Traditional Chinese medicinal material automatic dispensing equipment and control method

Abstract

The invention discloses automatic traditional Chinese medicine dispensing equipment and a control method, and relates to the technical field of medicine dispensing equipment, and the automatic traditional Chinese medicine dispensing equipment comprises a rack, a conveying mechanism and a plurality of medicine dispensing devices. A feeding station, a plurality of medicine dispensing stations and a discharging station are arranged on the machine frame. The conveying mechanism comprises an annular conveying belt and a plurality of baffles distributed in the circumferential direction of the annular conveying belt, a containing area used for limiting one turnover basket is formed between every two adjacent baffles, and synchronous stepping conveying of the multiple turnover baskets is achieved. The medicine dispensing devices are arranged above the machine frame along the conveying path, each medicine dispensing device corresponds to one traditional Chinese medicine, and the traditional Chinese medicines are independently put according to needs when the turnover baskets flow through the corresponding medicine dispensing stations. Multi-basket parallel processing is supported through a synchronous conveying mode, waiting delay of a traditional'blocking one placing one 'serial mode is avoided, the prescription processing efficiency and the system throughput capacity can be improved, and the method is suitable for a high-flow traditional Chinese medicine automatic dispensing scene.

Description

Technical Field

[0002] This invention relates to the field of pharmaceutical dispensing equipment technology, and in particular to an automatic dispensing device and control method for traditional Chinese medicine. Background Technology

[0003] Traditional Chinese medicine (TCM) prescriptions typically consist of multiple medicinal herbs combined in specific dosages. The traditional dispensing process relies on manual labor for identifying, weighing, dispensing, and verifying the herbs. This is cumbersome, inefficient, and susceptible to human error, resulting in significant weighing deviations, dispensing errors, and high labor intensity. To improve automation, existing automated TCM dispensing equipment uses multiple dispensing devices, each corresponding to a single herb, with conveyor lines sequentially transporting the containers to each dispensing station for dispensing. However, such equipment often employs an intermittent "block-and-release" conveying method, meaning that the next container can only enter the same station after the previous one has completed its operation. This limits the overall cycle time and throughput efficiency, making it difficult to meet the demands of high-volume prescription processing. Therefore, a more efficient automated dispensing solution is urgently needed to improve system efficiency and reliability. Summary of the Invention

[0004] The main objective of this invention is to propose an automatic dispensing device for Chinese medicinal materials and a control method for such a device, aiming to solve the problems of long cycle time, low throughput efficiency, and slow system response caused by the "block-and-release" intermittent conveying method used in the prior art.

[0005] To achieve the above objectives, the automatic dispensing equipment for traditional Chinese medicine proposed in this invention includes: The frame is provided with multiple workstations, including a loading workstation, multiple dispensing workstations and a unloading workstation; A conveying mechanism, installed on the frame, is used to synchronously convey multiple turnover baskets along a preset path, so that each turnover basket at the loading station is sequentially conveyed to each of the dispensing stations, and then conveyed to the unloading station. Multiple dispensing devices are arranged sequentially above the frame along the conveying path of the conveying mechanism. Each dispensing device is used to dispense one Chinese medicinal herb to the turnover basket located at the corresponding dispensing station. The conveying mechanism includes at least one annular conveyor belt and multiple baffles. The multiple baffles are distributed circumferentially on the outer working surface of the annular conveyor belt, and a receiving area for limiting a turnover basket is formed between two adjacent baffles.

[0006] In one embodiment, the two adjacent accommodating areas are configured with the same size.

[0007] In one embodiment, the plurality of dispensing stations are divided into a first dispensing station group and a second dispensing station group arranged longitudinally. The frame includes two first supports that extend longitudinally and are spaced apart laterally, and a second support that extends laterally and extends between the two first supports. The conveying mechanism includes: The first conveying assembly includes a first annular conveyor belt disposed on a first support, the first annular conveyor belt extending longitudinally for conveying the turnover basket from the loading station through the first dispensing station group to the first docking position. The second conveying assembly includes a second annular conveyor belt mounted on another of the first supports. The second annular conveyor belt extends longitudinally and is arranged side by side with the first annular conveyor belt. It is used to convey the turnover basket from the second docking position through the second dispensing station group to the unloading station. A transverse conveying assembly is mounted on the second support and extends between the first docking position and the second docking position for transferring turnover baskets between the two. Both the first and second conveyor belts are equipped with multiple baffles to achieve synchronous step-by-step conveying of the turnover baskets.

[0008] In one embodiment, each of the first supports is provided with two guide plates extending longitudinally. The two guide plates are respectively disposed on both sides of the corresponding annular conveyor belt. Each guide plate has a guide slope on its inner side, which is used to guide the turnover basket to be kept on a predetermined path when the turnover basket enters or passes through the annular conveyor belt.

[0009] In one embodiment, each of the first brackets is provided with rollers at its bottom.

[0010] In one embodiment, the conveying mechanism further includes: A servo motor is mounted on the frame; The tensioning wheel is coaxially connected to the output shaft of the servo motor. The drive roller is arranged side by side with the output shaft of the servo motor; A tension belt, wound around the periphery of the tensioning wheel and the drive roller, is used to drively connect the drive wheel and the drive roller; and, The driven roller is arranged side by side with the driving roller at intervals, and the annular conveyor belt is wound around the periphery of the driving roller and the driven roller to drive the driving roller and the driven roller.

[0011] In one embodiment, the dispensing device has a storage chamber with an inlet and an outlet; The multiple workstations also include multiple feeding workstations, and the automatic dispensing equipment for Chinese medicinal materials also includes a dosing mechanism. The dosing mechanism includes a dosing component that is movably arranged between the multiple feeding workstations. The dosing component is used to replenish the corresponding Chinese medicinal materials to the inlet of the storage chamber.

[0012] In one embodiment, the dosing assembly includes a dosing box and a piston. The dosing box has an opening at one end and is rotatably disposed about a rotation axis extending longitudinally. The piston is disposed inside the dosing box and is movable in the direction of approaching and away from the opening of the dosing box. The piston is used to push the Chinese medicinal materials placed in the dosing box to the outside of the opening of the dosing box during its active stroke near the opening of the dosing box.

[0013] The present invention also provides a control method for an automatic dispensing device for traditional Chinese medicine, applicable to the aforementioned automatic dispensing device for traditional Chinese medicine, the control method comprising the following steps: Obtain the electronic prescription information for each of N turnover baskets. The electronic prescription information includes the required types of medicinal materials and their corresponding preset weights, where N≥1. The conveying mechanism is controlled to move the N turnover baskets synchronously in a stepping manner, with each step moving one workstation distance; After each step of the movement is completed, the electronic prescription information of the turnover basket currently located at the dispensing station is obtained; Determine whether the electronic prescription information contains the medicinal materials corresponding to the dispensing station; If so, the corresponding dispensing device is activated and the preset weight of medicinal materials is placed into the turnover basket; If not, then keep the dispensing device off. Repeat the above steps and dispensing operations until all medicines have been dispensed into all turnover baskets.

[0014] In one embodiment, the step length T of the stepping method satisfies: T≥T0+Δt, Where T0 is the reference time required for any dispensing device to complete the dispensing of the maximum weight of medicinal materials in a single operation, and Δt is the preset safety margin time threshold.

[0015] In one embodiment, the control method further includes: Before each step, obtain the total weight of medicinal materials required for all current turnover baskets to be dispensed at the next station, and calculate the maximum single-station dispensing time Treq for all dispensing devices within this step cycle; If Treq > T, then the step time for this step will be dynamically adjusted to T' = Treq + Δt; Otherwise, maintain the step time as T.

[0016] In one embodiment, the control method further includes the following steps: During the transport of turnover baskets, if an electronic prescription update instruction is detected for any turnover basket in transit, the updated electronic prescription information for that turnover basket is obtained. Based on the updated electronic prescription information, the required medicinal materials for each subsequent dispensing station will be reassessed. Before the turnover basket arrives at each subsequent dispensing station, the corresponding dispensing device is controlled to start or stop based on the result of the re-judgment.

[0017] The technical solution provided by this invention has at least the following advantages: Multiple fixed receiving areas are formed by a circular conveyor belt and circumferentially distributed baffles, enabling the synchronous step-by-step conveying of multiple turnover baskets. Each dispensing device is arranged along the conveying path and dispenses medicine independently as needed when the turnover basket flows through the corresponding dispensing station. Compared with the traditional serial mode of "blocking one and releasing one", this "elevator-style" structure supports parallel processing of multiple baskets, greatly reducing waiting time and improving the overall operating efficiency and prescription processing capacity of the equipment. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of a structure of an embodiment of the automatic dispensing equipment for traditional Chinese medicine provided by the present invention; Figure 2 for Figure 1 A top view of some internal structures of an automatic dispensing equipment for Chinese medicinal herbs; Figure 3 This is a schematic diagram of the structure of the first delivery component and the dispensing device provided by the present invention; Figure 4 This is a schematic diagram of the conveying mechanism provided by the present invention; Figure 5 for Figure 4 A magnified view of a section at point A in the middle; Figure 6 for Figure 4 A magnified view of a section at point B in the middle; Figure 7 This is a schematic diagram of a structure of an embodiment of the dosing mechanism provided by the present invention; Figure 8 for Figure 1 Schematic diagram of the structure of the Chinese medicine compounding component; Figure 9 for Figure 8 A schematic diagram of the piston in the Chinese medicine box; Figure 10 for Figure 8 A schematic diagram of the structure of the first drive mechanism; Figure 11 A flowchart of the first embodiment of the control method for the automatic dispensing equipment for traditional Chinese medicine provided by the present invention.

