of the bag-patting head 921 is less than or equal to the width of the space 44 for accommodating the medicine bag at the connection between the fixed body 42 and the movable body 43.

[0152] Preferably, in this embodiment, the bottom of the bag head 921 is provided with a strip groove 9211, which extends in a direction parallel to the first linear guide structure 4-1 / the second linear guide.

[0153] In this embodiment, after the bag opening mechanism opens the bag holder and the bag clamping mechanism opens the bag pressing block 46, the bag holding mechanism 4 releases the pressure on the bag 40, causing the bag 40 to spring back. At this time, the bag 40 falls outside the bag holding mechanism 4, or it remains inside the bag holding mechanism 4. The bag dropping mechanism then operates, and the bag dropping rod 92 moves downward, knocking the bag 40 off through the bag-tapping head 921. During its descent, the bag dropping rod 92 passes through the bag holding mechanism 4 and moves downward beyond the bottom of the bag holding mechanism 4, ensuring that the bag 40 can detach from the bag holding mechanism 4.

[0154] In this embodiment, when the medicine bag holding mechanism 4 is in the open state, the bag-dropping rod 92's bag-slapping head 921 corresponds to the gap between the fixed body 42 and the movable body 43. In the direction perpendicular to the first linear guide structure 4-1 / second linear guide, one end of the bottom of the bag-slapping head 921 is close to the first optical axis, and the other end of the bottom of the bag-slapping head 921 is close to the second optical axis, ensuring that the medicine bag 40 can be knocked off.

[0155] In this embodiment, the bag dropping mechanism is further equipped with a second position detection device 93 for detecting the position of the bag dropping rod 92. Preferably, the structure of the second position detection device 93 is the same as that of the first position detection device 67, including two second photoelectric sensors arranged in a vertical direction and a second baffle 931 disposed on the working end 911 of the first lead screw motor module.

[0156] When the second baffle 931 corresponds to the second photoelectric sensor located below, the lower end of the bag-dropping rod 92 extends beyond the bottom of the medicine bag holding mechanism 4. When the second baffle 931 corresponds to the second photoelectric sensor located above, the lower end of the bag-dropping rod 92 is higher than the medicine bag holding mechanism 4 and the medicine bag 40, so as to avoid interfering with the transmission of the medicine bag 40.

[0157] In this embodiment, the second position detection device 93 is communicatively connected to the motor of the first lead screw motor module 91.

[0158] In this embodiment, when removing medicine bags 40 whose openings are not fully opened at the bag-dropping station, it is necessary to configure a bag-opening clamping mechanism, a bag-opening support mechanism, and a bag-dropping mechanism at the bag-dropping station.

[0159] Preferably, in this embodiment, the dispensing equipment is equipped with a separate rejection station, and the bag opening detection module 7 is set at the bottom of the mounting bracket of the bag opening mechanism of the rejection station.

[0160] Preferably, the bag-dropping station is equipped with a bag-dropping mechanism for knocking down sealed medicine bags containing materials.

[0161] In this embodiment, the bag-dropping mechanism at the bag-dropping station has a bag-dropping rod that is adapted to the shape of the space used to accommodate the medicine bags. The bag-dropping station can be equipped with a bag-opening support mechanism, or it can be equipped with only a bag-opening clamping mechanism and a bag-dropping mechanism.

[0162] In this embodiment, a top sealing device is provided at the top sealing station. When the medicine bag holding mechanism 4 moves to the top sealing station, the bag opening mechanism opens the bag support, and then the top sealing device works to seal the top opening of the medicine bag 40, which can ensure that the top sealing of the medicine bag 40 is flat.

[0163] The bag opening mechanism is located on the outside of the transmission module 5, corresponding to the second side of the medicine bag holding mechanism 4.

[0164] like Figure 11 As shown, in this embodiment, the bag opening mechanism includes a first bracket 81 for connecting to the frame of the dispensing equipment, and a second bracket 82 slidably mounted on the first bracket 81. Specifically, the second bracket 82 is slidably mounted on the first bracket 81 via a transverse guide rail.

[0165] The main body 43 is provided with a drive hole 432, and the second bracket 82 is provided with a plug-in component extending in a direction perpendicular to the transverse guide rail for engaging with the drive hole 432. A first drive component for driving the second bracket 82 to move is provided between the first bracket 81 and the second bracket 82; a second drive component for driving the plug-in component to move is provided on the second bracket 82.

