Continuous automatic bale delivery and dispensing method

Abstract

The application discloses a kind of loose package continuous automatic conveying dispensing method, belong to traditional chinese medicine automation dispensing technical field, using loose package continuous automatic conveying dispensing system is realized, the system includes magazine cabin, push mechanism, grabbing mechanism, control system, rack and magazine cabin replacement mechanism, push mechanism includes push plate assembly and frame body assembly, grabbing mechanism includes adsorption assembly, moving assembly and positioning assembly.This method includes eight steps of magazine cabin loading and installation, initial position reset and parameter setting, push plate pushing loose package, push plate and frame body switching pushing, frame body continuous pushing and magazine cabin replacement, adsorption grabbing and distributing loose package, continuous cycle operation and exception handling, operation end and equipment reset in turn, through the collaborative cooperation of push plate and frame body alternate pushing, magazine cabin continuous replacement, adsorption grabbing one by one distribution, realize the continuous, efficient, automatic distribution of loose package.

Description

Technical Field

[0001] This invention belongs to the field of automated dispensing technology for traditional Chinese medicine, specifically relating to a method for continuous automatic delivery and dispensing of loose-packaged medicines. Background Technology

[0002] In the field of traditional Chinese medicine, "bulk packaging" usually refers to bulk Chinese medicinal herbs (abbreviated as "bulk packaged herbs"). It is a traditional form of packaging and dispensing of herbs that is in contrast to small-packaged herbs. It uses large-volume packaging for storage and requires weighing each dose when making a prescription. It is the most traditional form of application of herbs in clinical practice of traditional Chinese medicine. It has advantages such as flexible compatibility, the ability to add or subtract herbs according to symptoms, and low packaging costs. It is widely used in grassroots pharmacies, traditional pharmacies, and Chinese medicine pharmacies in large hospitals.

[0003] With the rapid development of the traditional Chinese medicine industry, the demand for loose-packaged medicinal herbs in large pharmacies and hospital pharmacies is increasing daily, placing higher demands on the efficiency, continuity, and accuracy of loose-package distribution. Currently, the distribution of loose-packaged herbs mainly relies on manual sorting and distribution. Even in large pharmacies, the "manual weighing + manual sorting" model is mostly used, or simple semi-automated equipment is employed, which still has many technical shortcomings.

[0004] 1. Low distribution efficiency: Manual sorting, weighing and distributing of loose packages is not only labor-intensive, but also has a long distribution cycle for each package, making it difficult to meet the daily distribution needs of large pharmacies that handle thousands of loose packages. Especially during peak hours, this can easily lead to medication congestion and long waiting times for patients.

[0005] 2. Inability to achieve continuous operation: Existing semi-automatic bulk package distribution equipment mostly uses a single pushing or grabbing mechanism. During the bulk package conveying process, after a group of bulk packages is pushed out, the machine needs to be stopped to replace the loading container (such as a hopper or bin). During the replacement process, the equipment is idle, resulting in significant operation interruption and seriously affecting the overall distribution efficiency.

[0006] 3. Loose packages are easily damaged: The packaging of loose herbal medicine pieces is mostly made of flexible materials (such as non-woven fabric, kraft paper, etc.), which are soft in texture. The existing pushing mechanism mostly uses rigid pushing parts to push directly. During the pushing process, the force is uneven, which can easily lead to damage to the loose package and leakage of herbal medicine pieces, affecting the quality of herbal medicine pieces and safety of use.

[0007] 4. Poor push stability: The push force of the existing push mechanism is difficult to control evenly, and it cannot effectively limit the loose packages during the push process. Problems such as loose package deviation, stacking, and jamming are prone to occur, which makes it impossible for the grabbing mechanism to grab accurately, further reducing the distribution efficiency and even causing equipment failure.

[0008] 5. High dependence on manual labor: In the current technology, even if semi-automated equipment is used, manual operation is still required for operations such as changing magazine compartments, stacking loose packages, and troubleshooting. It is impossible to achieve truly unmanned operation, resulting in high labor costs and problems such as incorrect distribution of loose packages and dosage deviation due to human operation errors.