[0020] Explanation of icon numbers: 100. Automatic dispensing equipment for Chinese medicinal materials; 10. Frame; 11. First support; 12. Second support; 20. Conveying mechanism; 21. First conveying assembly; 22. Second conveying assembly; 23. Lateral conveying assembly; 201. Circular conveyor belt; 202. Baffle; 203. Guide plate; 2031. Guide slope; 204. Roller; 205. Servo motor; 206. Tensioning wheel; 207. Driven roller; 208. Tensioning belt; 209. Driven roller; 30. Dispensing device; 30a. Feed inlet; 30b. Discharge outlet; 50. Dosing mechanism; 51. Base; 511. Guide part; 5111. Guide surface; 52. Dosing assembly; 521. Dosing box; 521a. Opening; 521b. Slot; 522. Piston; 5221. Guide protrusion; 523. First drive mechanism; 5231. Mounting base; 5231a. Mounting groove; 5232. First drive assembly; 52321. First drive part; 52321a. Guide groove; 52322 52323 Drive motor; 52324 Worm gear; 52325 Worm; 52326 First chain tooth; 52327 Guide sprocket; 52328 One-way bending chain; 524 Clamping part; 5241 First guide inclined surface; 5242 Second guide inclined surface; 53 Second drive mechanism; 531 First linear drive module; 532 Second linear drive module; 533 Third linear drive module; 534 Tilting mechanism; 200. Turnover basket; a. Loading station; b. Dispensing station; c. Unloading station; d. Feeding station.

[0021] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0023] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0024] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0025] This invention proposes an automatic dispensing device for traditional Chinese medicine, aiming to solve the problems of long cycle time, low throughput efficiency, and slow system response caused by the "block one, release one" intermittent conveying method in the prior art.

[0026] Please see Figures 1 to 4 In one embodiment of the present invention, the automatic dispensing equipment 100 for traditional Chinese medicine includes a frame 10, a conveying mechanism 20, and multiple dispensing devices 30. The frame 10 is provided with multiple workstations, including a loading workstation a, multiple dispensing workstations b, and a unloading workstation c. The conveying mechanism 20 is mounted on the frame 10 and is used to synchronously convey multiple turnover baskets 200 along a preset path, so that each turnover basket 200 at the loading workstation a is sequentially conveyed to each of the dispensing workstations b, and then to the unloading workstation c. Multiple dispensing devices 30 are sequentially arranged above the frame 10 along the conveying path of the conveying mechanism 20, and each dispensing device 30 is used to dispense one traditional Chinese medicine into the turnover basket 200 at the corresponding dispensing workstation b. The conveying mechanism 20 includes at least one annular conveyor belt 201 and a plurality of baffles 202. The plurality of baffles 202 are distributed along the circumference of the annular conveyor belt 201 on the outer working surface of the annular conveyor belt 201, and a receiving area for limiting a turnover basket 200 is formed between two adjacent baffles 202.

[0027] The frame 10 serves as the main support for the entire machine, and along the circular conveying path on it are sequentially arranged a feeding station a, multiple dispensing stations b, and a dispensing station c. It should be noted that the feeding station a, the multiple dispensing stations b, and the dispensing station c can also be correspondingly arranged inside the casing of the automatic dispensing equipment 100 for Chinese medicinal materials.

[0028] The turnover basket 200 is placed on the conveying mechanism 20 at the loading station a, and then passes through each dispensing station b in sequence; each dispensing station b is equipped with a dispensing device 30, which corresponds to a Chinese medicinal material; when the turnover basket 200 flows through a certain dispensing station b, if its prescription contains the medicinal material, the corresponding dispensing device 30 is activated to dispense it; after all the medicinal materials are dispensed, the turnover basket 200 reaches the unloading station c and is removed from the system.

[0029] The conveying mechanism 20 is mounted on the frame 10 and includes at least one annular conveyor belt 201 and multiple baffles 202. The annular conveyor belt 201 is driven by a motor and runs continuously or in steps along a preset closed path. The multiple baffles 202 are distributed circumferentially on the outer working surface of the annular conveyor belt 201, and a receiving area is formed between two adjacent baffles 202 to limit the position of a single turnover basket 200. Each receiving area exactly accommodates one turnover basket 200, ensuring that its position is stable and does not shift during the conveying process.

[0030] Multiple dispensing devices 30 are arranged sequentially above the frame 10 along the conveying path of the conveying mechanism 20. Each dispensing device 30 contains a traditional Chinese medicine and corresponds one-to-one with a specific dispensing station b. When the turnover basket 200 moves to a certain dispensing station b along the circular conveyor belt 201, if its electronic prescription contains the medicine corresponding to that station, the dispensing device 30 is activated and dispenses a preset weight of medicine into the turnover basket 200; if it does not contain the medicine, it remains closed to avoid mis-dispensing.

[0031] The circular conveyor belt 201 can be a synchronous belt, a flat belt, or a chain structure. The drive method can be a servo motor 205 with a reducer, a stepper motor, or a frequency converter motor. The baffle 202 can be a straight plate, an L-shape, or a structure with a buffer pad to accommodate different sized turnover baskets 200. Of course, other possible conveying forms or baffle 202 layouts can also be used, depending on the equipment's capacity and space requirements. This specification does not limit these specific options in the embodiments.

[0032] Furthermore, the core of the conveying mechanism 20 in this invention lies in its ability to achieve synchronous, equidistant, and step-by-step overall movement of multiple turnover baskets 200, and it is not limited to the structure of an annular conveyor belt 201. Besides the aforementioned scheme of an annular conveyor belt 201 combined with baffles 202, the conveying mechanism 20 can also employ other mechanical structures capable of achieving the same function. For example, a synchronous toothed belt conveyor line driven by a servo motor 205 can be used, with equally spaced positioning blocks on it; or a linear reciprocating pusher array can be used, synchronously pushing all turnover baskets 200 forward one station through a linkage mechanism; or a multi-station rotary table can be used, placing the turnover baskets 200 on the circumferential stations of the rotary table, and achieving synchronous step-by-step movement of the entire circle through an intermittent indexing mechanism, etc.

[0033] As long as the conveying mechanism 20 can, under the unified command of the control system, cause all the turnover baskets 200 located on the conveying path to move simultaneously, in the same direction, and at equal distances by one workstation interval, and ensure that each turnover basket 200 is accurately positioned at each dispensing workstation b, then it falls within the technical solutions covered by this invention. The specific conveying method can be flexibly selected according to the equipment layout, production capacity requirements, and space limitations; the embodiments in this specification do not limit this.

[0034] To facilitate understanding of the working mode of this invention, the conveying and dispensing logic of this automatic Chinese herbal medicine dispensing equipment 100 can be compared to an "elevator-style" operation mode, while the process in the prior art can be compared to a "bus-style" operation mode.

[0035] In the "bus-like" system, the turnover baskets 200 are like passengers boarding a bus in sequence: only after the previous turnover basket 200 has completely left a certain dispensing station b (i.e., "getting off") can the next turnover basket 200 be allowed to enter that station (i.e., "getting on"). The entire process proceeds sequentially, with each station in a waiting state for most of the time. The overall system cycle time is determined by the slowest station, resulting in limited throughput efficiency.

[0036] In the "elevator-style" system of this invention, multiple turnover baskets 200 are like riding a multi-story elevator simultaneously: all turnover baskets 200 move upwards synchronously under the same command (i.e., move forward one workstation interval synchronously), and each floor (i.e., dispensing workstation b) independently decides whether to "open the door for service" (start dispensing) based on the needs of the current "passengers" (turnover baskets 200). Even if some floors do not require service, the elevator continues to operate, and other floors can operate in parallel. Therefore, each dispensing workstation b can work concurrently without waiting for each other, which can significantly improve the overall processing efficiency of the system.

[0037] It should be noted that the above "elevator-style" and "bus-style" are merely metaphors for ease of understanding. The technical essence of the present invention lies in: through the synchronous stepping conveyor mechanism 20 and the prescription-triggered dispensing control logic, the multi-turn basket 200 can be processed in parallel, dynamically, and on demand at multiple workstations.

[0038] Compared to the existing "block-and-place" mode (where the next turnover basket 200 can only enter after the previous one has completely left the current workstation), this automatic dispensing equipment 100 for traditional Chinese medicine adopts an "elevator-style" synchronous stepping: all turnover baskets 200 move forward simultaneously by one workstation distance under the same instruction, and each dispensing workstation b judges and executes the dispensing action in parallel and independently. For example, 5 turnover baskets 200 can be in 5 different dispensing workstations b at the same time, each receiving the required medicines without waiting for the previous basket to finish. This method significantly shortens the average processing time of a single prescription and improves the system's concurrency capability and overall throughput efficiency.

[0039] In summary, multiple fixed receiving areas are formed by the annular conveyor belt 201 and the circumferentially distributed baffles 202, enabling the synchronous step-by-step conveying of multiple turnover baskets 200. Each dispensing device 30 is arranged along the conveying path and dispenses medication independently as needed when the turnover basket 200 flows through the corresponding dispensing station b. Compared with the traditional serial mode of "blocking one and releasing one", this "elevator-style" structure supports parallel processing of multiple baskets, greatly reducing waiting time and improving the overall operating efficiency and prescription processing capacity of the equipment.

[0040] Further, please refer to Figures 4 to 5 In this embodiment, the two adjacent accommodating areas are set to the same size.