[0166] Preferably, the first drive assembly includes a second motor 84 and a gear and rack structure 83, wherein the second drive assembly is a second lead screw motor module 85.

[0167] Specifically, in this embodiment, the first bracket 81 is configured as a frame structure, and a vertically extending second support plate 821 is provided at the bottom of the first bracket 81. The extension direction of the second support plate 821 is parallel to the extension direction of the corresponding transmission module 5. A second motor 84 is installed on the second support plate 821, and the motor shaft of the second motor 84 extends through the second support plate 821 toward the direction close to the transmission module 5.

[0168] The second bracket 82 is mounted on the bottom of the first bracket 81 via a transverse guide rail. In some possible embodiments, the transverse guide rail includes a C-shaped guide rail fixed to the bottom of the first bracket 81, the vertical section of which is C-shaped; and a T-shaped slider fixed to the top of the second bracket 82, the T-shaped slider being nested within the C-shaped guide rail to achieve vertical positioning of the first bracket 81 and the second bracket 82.

[0169] The gear rack structure 83 is fixed to the top of the second bracket 82, and the gear of the gear rack structure 83 is fixed to the motor shaft of the second motor 84 and meshes with the rack.

[0170] The second bracket 82 includes a third support plate, the rack and T-shaped slider are disposed on the top of the third support plate, and a second lead screw motor module 85 is disposed at the bottom of the third support plate.

[0171] In this embodiment, the driving hole 432 is located on the side of the movable body 43 away from the transmission module 5, near the end of the movable body 43 away from the fixed body 42. The extending direction of the driving hole 432 is perpendicular to the extending direction of the first linear guide structure 4-1 / the second linear guide structure 4-2.

[0172] The extension direction of the second lead screw motor module 85 is perpendicular to the extension direction of the transverse guide rail and extends horizontally. The plug-in assembly includes a second drive rod 86 disposed on the working end of the second lead screw motor module 85. The extension direction of the second drive rod 86 is parallel to the extension direction of the second lead screw motor module 85.

[0173] When the medicine bag holding mechanism 4 moves to a position corresponding to the bag opening support mechanism (such as the top sealing station or the rejection station), the second drive rod 86 corresponds to the position of the drive hole 432, and the extension direction of the transverse guide rail is parallel to the extension direction of the first linear guide rail structure 4-1 / the second linear guide rail structure 4-2. At this time, the second lead screw motor module 85 operates, driving the second drive rod 86 to move towards the transmission module 5, so that the second drive rod 86 is inserted into the drive hole 432. Then, the second motor 84 operates, driving the second bracket 82 to move along the transverse guide rail, so that the movable body 43 moves away from the fixed body 42, and the medicine bag holding mechanism 4 opens.

[0174] In this embodiment, when a reset is required (such as after the bag dropping mechanism is reset or after the top sealing device is reset), the second motor 84 drives the second bracket 82 to move horizontally, so that the movable body 43 fits into the fixed body 42. Then, the second lead screw motor module 85 works to reset the second drive rod 86, and the second drive rod 86 separates from the drive hole 432.

[0175] In this embodiment, a third position detection device 87 is provided between the first bracket 81 and the second bracket 82. The structure of the third position detection device 87 is the same as that of the first position detection device 67, including two third photoelectric sensors arranged in a direction parallel to the transverse guide rail, and a third baffle fixed on the second bracket 82.

[0176] A fourth position detection device 88 is provided between the second bracket 82 and the working end of the second lead screw motor module 85. The structure of the fourth position detection device 88 is the same as that of the first position detection device 67, including two fourth photoelectric sensors 881 arranged in a horizontal direction perpendicular to the transverse guide rail, and a fourth baffle 882 fixed on the working end of the second lead screw motor module 85. The two fourth photoelectric sensors 881 are spaced apart in a direction away from the transmission module 5.

[0177] Initially, the fourth baffle 882 corresponds to the fourth photoelectric sensor 881 located away from the transmission module 5, and the third baffle corresponds to the first third photoelectric sensor. When the medicine bag holding mechanism 4 needs to be opened, the second lead screw motor module 85 operates, causing the fourth baffle 882 to correspond to the fourth photoelectric sensor 881 located near the transmission module 5. At this time, the second drive rod 86 is inserted into the drive hole 432. Then, the second motor 84 operates, causing the third baffle to correspond to the second third photoelectric sensor. At this time, the medicine bag holding mechanism 4 is in the open state. When the bag opening mechanism is reset, the second motor 84 operates, causing the third baffle to correspond to the first third photoelectric sensor. At this time, the medicine bag holding mechanism 4 is closed. Then, the second lead screw motor module 85 operates, causing the fourth baffle 882 to correspond to the fourth photoelectric sensor 881 located away from the transmission module 5.