[0009] To address the aforementioned issues, the industry has attempted to develop automated bulk packaging distribution equipment. For example, existing technology discloses a clip-type automatic feeding and dispensing mechanism that uses a vibrating plate, a direct vibration channel, and a cylindrical storage chamber to achieve material feeding and dispensing. However, this equipment is mainly suitable for dispensing small pieces of material and cannot be adapted to flexible packaging of bulk medicinal slices. Furthermore, its storage chamber capacity is limited, requiring machine shutdown for replacement, thus preventing continuous operation. Another example is an existing technology that discloses an automated packaging production line for traditional Chinese medicine materials, primarily targeting the filling and packaging of medicinal materials, without addressing the continuous conveying and distribution of bulk packages, failing to solve the core challenges of flexible packaging and continuous pushing of bulk packages. Yet another example is an existing technology that discloses a sample swab holder pushing mechanism, using a pusher block to move the swab holder. However, this mechanism has a single pushing method, cannot adapt to flexible bulk packages, and lacks continuous material changing and alternating pushing functions, failing to meet the needs of large pharmacies for continuous bulk package distribution.

[0010] In addition, existing automatic bag gripping technologies mostly use rigid grippers, which can easily damage flexible packaging. Simple adsorption gripping technologies, such as the existing sheet material suction clamping components, are mainly suitable for gripping hard materials such as sheets and cannot be adapted to soft and easily deformable loose packages. Problems such as weak adsorption and loose packages falling off are likely to occur during the gripping process. Summary of the Invention

[0011] The purpose of this invention is to overcome the shortcomings of existing technologies, such as low efficiency in distributing loose packages, inability to operate continuously, easy damage to loose packages, and high dependence on manual labor. It provides a method for continuous automatic delivery of loose packages, which achieves continuous, efficient, and automated distribution of loose packages through the coordinated operation of magazine storage, alternating pushing of plates and frames, and adsorption and grabbing. This solves many problems of existing technologies, reduces labor costs, improves the accuracy and safety of loose package distribution, and is suitable for the large-scale loose package distribution needs of large pharmacies.

[0012] To achieve the above objectives, the present invention provides a method for continuous automatic dispensing of loose-packed medication, implemented using a continuous automatic dispensing system for loose-packed medication. The system includes a magazine compartment, a pushing mechanism, a gripping mechanism, a control system, a frame, and a magazine compartment changing mechanism. The pushing mechanism includes a push plate assembly, a frame assembly, a drive mechanism, and a connecting plate. The push plate assembly includes a push plate and a first connecting member; the frame assembly includes a frame and a second connecting member; the drive mechanism is connected to both the push plate assembly and the frame assembly to drive their telescopic movement. The gripping mechanism includes an adsorption assembly, a moving assembly, and a positioning assembly. The adsorption assembly adsorbs loose-packed medications; the moving assembly drives the adsorption assembly to move; and the positioning assembly positions the loose-packed medications. The control system is electrically connected to the pushing mechanism, the gripping mechanism, and the magazine compartment changing mechanism to control the coordinated operation of each mechanism. The magazine compartment stores neatly stacked loose-packed medications and can be detachably connected to the frame for easy replacement. The method includes the following steps:

[0013] Step S1: Loading and installing magazine compartments.

[0014] The loose packages (bulk Chinese herbal medicine slices) to be distributed are pre-processed to remove damaged or leaking packages, ensuring that the packaging is intact and free of impurities. The pre-processed packages are then neatly stacked into the magazine compartment, ensuring they are arranged in a straight line without tilting or misalignment, with the pushing end facing the pushing mechanism and the gripping end facing the gripping mechanism. The magazine compartment with the stacked packages is then installed into the designated position on the frame via the magazine compartment replacement mechanism. Precise positioning between the magazine compartment and the frame is achieved through positioning clips or guide rails, ensuring that the discharge end of the magazine compartment aligns with the pushing end of the pushing mechanism and corresponds to the gripping end of the gripping mechanism. After installation, the magazine compartment replacement mechanism sends an installation signal to the control system, which records the quantity and specifications of the packages in the magazine compartment, completing the loading and installation of the magazine compartment.