[0041] Understandably, the spacing between all adjacent baffles 202 remains consistent, so the length dimensions of each receiving area on the annular conveyor belt 201 are essentially the same. Here, "same dimensions" means equal within the tolerances allowed by engineering manufacturing and assembly, not requiring absolute precision. This equidistant layout ensures that the turnover basket 200 accurately aligns with the center area of ​​the corresponding dispensing station b after each step, meeting the positioning requirements for precise dispensing of medicinal materials.

[0042] The turnover basket 200 can be placed in any of the receiving areas, either continuously (i.e., one turnover basket 200 is placed in each receiving area) or spaced out (e.g., one turnover basket 200 is placed every other receiving area). Since the dimensions of each receiving area are consistent within the tolerance range, the control system does not need to make compensation adjustments for different positions, simplifying the motion control logic, while being compatible with the flexible scheduling requirements under different production cycles.

[0043] It should be noted that the baffle 202 can be installed by screwing, riveting, or integral molding, and its height and thickness can be designed according to the external dimensions of the turnover basket 200. Of course, the specific number of accommodating areas, the cross-sectional shape of the baffle 202, or the material (such as metal, engineering plastics, etc.) can be adjusted according to the actual equipment scale and load requirements, and the embodiments in this specification do not limit this.

[0044] By ensuring that the dimensions of each pair of adjacent receiving areas are identical within the manufacturing and assembly tolerance range, the baffles 202 are distributed at approximately equal intervals on the circular conveyor belt 201, guaranteeing that all turnover baskets 200 have a unified positioning reference during the stepping conveying process. This not only improves the positional accuracy of the turnover baskets 200 at each dispensing station b, but also supports flexible configurations for continuous or intermittent placement of the turnover baskets 200, simplifying the control system logic.

[0045] Furthermore, when there is limited vertical installation space, a contradiction arises when a sufficient number of dispensing stations (b) are needed to cover commonly used Chinese medicinal herbs. To resolve this issue, please refer to [link to relevant documentation]. Figure 4 In this embodiment, the plurality of dispensing stations b are divided into a first group of dispensing stations b and a second group of dispensing stations b arranged longitudinally. The frame 10 includes two first supports 11 extending longitudinally and spaced apart laterally, and a second support 12 extending laterally and between the two first supports 11. The conveying mechanism 20 includes a first conveying assembly 21, a second conveying assembly 22, and a transverse conveying assembly 23. The first conveying assembly 21 includes a first annular conveyor belt 201 disposed on one of the first supports 11. The first annular conveyor belt 201 extends longitudinally and is used to convey the turnover basket 200 from the loading station a through the first group of dispensing stations b to the first docking position. The second conveying assembly 22 includes a second annular conveyor belt 201 disposed on the other first support 11. The second annular conveyor belt 201 extends longitudinally and is arranged side by side with the first annular conveyor belt 201, and is used to convey the turnover basket 200 from the second docking position through the second group of dispensing stations b to the unloading station c. A transverse conveying assembly 23 is mounted on the second support 12 and extends between the first and second docking positions for transferring the turnover basket 200 between them. Multiple baffles 202 are provided on both the first annular conveyor belt 201 and the second conveyor belt to achieve synchronous step-by-step conveying of the turnover basket 200.

[0046] Understandably, the two longitudinally extending and laterally spaced first supports 11, and the laterally extending and connected second supports 12 between the two first supports 11, can form a stable frame support and provide an installation foundation for the U-shaped conveying path.

[0047] The first annular conveyor belt 201 extends longitudinally and is used to transport the turnover basket 200 from the loading station a, through each dispensing station b in the first dispensing station b group, and finally to the first docking position located at the end of the first support 11.

[0048] The second annular conveyor belt 201 also extends longitudinally and is arranged side by side with the first annular conveyor belt 201. It is used to transport the turnover basket 200 from the second docking position located at one end of the second support 12, through each dispensing station b in the second dispensing station b group, and finally to the unloading station c.

[0049] The transverse conveying assembly 23 is used to transfer the turnover basket 200, which has completed the drug addition at the first dispensing station b, from the first circular conveyor belt 201 to the second circular conveyor belt 201, thereby connecting the two longitudinal conveying lines.

[0050] Multiple baffles 202 are provided on both the first and second annular conveyor belts 201. The baffles 202 are evenly distributed along the circumference of their respective conveyor belts, and adjacent baffles 202 form a receiving area for limiting the turnover baskets 200, thereby supporting the synchronous step-by-step conveying of the turnover baskets 200 on each section of the conveyor line. The transverse conveying assembly 23 can take the form of a short-stroke belt, a push rod mechanism, or a roller conveyor, as long as it can reliably complete the transverse transfer of one or more turnover baskets 200.

[0051] By using a U-shaped layout, all the dispensing stations b that originally needed to be arranged in a straight line are turned around and arranged on two longitudinal sections, shortening the projection length in a single direction. Even in scenarios where the longitudinal space of the factory is limited, more dispensing stations b can still be accommodated, improving equipment integration and site adaptability.

[0052] Of course, the specific connection method between the first support 11 and the second support 12, the driving form of the annular conveyor belt 201 (such as synchronous belt, chain drive, etc.), and the structural type of the transverse conveying component 23 can be adjusted according to actual needs, and the embodiments in this specification do not limit this.

[0053] Furthermore, to prevent the turnover basket 200 from shifting, jamming, or derailing during the operation of the circular conveyor belt 201, please refer to... Figure 5 In this embodiment, each of the first supports 11 is provided with two guide plates 203 extending longitudinally. The two guide plates 203 are respectively disposed on both sides of the corresponding annular conveyor belt 201. Each guide plate 203 has a guide slope 2031 on its inner side, which is used to guide the turnover basket 200 to stay on the predetermined path when the turnover basket 200 enters or passes through the annular conveyor belt 201.

[0054] Thus, when the turnover basket 200 enters or passes through the circular conveyor belt 201, its two outer walls come into contact with the guide ramp 2031, automatically centering under the guidance of the ramp and remaining within the accommodating area defined by the baffle 202. The guide ramp 2031 not only provides initial alignment and correction, but also applies lateral restraint to the turnover basket 200 during transport, preventing it from shifting laterally due to vibration or inertia, thus achieving the dual functions of guidance and limiting.

[0055] It should be noted that the specific cross-sectional shape, height or tilt angle of the guide plate 203 can be adjusted according to the size of the turnover basket 200 and the running speed, and this specification does not limit this aspect.

[0056] To facilitate position adjustment or overall relocation of the entire machine during installation, debugging, or maintenance, in this embodiment, each of the first brackets 11 is equipped with rollers 204 at its bottom. When the machine needs to be moved, the operator can directly push the frame 10 and slide it smoothly using the rollers 204; once in place, if the rollers 204 are equipped with a locking mechanism, they can be fixed in place to prevent accidental displacement of the equipment during operation.

[0057] For more specific details, please refer to Figures 5 to 6 In this embodiment, the conveying mechanism 20 further includes a servo motor 205, a tensioning wheel 206, a drive roller 207, a driven roller 209, and a transmission belt. The servo motor 205 is mounted on the frame 10, and its output shaft is connected to the tensioning wheel 206. The drive roller 207 is arranged side by side with the output shaft of the servo motor 205. The tension belt 208 is wound around the periphery of the tensioning wheel 206 and the drive roller 207, transmitting the power of the servo motor 205 to the drive roller 207. The driven roller 209 is arranged at intervals with the drive roller 207 in the transverse or longitudinal direction. The annular conveyor belt 201 is wound around the periphery of the drive roller 207 and the driven roller 209, so that the drive roller 207 drives the annular conveyor belt 201 to circulate.

[0058] By controlling the rotation angle and speed of the servo motor 205, the moving distance and cycle time of the annular conveyor belt 201 can be precisely adjusted. In actual operation, the control system drives the servo motor 205 to rotate a fixed angle each time, causing the annular conveyor belt 201 to move all the turnover baskets 200 forward synchronously by one workstation spacing, achieving high-precision stepping conveying. This method ensures that each turnover basket 200 is accurately positioned when it reaches the dispensing station b, meeting the requirement of precise dispensing according to prescriptions.

[0059] The servo motor 205 can be a closed-loop control motor with an encoder, and the tension belt 208 can be a synchronous belt, a flat belt, or a chain. The surfaces of the driving roller 207 and the driven roller 209 can be provided with anti-slip textures or a rubber coating to enhance friction. Of course, the specific form of the above transmission structure can be adjusted according to the conveying load and accuracy requirements, and the embodiments in this specification do not limit this.

[0060] Thus, the transmission system consisting of the servo motor 205, tension wheel 206, drive roller 207, driven roller 209, and transmission belt can precisely control the operation of the circular conveyor belt 201. The servo motor 205 enables multiple turnover baskets 200 to move synchronously in steps, with each step precisely corresponding to a workstation distance, ensuring accurate drug dispensing positioning.

[0061] Further, please refer to Figure 2 , Figure 3 and Figure 7 In this embodiment, the dispensing device 30 has a storage chamber with an inlet 30a and an outlet 30b. The plurality of workstations also include a plurality of feeding workstations d, and the automatic dispensing equipment for Chinese medicinal materials 100 further includes a dosing mechanism 50. The dosing mechanism 50 includes a dosing component 52 movably disposed between the plurality of feeding workstations d. The dosing component 52 is used to replenish the corresponding Chinese medicinal materials to the inlet 30a of the storage chamber.

[0062] The storage chamber of the dispensing device 30 is used to pre-store a Chinese medicinal herb. When the turnover basket 200 is transported to the corresponding dispensing station b, the dispensing device 30 dispenses the Chinese medicinal herb in the storage chamber into the turnover basket 200 according to the preset dosage through the discharge port 30b.