[0178] Preferably, in this embodiment, the bag opening mechanism, the bag clamping mechanism, and the bag dropping mechanism are all set as independent modules, and each independent module can be added, removed, or moved according to actual needs.

[0179] In this embodiment, the bag opening mechanism, the bag opening clamping mechanism, the bag dropping mechanism, the transmission module 5, the dispensing module, and the top sealing device are all communicatively connected to the control center of the dispensing equipment.

[0180] In this embodiment, the dispensing equipment is equipped with a photoelectric position detection component for obtaining the position of the medicine bag holding mechanism 4, so that the medicine bag holding mechanism 4 can accurately stop at the bag feeding station, rejection station, dispensing station, top sealing station and bag dropping operation.

[0181] like Figure 12As shown, in some preferred embodiments, the extension path of the transmission module 5 is a closed loop, including a first transmission segment 511 extending along a first direction, a second transmission segment 512 disposed at both ends of the first transmission segment 511 and perpendicular to the first transmission segment 511, and a third transmission segment 513 disposed opposite to the first transmission segment 511. The middle part of the third transmission segment 513 protrudes towards the first transmission segment 511, and the protruding part of the third transmission segment 513 includes a first transmission segment 5131 parallel to the first transmission segment 511 and a second transmission segment 5132 parallel to the second transmission segment 512. The third transmission segment 513 also includes two third transmission segments 5133, and the second transmission segment 5132 is connected to the second transmission segment 512 through the third transmission segments 5133. Thus, the extension path of the transmission module 5 forms a U-shaped structure.

[0182] Multiple driven pulleys 53 are disposed at different positions on the chain 51 and engage with the chain 51 respectively. Specifically, a chain drive gear 521 and multiple driven pulleys 53 are respectively disposed inside the corners of the chain 51, specifically inside the corner connecting the first transmission segment 511 and the second transmission segment 512, inside the corner connecting the second transmission segment 512 and the third transmission segment 5133, inside the corner connecting the third transmission segment 5133 and the second transmission segment 5132, and inside the corner connecting the second transmission segment 5132 and the first transmission segment 5131. The chain drive gear 521 is disposed at any corner of the chain 51.

[0183] The transmission module 5 is further provided with a chain tensioning assembly 54, which includes a chain tensioning wheel that meshes with the chain 51 and a screw-slider structure for driving the chain tensioning wheel to move. Specifically, the screw of the screw-slider structure is threaded into the frame, and the chain tensioning wheel is mounted on the slider of the screw-slider structure via a rotating shaft. The screw-slider structure is used to drive the chain tensioning wheel to move in a direction perpendicular to the extension path of the chain 51, so that the chain 51 is tensioned, ensuring the meshing effect between the chain 51 and the chain drive gear 521 and the driven wheel 53.

[0184] Preferably, there are two chain tensioning components 54, each corresponding to the middle of one of the two third transmission segments 5133. The adjustment cabinet is positioned above the first transmission segment 511, the second transmission segment 512, the first transmission segment 5131, and the second transmission segment 5132, but not above the third transmission segment 5133.