[0015] In this step, the magazine compartment adopts a modular design, with several partitions inside. The partitions can be adjusted according to the specifications of the loose packages (such as size and thickness) to ensure that loose packages of different sizes can be neatly stacked and to avoid misalignment during stacking. The inner wall of the magazine compartment is equipped with a flexible cushioning layer (such as rubber pads or sponge pads), which can effectively protect the packaging of loose packages and prevent damage to the packaging caused by friction between the loose packages and the inner wall of the magazine compartment during stacking and pushing. The bottom of the magazine compartment is equipped with a guide groove, which cooperates with the guide rail on the frame to facilitate the quick installation and positioning of the magazine compartment and improve the efficiency of magazine compartment replacement.

[0016] Meanwhile, the magazine compartment is equipped with identification tags (such as RFID tags), which store information such as the type, quantity, production date, and expiration date of the loose packages. The frame is equipped with a tag reader. When the magazine compartment is installed in place, the tag reader automatically reads the tag information and transmits it to the control system. The control system records and manages the loose package information, which facilitates subsequent traceability and inventory management and avoids errors in the distribution of loose packages.

[0017] Step S2: Initial position reset and parameter setting.

[0018] The control system issues an initial reset command, driving the pusher plate assembly and frame assembly of the pushing mechanism to retract to their initial positions. The pusher plate of the pusher plate assembly corresponds to the tail end of the magazine compartment, while the frame assembly is located in front of the pusher plate assembly, closer to the gripping mechanism, and is in a retracted state, not affecting the pusher plate's pushing action. The gripping mechanism's adsorption assembly moves to its initial gripping position, and the positioning assembly is activated to initially locate the loose package position at the magazine compartment's discharge end, determining the gripping coordinates of the foremost loose package and transmitting the positioning information to the control system. The operator sets the loose package distribution parameters through the control system, including distribution speed, single gripping quantity, pushing force, and the switching position between the pusher plate and frame. After the parameters are set, the control system issues a start command, and the system enters a standby state.

[0019] In this step, the pushing force needs to be adjusted according to the packaging material and weight of the loose packages to ensure that there is enough pushing force to move the loose packages without damaging them due to excessive pushing force. The switching position between the pusher plate and the frame is set according to the length of the magazine compartment and the stacking density of the loose packages. It is usually set to push the loose packages to 1 / 3 to 1 / 2 of the length of the magazine compartment discharge end to ensure that the loose packages do not shift or fall during the switching process. The distribution speed can be adjusted according to actual needs, usually set at 10-30 portions / minute to suit the large-scale distribution needs of large pharmacies.

[0020] In addition, the positioning component adopts a combination of visual positioning and infrared positioning. The visual positioning component (such as an industrial camera) captures images of the loose packages at the discharge end of the magazine compartment and determines the position coordinates of the loose packages through image recognition algorithms. The infrared positioning component assists in positioning to ensure that the positioning accuracy error does not exceed ±0.5mm, providing a guarantee for subsequent accurate grasping. The control system has pre-stored positioning parameters for loose packages of different specifications, which can automatically match the positioning parameters according to the information of loose packages read from the magazine compartment, eliminating the need for manual resetting and improving the convenience of operation.

[0021] Step S3: Push the loose packages using the pusher plate.

[0022] After receiving the start command, the control system activates the drive mechanism of the pushing mechanism, which in turn moves the pusher assembly forward. Driven by the drive mechanism, the pusher conforms to the surface of the loose packages at the very end of the magazine compartment, applying a uniform thrust to move all the loose packages forward together. During the pushing process, the control system monitors the thrust applied by the pusher in real time using a pressure sensor. If the thrust exceeds a set threshold, the control system automatically adjusts the output power of the drive mechanism to reduce the thrust and prevent damage to the packages. If the thrust is below the set threshold, the control system automatically increases the thrust to ensure smooth movement of the packages and prevent jamming or stalling.