[0063] Since each dispensing device 30 is arranged at intervals along the conveying path (e.g., longitudinally), and each device only stores one type of medicinal material, its storage chamber capacity is limited, and there may be a shortage of medicinal materials after long-term operation. To address this, the automatic dispensing equipment 100 for traditional Chinese medicine is also equipped with a dosing mechanism 50, whose dosing component 52 can move between multiple feeding stations d (e.g., moving longitudinally). When it is detected that the remaining amount of medicinal material in a certain storage chamber is lower than a set threshold, the dosing component 52 moves to that feeding station d and replenishes the corresponding traditional Chinese medicine material through the inlet 30a of the storage chamber.

[0064] The dosing assembly 52 can adopt a piston 522 pusher type, screw feeder type, or vibratory feeder type structure, and its movement can be realized through guide rails, slides, or linear modules. Of course, the specific form, driving method, and dosing triggering logic of the dosing assembly 52 can be adjusted according to actual needs, and the embodiments in this specification do not limit this.

[0065] Specifically, please refer to Figures 7 to 9In this embodiment, the dosing assembly 52 includes a dosing box 521, a piston 522, and a first driving mechanism 523 for driving the piston 522. The dosing box 521 has an opening 521a at one end and is rotatably arranged around a rotation axis extending longitudinally. The piston 522 is disposed inside the dosing box 521 and is driven to move by the driving mechanism in the direction of approaching and moving away from the opening 521a of the dosing box 521. The piston 522 is used to push the Chinese medicinal materials placed in the dosing box 521 to the outside of the opening 521a of the dosing box 521 during its active stroke near the opening 521a of the dosing box 521.

[0066] It should be noted that the dosing mechanism 50 includes a base 51, a dosing assembly 52, and a second drive mechanism 53. The base 51 extends longitudinally. The dosing assembly 52 is movably mounted on the base 51 longitudinally, thereby performing targeted dosing on the dispensing devices 30 at different locations.

[0067] The dosing box 521 has an opening 521a at one end for discharging the internal Chinese medicinal materials into the storage chamber of the dispensing device 30. The dosing box 521 is rotatably arranged around a longitudinally extending axis of rotation, facilitating adjustment of the tilting angle during the dosing process. The piston 522 is located inside the dosing box 521 and can reciprocate in a direction approaching or away from the opening 521a under the drive of the first drive mechanism 523. When the piston 522 is pushed towards the opening 521a, it can force the Chinese medicinal materials inside the dosing box 521 to be pushed out of the opening 521a. Especially for flocculent or electrostatically charged medicinal materials adhering to the inner wall of the dosing box 521, the pushing action of the piston 522 can cause them to detach from the inner wall and be completely discharged, avoiding residue.

[0068] The first drive mechanism 523 is used to drive the piston 522, and its specific structural form is not limited. For example, it can be a cam drive structure, a linkage drive mechanism, a lead screw and nut pair, a linear motor, or a cylinder. It is preferred to adopt a drive form with a small size and compact structure so as to achieve reliable pushing action in a limited space. Of course, other possible drive methods can also be used, and the specific method can be determined according to the actual installation space and power requirements. This specification does not limit this embodiment.

[0069] By setting a reciprocating piston 522 inside the dosing box 521, and cooperating with the first driving mechanism 523 to drive the piston 522 to move towards the opening 521a, the Chinese medicinal materials can be actively pushed during the dosing process, overcoming the problem of medicinal material adhesion caused by electrostatic adsorption or friction, and ensuring that flocculent, filamentous or easily clumped Chinese medicinal materials are completely discharged from the dosing box 521.

[0070] Furthermore, to prevent the medicinal materials from remaining in the gap between the piston 522 and the inner wall of the medicine box 521 due to excessive gap between them during the process of pushing the medicinal materials, and thus failing to be completely discharged, in this embodiment, the peripheral side of the piston 522 is interference-fitted with the inner peripheral wall of the medicine box 521.

[0071] Piston 522 is a longitudinally extending cylindrical member whose outer peripheral wall fits against the inner peripheral wall of dosing cartridge 521. Understandably, the outer peripheral wall of piston 522 can be made of an elastic material, such as rubber, silicone, or polyurethane. These elastic materials, when compressed, can adhere tightly to the inner wall of dosing cartridge 521, forming a good seal and scraping effect.

[0072] In terms of specific structural design, the outer peripheral wall of piston 522 can be configured as a multi-layered composite structure, such as consisting of a metal skeleton and an elastic layer wrapped around it, similar to a "sandwich" layered structure, thereby improving the ability to remove residual medicine from the inner wall of the dosing box 521 in the depth direction. Of course, the surface of the outer peripheral wall of piston 522 can also adopt other possible shapes or surface treatments, which can be adjusted according to the physical properties of different medicines. This specification does not limit this aspect.

[0073] Thus, by setting an interference fit between the piston 522 and the inner wall of the dosing box 521, the piston 522 can continuously squeeze and scrape the inner wall during reciprocating motion, thereby forcibly peeling off the medicine adhering to the inner wall and pushing it to the opening 521a for discharge.

[0074] It should be noted that the interference fit relationship can be achieved through dimensional tolerance control. For example, the outer diameter of the piston 522 is slightly larger than the inner diameter of the dosing box 521, forming a small amount of interference to ensure that there will be no obvious shaking during the movement, while at the same time being able to produce elastic deformation to adapt to the volume changes of different batches of medicinal materials.

[0075] Specifically, to avoid internalizing the drive component of the dosing box 521, which would result in a complex structure, difficult maintenance, and inconvenient replacement, please refer to [the relevant documentation / reference]. Figure 8 and Figure 10 In this embodiment, the bottom of the dosing box 521 is provided with a connection port. The first drive mechanism 523 includes a mounting base 5231 and a first drive assembly 5232. The mounting base 5231 is connected to the second drive mechanism 53, and the dosing box 521 is detachably mounted on the mounting base 5231. The first drive assembly 5232 is mounted on the mounting base 5231. The first drive assembly 5232 includes a first drive part 52321 that is movably disposed along the depth direction of the dosing box 521. The first drive part 52321 is disposed corresponding to the connection port. When the dosing box 521 is installed in place, the first drive part 52321 is used to drive the piston 522 to move.

[0076] Understandably, the bottom of the dosing box 521 has a connection port that extends through the depth of the dosing box 521 into the internal cavity, for connecting with the external drive component. The first drive mechanism 523 is entirely located in the external space of the dosing box 521, without occupying the internal volume of the dosing box 521, thus providing complete storage space for Chinese medicinal materials and facilitating the maintenance or replacement of the drive component.

[0077] The first drive mechanism 523 includes a mounting base 5231 and a first drive assembly 5232. The mounting base 5231 is fixedly connected to the second drive mechanism 53, serving as a connection carrier between the dosing assembly 52 and the entire machine. The dosing box 521 is detachably mounted on the mounting base 5231, for example, through fastening, threading, quick-change clamps, or positioning pins. This allows users to easily remove the dosing box 521 for manual dosing, cleaning, or replacement with dosing boxes 521 of different depths, capacities, or specifications to meet the needs of different types or dosages of Chinese medicinal materials.

[0078] The position of the first drive unit 52321 corresponds to the connection port at the bottom of the dosing box 521. After the dosing box 521 is installed in place, the first drive unit 52321 can pass through the connection port and form a direct or indirect drive connection with the piston 522. When the first drive assembly 5232 is activated, the first drive unit 52321 moves telescopically along the depth direction, thereby pushing or pulling the piston 522 to reciprocate within the dosing box 521 to complete the drug delivery operation.

[0079] Since the first drive mechanism 523 is located entirely outside the dosing box 521, even if the dosing box 521 is removed, the drive component remains on the mounting base 5231 and will not be removed along with the dosing box 521. This ensures the stability of the drive system and simplifies the structure of the dosing box 521.

[0080] Furthermore, to improve disassembly and assembly efficiency, please refer to [link / reference needed]. Figures 8 to 10 In this embodiment, the mounting base 5231 is provided with a mounting groove 5231a extending along the width direction of the dosing box 521. The groove opening of the mounting groove 5231a faces downward and penetrates through the first side portion of the mounting base 5231. A communication port is provided at the bottom of the mounting groove 5231a. The first driving part 52321 extends into the mounting groove 5231a from the communication port. The first driving part 52321 is provided with a limiting part, and the piston 522 is provided with a mating part that limits and cooperates with the limiting part. When the dosing box 521 is slidably installed in the mounting groove 5231a along its width direction, the limiting part and the mating part are engaged with each other, so that the first driving part 52321 and the piston 522 are connected in a transmission manner.

[0081] Understandably, the groove of the mounting slot 5231a faces downward and extends through the first side of the mounting base 5231, forming a sliding channel with an opening 521a. The dosing box 521 can slide into the mounting slot 5231a from one side of the mounting base 5231 along its width direction, achieving rapid positioning and fixation.

[0082] The bottom of the mounting groove 5231a has a connecting opening, through which the first driving part 52321 extends upward into the mounting groove 5231a. The first driving part 52321 is provided with a limiting part, such as a protrusion, a claw, or a pin; the piston 522 is provided with a mating part that matches the limiting part, such as a groove, a hole, or a slot 521b. When the dosing box 521 slides into the mounting groove 5231a along its width and is installed in place, the limiting part and the mating part automatically align and engage, thereby forming a transmission connection between the first driving part 52321 and the piston 522.