[0185] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-described technical content to create equivalent embodiments without departing from the scope of the present invention. The implementation schemes in the above embodiments can be further combined or replaced. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A dispensing device, characterized in that, include: Transmission module (5); The medicine bag holding mechanism (4) includes a fixed body (42) and a movable body (43) installed on the fixed body (42). The fixed body (42) and the movable body (43) are spliced ​​together to form a space (44) for accommodating the medicine bag. The medicine bag holding mechanism (4) is connected to the transmission module (5) on the first side and a support wheel (41) is provided on the second side. The axis of rotation of the support wheel (41) is perpendicular to the extension path of the transmission module (5). A support rail (50) is provided on the side of the transmission module (5) where the medicine bag holding mechanism (4) is installed. The extension path of the support rail (50) is parallel to the extension path of the transmission module (5) and is used to support the support wheel (41). A first support plate (411) is provided on the second side of the medicine bag holding mechanism (4), and the shaft of the support wheel (41) is installed on the first support plate (411); the fixed body (42) and the movable body (43) are arranged opposite each other along the extension path parallel to the transmission module (5); The first support plate (411) is installed on the fixed body (42); the first support plate (411) is attached to the movable body (43), and a first guide structure (4110) is provided between the first support plate (4111) and the movable body (43). The extension path of the first guide structure (4110) is parallel to the movement path of the movable body (43) when the medicine bag holding mechanism (4) is opened. A second support plate (45) is provided on the first side of the medicine bag holding mechanism (4), and the second support plate (45) is installed on the fixed body (42); a second guide structure (450) is provided between the second support plate (45) and the movable body (43), and the extension path of the second guide structure (450) is parallel to the movement path of the movable body (43) when the medicine bag holding mechanism (4) is opened; The transmission module (5) and the fixed body (42) are detachably connected via an assembly assembly (47), which includes: The first assembly (471) is installed on the transmission module (5) and has a plug-in hole; The second assembly (472) is mounted on the fixed body (42) and has a plug-in post (4721) that mates with the plug-in hole; The locking element (473) passes through the side wall of the insertion hole and abuts against the insertion post (4721). The locking element (473) is threadedly engaged with the side wall of the insertion hole. One end of the insertion hole is closed, and a limit bolt (4712) is provided on the closed end of the insertion hole. The limit bolt (4712) is threadedly engaged with the closed end of the insertion hole, and the end of the limit bolt (4712) extends into the insertion hole and abuts against the end of the insertion post (4721).

2. The dispensing equipment according to claim 1, characterized in that, The second support plate (45) is configured as a U-shaped structure; a positioning roller (48) is provided at the bag feeding station. The positioning roller (48) is used to abut against the side of the second support plate away from the medicine bag holding mechanism (4) to position the medicine bag holding mechanism (4).

3. The dispensing equipment according to claim 1 or 2, characterized in that, The transmission module (5) includes: Chain (51); The chain guide (55) has a chain guide groove (551) at the top for accommodating the chain (51), and the chain piece (51-1) at the top of the chain (51) is located outside the chain guide groove (551) and fits against the top surface of the chain guide (55). The medicine bag holding mechanism (4) is installed on the chain piece (51-1) at the top of the chain (51).

4. The dispensing equipment according to claim 1, characterized in that, When the medicine bag holding mechanism (4) is opened, the moving body (43) moves along a path that is away from the fixed body (42); The dispensing equipment is equipped with a bag opening mechanism at least at the top sealing station. The bag opening mechanism includes: The first bracket (81) is fixedly connected to the frame of the dispensing equipment; The second bracket (82) is mounted on the first bracket (81) via a transverse guide rail; the movable body (43) is provided with a drive hole (432), and the second bracket (82) is provided with a plug-in component extending in a direction perpendicular to the transverse guide rail for engaging with the drive hole (432); A first drive assembly for driving the second support (82) to move is provided between the first support (81) and the second support (82); a second drive assembly for driving the plug-in assembly to move is provided on the second support (82).

5. The dispensing equipment according to claim 1, characterized in that, The dispensing equipment shall be equipped with bag-opening and bag-dropping mechanisms at least at the bag-giving station and the bag-dropping station; The rotating shaft of the pressure block (46) on the fixed body (42) for limiting the medicine bag (40) extends in the horizontal direction; the opening clamping mechanism is set above the medicine bag holding mechanism (4), and the working end of the opening clamping mechanism moves vertically downward to push the pressure block (46) to rotate.

6. The dispensing equipment according to claim 5, characterized in that, The dispensing equipment is equipped with a rejection station between the bag-giving station and the dispensing station. The rejection station is equipped with a bag-opening clamping mechanism, a bag-opening support mechanism, and a bag-dropping mechanism for knocking the medicine bags (40) off. The bag-opening detection module (7) of the dispensing equipment is installed on the bag-opening clamping mechanism at the bag-giving station and / or the rejection station and is fixedly connected to the mounting bracket of the bag-opening clamping mechanism. The bag opening detection module (7) includes a camera device (71) for identifying whether the opening of the medicine bag (40) is properly opened.

7. The dispensing equipment according to claim 1, characterized in that, At least at the bag feeding station and the bag dropping station, the support rail (50) and the transmission module (5) are spaced apart. The gap between the transmission module (5) and the support rail (50) corresponds to the space (44) of the medicine bag holding mechanism (4) for accommodating the medicine bag, so that the medicine bag (40) can enter the medicine bag holding mechanism (4) and leave the medicine bag holding mechanism (4).

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