[0083] The aforementioned connection method allows the installation of the dosing box 521 and the establishment of the transmission structure to be completed simultaneously, requiring no additional operation or manual alignment; it can be achieved with just a single sliding motion. Furthermore, because the limiting part and the mating part use a fitting mechanism, effective transmission cannot be established until the dosing box 521 is fully in place, avoiding the risk of accidental triggering of the drive in a partially installed state. In addition, when it is necessary to replace the dosing box 521 or clean the internal medicine, simply pull the dosing box 521 out along its width; the limiting part and the mating part will automatically disengage, and the transmission connection will be released. The operation is simple and requires no tools.

[0084] It should be noted that the dosing box 521 and the mounting groove 5231a are in a sliding fit relationship. The dimensional tolerances of the two in the width direction need to ensure smooth sliding while preventing shaking or detachment during use. Of course, the specific cross-sectional shape of the mounting groove 5231a, such as rectangular, trapezoidal, or U-shaped, and the specific structural forms of the limiting part and the mating part, such as elastic buckles, magnetic assistance, and guide slope 2031, can be adjusted according to actual assembly requirements. This specification does not limit these aspects in the embodiments.

[0085] Specifically, such as Figures 9 to 10 As shown, in some embodiments, one of the limiting part and the mating part includes a guide groove 52321a extending along the width direction of the dosing box 521, and the other includes a guide protrusion 5221 that slides with the guide groove 52321a.

[0086] For example, the guide groove 52321a can be formed on the piston 522, and the guide protrusion 5221 can be provided on the first drive part 52321; or the guide groove 52321a can be provided on the first drive part 52321, and the guide protrusion 5221 can be provided on the piston 522. The two engage with each other along the width direction during the process of the dosing box 521 sliding into the mounting groove 5231a, and guide the piston 522 to accurately align with the first drive part 52321.

[0087] It should be noted that the cross-sectional shape of the guide protrusion 5221 can be "I" shaped, with limiting shoulders on its upper and lower sides, which can be engaged in the guide groove 52321a and slide within the groove to prevent it from coming out in the depth direction or vertical direction, thereby ensuring a firm connection during transmission. Of course, the guide protrusion 5221 can also adopt a T-shape, rectangle, or other anti-disengagement structure, which can be determined according to the assembly space and force requirements. This specification does not limit this aspect in the embodiments.

[0088] Furthermore, to prevent the dosing box 521 from accidentally slipping off along its width after being installed in place, please refer to... Figures 9 to 10 In this embodiment, the mounting groove 5231a is provided with two retaining portions 524 on its two inner walls along the length of the dosing box 521, and the two retaining portions 524 are movably arranged in directions of approaching and moving away from each other. The dosing box 521 is provided with two slots 521b on its two outer walls along the length of its two outer walls, and the two slots 521b are respectively engaged with the two retaining portions 524.

[0089] Understandably, the two retaining parts 524 can move in directions that are closer or further apart from each other, for example, by providing a restoring force through an elastic element (such as a spring or sheet) to enable them to clamp. Correspondingly, the dosing box 521 has two slots 521b on its two outer walls in the length direction. When the dosing box 521 slides into the mounting groove 5231a in the width direction, the retaining part 524 is temporarily opened by the pressure of the outer wall of the dosing box 521. After the slot 521b moves to the corresponding position, the retaining part 524 rebounds under the action of elasticity and embeds into the slot 521b to achieve locking.

[0090] This design ensures that the dosing box 521 will not come out along the width direction due to vibration or external force during normal operation, while still allowing manual pressing of the locking part 524 to unlock it for easy disassembly.

[0091] The specific form of the holding part 524 can be an elastic claw, a swing arm type clamp, or a slider structure, etc. This specification does not limit its specific implementation method, and it can be selected according to the actual assembly requirements. The embodiments in this specification do not limit this.

[0092] Furthermore, for ease of disassembly and assembly of the dosing cartridge 521, please refer to [link / reference needed]. Figure 10In this embodiment, the holding part 524 is floatingly mounted on the mounting base 5231 via an elastic element: the holding part 524 has a first guide inclined surface 5241 disposed towards the first side, so that during the stroke of the dosing box 521 slidingly mounted into the mounting groove 5231a along its width direction, the dosing box 521 abuts against the first guide inclined surface 5241 to drive the two holding parts 524 away from each other; and / or, the holding part 524 has a second guide inclined surface 5242 disposed away from the first side, so that during the stroke of the dosing box 521 sliding away from the mounting groove 5231a along its width direction, the dosing box 521 abuts against the second guide inclined surface 5242 to drive the two holding parts 524 away from each other.

[0093] Understandably, the holding part 524 has a first guide inclined surface 5241 facing the first side of the mounting base 5231 (i.e., the direction in which the dosing box 521 slides in). When the dosing box 521 slides into the mounting groove 5231a in the width direction, its outer wall first contacts the first guide inclined surface 5241, and under the action of the thrust, a vertical component force is generated along the inclined surface, pushing the two holding parts 524 to overcome the elastic force of the elastic member and move away from each other, thus smoothly entering the installation position; after the dosing box 521 is fully in place, the slot 521b aligns with the holding part 524, and the elastic member drives the holding part 524 to rebound and embed into the slot 521b, completing the locking.

[0094] The holding part 524 also has a second guide inclined surface 5242 disposed opposite to the first side. When it is necessary to disassemble the dosing box 521, the dosing box 521 is pulled outward along the width direction, and its outer wall comes into contact with the second guide inclined surface 5242. Under the action of the pulling force, a vertical component force is also generated, which drives the two holding parts 524 to move away from each other again, so that the holding parts 524 are disengaged from the slot 521b, realizing automatic unlocking.

[0095] In this way, the automatic opening and resetting of the clamping part 524 can be completed by pushing in or pulling out linear motion, without additional operation, simplifying the maintenance and replacement process.

[0096] Furthermore, for ease of installation of the dosing cartridge 521, please refer to... Figure 8 and Figure 10 In this embodiment, the mounting groove 5231a is provided with guide portions 511 on the two inner walls of the dosing box 521 along the length direction. Each guide portion 511 extends along the width direction of the dosing box 521. Each guide portion 511 has a guide surface 5111 disposed toward the other guide portion 511. The guide surface 5111 is inclined toward the other guide portion 511 in the direction away from the first side.

[0097] In other words, the guide surface 5111 gradually tilts inward in the direction away from the first side of the mounting base 5231, that is, in the direction where the dosing box 521 slides into the starting end, so that the distance between the two guide surfaces 5111 gradually decreases from the inlet end to the inside.

[0098] When the dosing box 521 slides into the mounting groove 5231a from the first side along the width direction, its outer wall first contacts the wider inlet area of ​​the guide surface 5111. Even if there is a slight deviation, it can be automatically corrected by the guide surface 5111. As the sliding depth increases, the guide surface 5111 continuously constrains the position of the dosing box 521, so that it gradually aligns with the final mounting position, achieving a smooth transition from coarse positioning to fine positioning.

[0099] In this way, reliable installation can be completed without high-precision initial alignment, reducing the difficulty of operation and minimizing component wear or jamming caused by forced insertion.

[0100] The first drive assembly 5232 will be described in detail below. It should be understood that if the first drive assembly 5232 uses a linear drive element (such as a cylinder or electric push rod) to directly push the piston 522, it will occupy too much space in the depth direction of the dosing box 521, resulting in an increase in the overall height of the dosing mechanism 50. Consequently, it may easily interfere with the adjacent production line or equipment structure during the dosing process of the dosing box 521 flipping over.

[0101] To avoid the above problems, please refer to Figure 10 In this embodiment, the first drive assembly 5232 further includes a drive motor 52322, a worm gear mechanism, a first chain tooth 52325, a guide sprocket 52326, and a unidirectional bending chain 52327. The drive motor 52322 is mounted on the mounting base 5231 and has a rotating shaft extending along the length of the dosing box 521. The worm gear mechanism includes a meshing worm wheel 52323 and a worm 52324, the worm 52324 being coaxially connected to the rotating shaft. The first chain tooth 52325 is coaxially connected to the worm wheel 52323. The guide sprocket 52326 is arranged side-by-side with the first chain tooth 52325, and the guide sprocket 52326 includes a second chain tooth. The first end of the unidirectional bending chain 52327 is driven to connect with the piston 522 and passes around the first chain tooth 52325 and the second chain tooth in sequence, so that the unidirectional bending chain 52327 bends at both the first chain tooth 52325 and the second chain tooth.

[0102] In automated Chinese medicine dispensing equipment, the dispensing mechanism 50 often needs to replenish the dispensing devices 30 arranged on both sides. Therefore, after dispensing, the dispensing box 521 often needs to rotate around its longitudinal axis by a large angle (e.g., 90° or 180°). If a long linear drive component is arranged in the depth direction of the dispensing box 521, it will significantly increase the rotation envelope space and limit the compactness of the equipment layout. For example, if the piston 522 needs to move 50mm in the depth direction, when using a cylinder direct-push scheme, the cylinder body plus the push rod requires at least 100mm of installation space for the entire stroke, which far exceeds the depth of the dispensing box 521 itself, resulting in wasted space and the risk of motion interference.

[0103] To overcome the above problems, the shaft of the drive motor 52322 extends along the length of the dosing box 521, saving space in the depth direction. The worm gear 52324 is coaxially connected to the shaft of the drive motor 52322, and the worm wheel 52323 meshes with the worm gear 52324, forming a worm gear mechanism. The worm gear mechanism has a self-locking characteristic, which can prevent the piston 522 from retracting under the action of the drug's reaction force, thus improving the stability of drug dosing.

[0104] The worm gear 52323 is coaxially connected to the first chain tooth 52325. The guide sprocket 52326 is arranged side by side with the first chain tooth 52325 and has a second chain tooth on it. The first end of the one-way bending chain 52327 is driven to the piston 522 and passes around the first chain tooth 52325 and the second chain tooth in sequence, so that the one-way bending chain 52327 bends at both the first chain tooth 52325 and the second chain tooth. When the drive motor 52322 rotates forward, the worm 52324 drives the worm gear 52323 to rotate, which in turn drives the first chain tooth 52325 to rotate. The rotational motion is converted into linear reciprocating motion of the piston 522 along the depth direction of the dosing box 521 by the one-way bending chain 52327.

[0105] Because the entire transmission system is arranged along the length of the dosing box 521, the depth direction only needs to accommodate the small gap required for chain bending, significantly reducing the projected size of the drive mechanism in the depth direction. Compared to traditional linear drive solutions, the overall thickness can be greatly reduced, thereby avoiding spatial interference during the flipping process.

[0106] The drive motor 52322 can be a stepper motor, servo motor 205, or DC geared motor, etc.; the module and transmission ratio of the worm gear 52323 and worm 52324 can be adjusted according to load and speed requirements; the unidirectional bending chain 52327 can be a roller chain with a small pitch, a synchronous belt, or a flexible wire rope assembly. Of course, other possible conversion structures can also be used, and the specific ones can be determined according to actual space constraints and power performance requirements. This specification does not limit this aspect.

[0107] For more details, please continue reading. Figure 10In this embodiment, the extension direction of the shaft of the drive motor 52322 and the axial direction of the worm gear 52324 are both arranged along the length direction of the dosing box 521. The rotation axis of the worm wheel 52323 is arranged along the width direction of the dosing box 521. The first segment of the unidirectional bending chain 52327 extends along the depth direction of the dosing box 521 and connects to the piston 522. Then it bends at the first chain tooth 52325, so that its middle segment extends along the length direction of the dosing box 521. Then it bends again through the second chain tooth, so that its tail segment extends along the depth direction of the dosing box 521 and is located beside the dosing box 521. The middle and tail segments of the unidirectional bending chain 52327 are both arranged outside or on the side wall of the dosing box 521.

[0108] The drive motor 52322 is mounted on the mounting base 5231, and its shaft extends along the length of the dosing box 521. The worm gear 52324 is coaxially connected to the shaft of the drive motor 52322, so the axis of the worm gear 52324 is also set along the length of the dosing box 521. The worm wheel 52323 meshes with the worm gear 52324, and its axis of rotation is set along the width of the dosing box 521, so that the plane of rotation of the worm wheel 52323 is perpendicular to the axis of the worm gear 52324, forming an orthogonal transmission layout, utilizing the space of the mounting base 5231 in both the length and width planes.

[0109] The first segment of the unidirectional bending chain 52327 extends from the piston 522, upwards along the depth direction of the dosing cartridge 521, and connects to the first tooth 52325. At the first tooth 52325, the unidirectional bending chain 52327 undergoes a first bend, causing its subsequent middle segment to extend horizontally along the length direction of the dosing cartridge 521. This middle segment is positioned entirely outside the dosing cartridge 521 or close to its sidewall region. Next, the unidirectional bending chain 52327 passes around the second tooth on the guide sprocket 52326, where it undergoes a second bend, causing the tail segment to again extend along the depth direction of the dosing cartridge 521 and be located beside one side of the dosing cartridge 521 (e.g., below or behind the outer side), also outside the dosing cartridge 521.

[0110] Through the aforementioned two bends, the unidirectional bending chain 52327 couples the linear motion of the piston 522 with the rotational output of the drive system. Simultaneously, all transmission components (including the middle and end sections) are arranged on the exterior or sidewall of the dosing box 521, minimizing the occupation of the dosing box 521's own depth space. The maximum projected dimension of the entire drive assembly in the depth direction is only slightly larger than the thickness of the dosing box 521 body, which is superior to linear drive solutions.

[0111] This arrangement fully utilizes the unused space in the length and width of the dosing box 521, allowing the drive system to be arranged close to the edge for compact integration. Of course, the specific positions of the first chain tooth 52325 and the second chain tooth, the chain pitch, or the diameter of the guide sprocket 52326 can be adjusted according to the actual assembly clearance. This specification does not limit the specific dimensional parameters, as long as the above spatial orientation is satisfied. The embodiments in this specification do not impose limitations on this.

[0112] Specifically, in order to enable the dosing assembly 52 to move flexibly to any position of the dispensing device 30 and to complete the flipping action after dosing, please refer to... Figure 7 In this embodiment, the second driving mechanism 53 includes a first linear driving module 531, a second linear driving module 532, a third linear driving module 533, and a flipping mechanism 534. The first linear driving module 531 is mounted on the base 51 and has a first linear driving part that is movably arranged longitudinally. The second linear driving module 532 is mounted on the first linear driving part and has a second linear driving part that is movably arranged vertically. The third linear driving module 533 is mounted on the second linear driving part and has a third linear driving part that is movably arranged laterally. The flipping mechanism 534 is mounted on the third linear driving part and has a rotating part that is rotatably arranged about a longitudinal rotation axis. The rotating part is fixedly connected to the dosing assembly 52 and is used to drive the dosing assembly 52 to rotate.

[0113] The first linear drive module 531 is mounted on the base 51. Its first linear drive unit can reciprocate longitudinally (i.e., in the equipment conveying direction) to deliver the entire dosing assembly 52 directly above the target dispensing device 30. The second linear drive module 532 is mounted on the first linear drive unit. Its second linear drive unit can move vertically to adjust the height of the dosing assembly 52 so that it is aligned with the dosing port of the dispensing device 30. The third linear drive module 533 is mounted on the second linear drive unit. Its third linear drive unit can move laterally (perpendicular to the longitudinal direction) to fine-tune the left and right position of the dosing assembly 52, ensuring that the opening 521a of the dosing box 521 is precisely aligned with the dosing port.

[0114] The flipping mechanism 534 is mounted on the third linear drive unit, and its rotating part is rotatably arranged around the longitudinal rotation axis. The dosing assembly 52 is fixedly connected to the rotating part. After the dosing is completed, the flipping mechanism 534 drives the dosing assembly 52 to rotate around the longitudinal axis (for example, rotate 90° or 180°), so that the opening 521a of the dosing box 521 faces downward or towards the recycling position, which facilitates the cleaning of residual medicine or prepares for the next dosing.

[0115] Each linear drive module can adopt common forms such as ball screw modules, synchronous belt modules, or linear motor modules, and the tilting mechanism 534 can adopt structures such as rotary cylinders, servo motors 205, and reducers. Of course, other possible drive or transmission methods can also be used, and the specific method can be determined according to the equipment's accuracy, speed, and space requirements. This specification does not limit this in the embodiments.

[0116] The first linear drive module 531, the second linear drive module 532 and the third linear drive module 533 respectively realize three degrees of freedom of movement in the longitudinal, vertical and horizontal directions. Together with the flipping mechanism 534, the dosing component 52 is driven to rotate around the longitudinal axis, so that the dosing component 52 can be accurately positioned to any dosing device 30 and flipped after dosing. This improves the flexibility and automation of the dosing operation, and facilitates the replenishment of medicines, the cleaning of residues and adaptation to multiple workstations.

[0117] Based on the above-mentioned automatic dispensing device 100 for Chinese medicinal materials, the implementation details of the first embodiment of the control method of the automatic dispensing device 100 for Chinese medicinal materials provided by the present invention will be described below. The following implementation details are provided only for ease of understanding and are not necessary for implementing this solution.

[0118] Please see Figure 11 In the first embodiment, the control method for the automatic dispensing device 100 for traditional Chinese medicine includes the following steps: Step S1: Obtain the electronic prescription information for each of the N turnover baskets 200. The electronic prescription information includes the required types of medicinal materials and their corresponding preset weights, where N≥1.

[0119] In this step, the control system first acquires the electronic prescription information for each of the N turnover baskets 200, where N is an integer greater than or equal to 1. Each electronic prescription contains a list of the types of Chinese medicinal herbs required for that turnover basket 200 and the preset weight of each herb. This information can be retrieved in real time by scanning the QR code on the turnover basket 200, reading the RFID tag, or from the Hospital Information System (HIS) or Pharmacy Management System (PMS), ensuring that the prescription data is accurately bound to the corresponding turnover basket 200.

[0120] Step S2: Control the conveying mechanism 20 to move the N turnover baskets 200 synchronously in a stepping manner, moving one workstation spacing in each step.

[0121] In this step, the control system drives the conveying mechanism 20 to move all N turnover baskets 200 synchronously in a stepping manner, with each movement covering a distance equal to one workstation interval. This stepping motion is precisely controlled by a servo motor 205 or a stepper motor to ensure that all turnover baskets 200 move forward one unit at the same time and with the same displacement, so that each turnover basket 200 is accurately aligned with the center position of the next dispensing workstation b.

[0122] Step S3: After each step is completed, obtain the electronic prescription information of the turnover basket 200 currently located at the dispensing station b.

[0123] In this step, after each step is completed, the control system performs an identification operation for each dispensing station b: acquiring the electronic prescription information bound to the turnover basket 200 located at that dispensing station b. Since multiple turnover baskets 200 may be at different dispensing stations b simultaneously, the system can read multiple prescription data in parallel.

[0124] Step S4: Determine whether the electronic prescription information contains the medicinal materials corresponding to the dispensing station b; If so, the corresponding dispensing device 30 is activated and the preset weight of medicinal materials is placed into the turnover basket 200; If not, the dispensing device 30 is kept off.

[0125] In this step, for each dispensing station b, the control system compares the type of medicinal material corresponding to that station (predefined by the equipment configuration) with the electronic prescription information of the current turnover basket 200 to determine whether the prescription contains that medicinal material. For example, dispensing station b, number 5, corresponds to "Astragalus membranaceus". If the prescription in the current turnover basket 200 contains "Astragalus membranaceus", it is determined as "yes"; otherwise, it is "no".

[0126] If the judgment result is "yes", the control system will start the corresponding dispensing device 30 and control it to put the preset weight of Chinese medicinal materials specified in the electronic prescription into the current turnover basket 200; if the judgment result is "no", the dispensing device 30 will be kept in the closed state and will not perform any dispensing action, thereby avoiding mis-dispensing, mixed dispensing or dust dispersion.

[0127] Step S5: Repeat the above stepping and dispensing operations until all medicines have been dispensed into all turnover baskets 200.

[0128] In this step, the aforementioned stepping and dispensing operations are repeated until all turnover baskets 200 have passed through all dispensing stations b in sequence and completed the dispensing of all medicinal materials in their prescriptions. Since the prescription content of each turnover basket 200 is processed independently, the number and position of the dispensing devices 30 activated at the same time change dynamically. The system does not need to preset a uniform dispensing process and has a high degree of flexibility.

[0129] The metering and dispensing method of the dispensing device 30 can adopt a weighing feedback type, volumetric metering type, screw feeding type, or piston 522 pushing type, etc. This specification does not limit its specific implementation form, as long as it can complete the quantitative dispensing according to the preset weight. The hardware platform of the control system can be a PLC, industrial computer, or embedded controller, and the communication protocol can be Modbus, CAN bus, or Ethernet IP, etc. The specific method can be determined according to the system integration requirements, and the embodiments in this specification do not limit it.

[0130] In summary, the control method of the automatic dispensing equipment 100 for Chinese medicinal materials involves synchronously moving multiple turnover baskets 200 and dynamically determining whether to activate the corresponding dispensing device 30 based on the electronic prescription information of each turnover basket 200 after each step, thus realizing the intelligent control logic of "one policy per basket, dispensing on demand". This method avoids mis-dispensing or idle running caused by traditional fixed-sequence dispensing, supports parallel processing of any prescription combination, and can significantly improve the system's dispensing accuracy, resource utilization efficiency, and overall throughput.

[0131] Based on the first embodiment, the implementation details of the second embodiment of the control method of the automatic dispensing device 100 for Chinese medicinal materials provided by the present invention will be described below. The following implementation details are provided only for ease of understanding and are not necessary for implementing this solution.

[0132] In the second embodiment, the step length T of the stepping method satisfies: T≥T0+Δt, Where T0 is the reference time required for any dispensing device 30 to complete the single dispensing of the maximum weight of medicinal materials, and Δt is the preset safety margin time threshold.

[0133] It should be noted that the reference time is determined based on the extreme working condition of the slowest dispensing station b in the equipment. For example, if a certain dispensing device 30 needs to dispense 50 grams of loose-textured medicinal materials (such as Prunella vulgaris), the entire process of feeding, measuring and dispensing takes the longest time, and this time is used as the basis for the value of T0.

[0134] Δt is a preset safety margin time threshold used to compensate for fluctuations in actual dispensing time caused by factors such as changes in the humidity of medicinal materials, mechanical wear, voltage fluctuations, or sensor delays. This safety margin time threshold can be set by the user based on equipment operating experience, or it can be automatically calibrated by the system through multiple tests during the commissioning phase. Its specific value can be adjusted according to the characteristics of the medicinal materials and the stability requirements of the equipment.

[0135] In each stepping cycle, before activating the conveyor mechanism 20, the control system first ensures that all dispensing devices 30 currently at dispensing station b have completed the dispensing action, and waits for a full time T before issuing a command to drive the conveyor mechanism 20 to move all turnover baskets 200 forward synchronously by one station spacing. This ensures that even the slowest dispensing device 30 can complete the dispensing of all medicines before the turnover basket 200 leaves, avoiding spillage, insufficient dosage, or prescription errors due to excessively fast cycle times.

[0136] It should be noted that although the step time T is set based on the slowest workstation, since each dispensing device 30 operates independently, the workstation that completes dispensing faster can enter standby mode during the remaining time, without affecting overall efficiency. Furthermore, the specific values ​​of T0 and Δt can be configured through the human-machine interface or dynamically updated by the host system; this specification does not limit these values ​​in the embodiments.

[0137] In summary, the control method of the automatic dispensing equipment 100 for Chinese medicinal materials ensures that each turnover basket 200 can fully receive the medicinal materials required by the prescription before leaving the dispensing station b by setting the step time to no less than the sum of the time required for the slowest dispensing device 30 to complete the maximum dose dispensing and the safety margin time. Through the time constraint mechanism, incomplete dispensing or dosage deviation caused by excessively fast cycle time can be prevented, thereby ensuring the accuracy of dispensing.

[0138] Based on the second embodiment, the implementation details of the third embodiment of the control method of the automatic dispensing device 100 for Chinese medicinal materials provided by the present invention will be described below. The following implementation details are provided only for ease of understanding and are not necessary for implementing this solution.

[0139] In the third embodiment, the control method for the automatic dispensing device 100 for traditional Chinese medicine materials further includes the following steps: Step S11: Before each step, obtain the total weight of medicinal materials required for all turnover baskets 200 to be placed in the next station, and calculate the maximum single-station placement time Treq of all dispensing devices 30 in this step cycle.

[0140] In this step, before the current stepping action is completed and the system is ready to enter the next cycle, the control system reads the electronic prescription information corresponding to the next dispensing station b that all turnover baskets 200 are about to enter, and extracts the types of medicinal materials to be dispensed at that station and their preset weights. For turnover baskets 200 that do not contain the corresponding medicinal materials for that station, their dispensed weight is considered to be zero.

[0141] The control system, based on the material dispensing characteristics of each dispensing device 30 (such as the amount of material dispensed per unit time and the metering response speed), converts the total weight to be dispensed at each dispensing station b in this cycle into the corresponding estimated dispensing time. For example, if a dispensing device 30 needs to dispense 10g, 15g, and 5g of the same material into three turnover baskets 200 respectively, the total dispensing weight is 30g. Considering the dispensing rate of this device (e.g., 20g / s), the estimated time is 1.5 seconds. Among all dispensing stations b, the one with the longest required time is taken as the maximum single-station dispensing time Treq within this stepping cycle.

[0142] In this step, the control system compares the calculated Treq with the currently set reference step time T (i.e., T = T0 + Δt, where T0 is the maximum reference time of the slowest station and Δt is the safety margin time threshold).

[0143] If Treq>T, it means that the current prescription combination's load on a certain workstation exceeds the normal maximum value (for example, because multiple baskets need a large amount of the same medicinal material at the same time). In this case, in order to ensure complete drug delivery, the system will dynamically adjust the step time of this step to T'=Treq+Δt. If Treq ≤ T, then the original time T is kept constant to avoid unnecessary waiting.

[0144] After determining the final step duration, the control system starts timing and allows all relevant dispensing devices 30 to complete the dispensing of medicinal materials within this time period. Once the timing ends, the conveying mechanism 20 synchronously moves all transfer baskets 200 to the next workstation, entering the next cycle.

[0145] Through dynamic adjustments, the automatic dispensing equipment 100 for traditional Chinese medicine can be adapted to both extremely high-load scenarios (such as multiple prescriptions requiring large doses of the same herb simultaneously) and routine or light-load scenarios, reducing waiting time and improving throughput efficiency. The dispensing time model of the dispensing device 30 can be established through factory calibration or online learning, and Δt can be a fixed value or adaptively adjusted according to environmental conditions. Of course, the specific implementation of the time calculation method, comparison logic, and adjustment strategy can be flexibly designed according to the control system architecture, and the embodiments in this specification do not limit this.

[0146] In summary, the control method of the automatic dispensing equipment 100 for Chinese medicinal materials calculates the maximum single-station dispensing time based on the actual prescription requirements of the next station before each step and dynamically adjusts the step time. This ensures that all medicinal materials are dispensed completely while avoiding the inefficiency caused by a fixed cycle time. In this way, it can balance the reliability of high-load scenarios with the high efficiency of light-load scenarios, and also improve the adaptability of the automatic dispensing equipment 100 for Chinese medicinal materials to different prescription combinations and the overall operating efficiency.

[0147] Based on the first embodiment, the implementation details of the fourth embodiment of the control method of the automatic dispensing device 100 for Chinese medicinal materials provided by the present invention will be described below. The following implementation details are provided only for ease of understanding and are not necessary for implementing this solution.

[0148] In the fourth embodiment, the control method of the automatic dispensing device 100 for traditional Chinese medicine materials further includes the following steps: Step S6: During the transport of the turnover basket 200, if an electronic prescription update instruction is detected for any turnover basket 200 in transit, the updated electronic prescription information of that turnover basket 200 is obtained.

[0149] In this step, while the turnover basket 200 has entered the conveying mechanism 20 and is in the process of being conveyed (i.e., in the "on-the-go" state), the control system continuously monitors for electronic prescription update instructions from higher-level systems, such as hospital HIS, pharmacist workstations, or mobile terminals. These instructions contain a unique identifier for the target turnover basket 200 (such as a serial number, QR code, or RFID tag) and the updated electronic prescription information.

[0150] Once an update command is received for any in-transit turnover basket 200, the control system immediately verifies the current position of the turnover basket 200 and the dispensing station b that it has not yet passed through, and loads its updated electronic prescription information. The update may include: adding a certain medicinal material, deleting a certain medicinal material from the original prescription, or adjusting the preset weight of a certain medicinal material.

[0151] Step S7: Based on the updated electronic prescription information, reassess the medicinal material requirements for each subsequent dispensing station b.

[0152] In this step, based on the updated electronic prescription information, the control system re-evaluates the demand for each dispensing station b that the turnover basket 200 has not yet reached: for each subsequent dispensing station b, it determines whether the updated prescription contains the corresponding medicinal material for that station and determines the new dispensing weight. For example, if the original prescription does not contain "Scutellaria baicalensis" but it is added after the update, then when the turnover basket 200 reaches the station corresponding to Scutellaria baicalensis, dispensing should be initiated; conversely, if a medicinal material is deleted, the corresponding dispensing device 30 should remain closed.

[0153] Step S8: Before the turnover basket 200 reaches each subsequent dispensing station b, control the corresponding dispensing device 30 to start or stop according to the result of the re-judgment.

[0154] In this step, before the turnover basket 200 reaches each subsequent dispensing station b, the control system generates a control signal in advance based on the reassessment result: if dispensing is required, the corresponding dispensing device 30 is activated and a new dispensing weight is set; if dispensing is not required, the dispensing device 30 is kept closed. The entire process does not require interruption of the delivery flow or manual intervention, realizing dynamic prescription execution of "running and correcting simultaneously".

[0155] This control method can support independent prescription updates for one or more in-transit crates 200 without affecting the normal processing of other crates 200. Electronic prescription updates can be secured through an authentication mechanism to prevent accidental operation. Of course, the method of receiving update commands (such as network communication or local input), the verification logic, and the control signal generation strategy can be flexibly configured according to the system architecture; this specification does not limit these aspects in the embodiments.

[0156] In summary, the control method of the automated Chinese medicine dispensing equipment 100, by responding to electronic prescription update commands in real time during the transport process of the turnover basket 200 and dynamically reassessing the medicinal material needs of subsequent dispensing stations b, can accurately execute modified prescriptions without interrupting the process. This enhances the responsiveness of the automated Chinese medicine dispensing equipment 100 to temporary clinical prescription adjustments, strengthens the system's flexibility and practicality, and ensures dispensing safety and accuracy.

[0157] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An automatic dispensing device for traditional Chinese medicine (100), characterized in that, include: The frame (10) is provided with multiple workstations, including a loading workstation (a), multiple dispensing workstations (b) and a unloading workstation (c). The conveying mechanism (20) is installed on the frame (10) and is used to synchronously convey multiple turnover baskets (200) along a preset path, so that each turnover basket (200) at the loading station (a) is sequentially conveyed to each of the dispensing stations (b) and then conveyed to the unloading station (c). Multiple dispensing devices (30) are arranged sequentially above the frame (10) along the conveying path of the conveying mechanism (20). Each dispensing device (30) is used to dispense a Chinese medicinal material to the turnover basket (200) located at the corresponding dispensing station (b). The conveying mechanism (20) includes at least one annular conveyor belt (201) and multiple baffles (202). The multiple baffles (202) are distributed circumferentially on the outer working surface of the annular conveyor belt (201), and a receiving area for limiting a turnover basket (200) is formed between two adjacent baffles (202).

2. The automatic dispensing equipment for traditional Chinese medicine as described in claim 1 (100), characterized in that, The two adjacent accommodating areas are set to the same size.

3. The automatic dispensing equipment for traditional Chinese medicine as described in claim 1, characterized in that, The multiple dispensing stations (b) are divided into a first dispensing station (b) group and a second dispensing station (b) group arranged longitudinally. The frame (10) includes two first supports (11) that extend longitudinally and are spaced apart laterally, and a second support (12) that extends laterally and extends between the two first supports (11). The conveying mechanism (20) includes: The first conveying assembly (21) includes a first annular conveyor belt (201) disposed on a first support (11). The first annular conveyor belt (201) extends longitudinally and is used to convey the turnover basket (200) from the loading station (a) through the first dispensing station (b) group to the first docking position. The second conveying assembly (22) includes a second annular conveyor belt (201) disposed on another first support (11). The second annular conveyor belt (201) extends longitudinally and is arranged side by side with the first annular conveyor belt (201) for conveying the turnover basket (200) from the second docking position through the second dispensing station (b) group to the unloading station (c). A transverse conveying assembly (23) is provided on the second support (12) and extends between the first docking position and the second docking position for transferring the turnover basket (200) between the two. Both the first annular conveyor belt (201) and the second conveyor belt are equipped with multiple baffles (202) to achieve synchronous step-by-step conveying of the turnover basket (200).

4. The automatic dispensing equipment for traditional Chinese medicine as described in claim 3, characterized in that, Each of the first supports (11) is provided with two guide plates (203) extending longitudinally. The two guide plates (203) are respectively located on both sides of the corresponding annular conveyor belt (201). Each guide plate (203) has a guide slope (2031) on its inner side, which is used to guide the turnover basket (200) to stay on the predetermined path when the turnover basket (200) enters or passes through the annular conveyor belt (201).

5. The automatic dispensing equipment for traditional Chinese medicine as described in claim 3, characterized in that, Each of the first brackets (11) is provided with a roller (204) at its bottom.

6. The automatic dispensing equipment for traditional Chinese medicine as described in claim 1, characterized in that, The conveying mechanism (20) further includes: A servo motor (205) is mounted on the frame (10); The tension wheel (206) is coaxially connected to the output shaft of the servo motor (205); The drive roller (207) is arranged side by side with the output shaft of the servo motor (205); A tension belt (208) is wound around the periphery of the tension wheel (206) and the drive roller (207) to drive the drive wheel and the drive roller (207); and, The driven roller (209) is arranged side by side with the driving roller (207) at intervals. The annular conveyor belt (201) is wrapped around the periphery of the driving roller (207) and the driven roller (209) to drive the driving roller (207) and the driven roller (209).

7. The automatic dispensing equipment for traditional Chinese medicine as described in claim 1, characterized in that, The dispensing device (30) has a storage chamber with an inlet (30a) and an outlet (30b); The multiple workstations also include multiple feeding workstations (d), and the automatic dispensing equipment for Chinese medicinal materials (100) also includes a dosing mechanism (50). The dosing mechanism (50) includes a dosing component (52) that is movably disposed between the multiple feeding workstations (d). The dosing component (52) is used to replenish the corresponding Chinese medicinal materials to the feed inlet (30a) of the storage chamber.

8. The automatic dispensing equipment for traditional Chinese medicine as described in claim 7, characterized in that, The dosing assembly (52) includes a dosing box (521) and a piston (522). The dosing box (521) has an opening (521a) at one end and is rotatably arranged around a rotation axis extending longitudinally. The piston (522) is located inside the dosing box (521) and is movably arranged in the direction of approaching and away from the opening (521a) of the dosing box (521). The piston (522) is used to push the Chinese medicinal materials placed in the dosing box (521) to the outside of the opening (521a) of the dosing box (521) during its active stroke near the opening (521a) of the dosing box (521).

9. A control method for an automatic dispensing device (100) for traditional Chinese medicine, applied to the automatic dispensing device (100) for traditional Chinese medicine as described in any one of claims 1 to 8, characterized in that, Includes the following steps: Obtain the electronic prescription information for each of N turnover baskets (200), wherein the electronic prescription information includes the required types of medicinal materials and their corresponding preset weights, where N≥1; The conveying mechanism (20) is controlled to move the N turnover baskets (200) synchronously in a stepping manner, with each step moving one workstation distance; After each step of the movement is completed, the electronic prescription information of the turnover basket (200) currently located at the dispensing station (b) is obtained; Determine whether the electronic prescription information contains the medicinal materials corresponding to the dispensing station (b); If so, the corresponding dispensing device (30) is activated and the preset weight of medicinal materials is placed into the turnover basket (200); If not, the dispensing device (30) is kept off. Repeat the above steps and dispensing operations until all medicines have been dispensed into all turnover baskets (200).

10. The control method of the automatic dispensing equipment (100) for Chinese medicinal materials as described in claim 9, characterized in that, The step length T of the stepping method satisfies: T≥T0+Δt, Wherein, T0 is the reference time required for any dispensing device (30) to complete the single maximum weight of medicinal materials, and Δt is the preset safety margin time threshold.

11. The control method of the automatic dispensing equipment (100) for Chinese medicinal materials as described in claim 10, characterized in that, Also includes: Before each step, obtain the total weight of medicinal materials required for all current turnover baskets (200) to be placed at the next station, and calculate the maximum single-station placement time Treq for all dispensing devices (30) within the step cycle; If Treq > T, then the step time for this step will be dynamically adjusted to T' = Treq + Δt; Otherwise, maintain the step time as T.

12. The control method of the automatic dispensing equipment (100) for Chinese medicinal materials as described in claim 9, characterized in that, It also includes the following steps: During the transport of the turnover basket (200), if an electronic prescription update instruction for any turnover basket (200) in transit is detected, the updated electronic prescription information of the turnover basket (200) is obtained. Based on the updated electronic prescription information, the medicinal material requirements for each subsequent dispensing station (b) are reassessed. Before the turnover basket (200) arrives at each subsequent dispensing station (b), the corresponding dispensing device (30) is controlled to start or stop according to the result of the re-judgment.

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