[0023] The push plate is made of flexible material (such as silicone or flexible plastic). The surface of the push plate has anti-slip textures, which can increase the friction between the push plate and the loose packages, ensuring that the pushing force can be effectively transferred to the loose packages. On the other hand, it can avoid rigid contact between the push plate and the loose packages, protecting the packaging and preventing damage. The size of the push plate matches the internal cross-sectional dimensions of the magazine compartment, ensuring that the push plate can fully fit the surface of the loose packages and apply uniform pushing force, avoiding uneven force on the loose packages that could lead to displacement or stacking.

[0024] During the pushing process, the positioning component monitors the movement position of the loose package in real time and transmits the position information to the control system in real time. The control system adjusts the pushing speed of the pusher plate in real time according to the movement position of the loose package to ensure that the loose package moves at a uniform speed. When the loose package moves to the set switching position (that is, the pusher plate pushes the loose package to the position of 1 / 3-1 / 2 length of the magazine discharge end), the positioning component sends a switching signal to the control system. After receiving the signal, the control system prepares to execute the switching action between the pusher plate and the frame.

[0025] Step S4: Switch between pushing the pusher plate and the frame.

[0026] When the loose package moves to the set switching position, the control system issues a switching command. The drive mechanism stops driving the push plate assembly to move forward and simultaneously drives the frame assembly to extend forward. After the frame extends, its inner edge fits against the edge of the loose package, limiting the loose package and ensuring that it will not deviate during subsequent pushing. After the frame is limited, the control system drives the push plate assembly and the connecting plate to retract to the initial position. During the retraction, the push plate separates from the loose package and will not affect the movement of the loose package. After the push plate assembly retracts to the initial position, it sends a retraction completion signal to the control system, waiting for the installation and replacement of the next magazine compartment.

[0027] The frame is made of rigid materials (such as stainless steel and aluminum alloy), and the inside of the frame is equipped with flexible buffer strips made of rubber or sponge to avoid rigid contact between the frame and the edge of the loose package, thus protecting the loose package. The size of the frame matches the edge size of the loose package, ensuring that the frame can accurately limit the loose package without affecting its movement. The extension stroke of the frame can be adjusted according to the specifications of the loose package to meet the limiting requirements of loose packages of different sizes.

[0028] The switching process between the pusher plate and the frame adopts a seamless design with a switching time of no more than 1 second, ensuring that there will be no pause, offset or drop of loose packages during the switching process, thus ensuring the continuity of loose package delivery. During the switching process, the positioning component continuously monitors the position of the loose packages. If the loose packages are offset, the control system automatically adjusts the position of the frame to correct the offset, ensuring the accuracy of subsequent pushing and grabbing.

[0029] Step S5: Continuous pushing of the frame and replacement of the magazine compartment.

[0030] After the pusher assembly retracts to its initial position, the control system drives the frame assembly to continue moving forward. The frame applies a uniform pushing force by passing the edge of the loose package, pushing the package forward until the frontmost package moves to the gripping position of the gripping mechanism. During the pushing process, the control system monitors the movement position of the loose package in real time through the positioning component and adjusts the pushing speed and force of the frame in real time to ensure that the package moves smoothly and avoid problems such as jamming or deviation.

[0031] While the magazines are being pushed into place, the operator can use the magazine changing mechanism to replace the magazines with new ones already filled with magazines. The specific process is as follows: After receiving the magazine changing command from the control system (which can be triggered manually or automatically; when triggered automatically, the control system will automatically issue a magazine changing command when the remaining number of magazines in the current magazine is lower than a set threshold), the magazine changing mechanism removes the empty magazine (or the magazine with a small number of magazines remaining) from the frame. Then, it installs the new magazine with magazines already filled with magazines into the designated position on the frame. After installation, the magazine changing mechanism sends a magazine changing signal to the control system. The control system records the magazine information of the new magazine and completes the magazine changing.

[0032] In this step, the magazine compartment replacement process is carried out simultaneously with the frame pushing process, without the need to stop the machine, realizing continuous delivery of loose packages. This completely solves the problem of needing to stop the machine to change the loading container in the existing technology, and greatly improves the distribution efficiency. The magazine compartment replacement mechanism adopts an automated design, including a robotic arm, guide rails and positioning devices, which can realize the automatic disassembly, handling and installation of magazine compartments, further reducing manual dependence and improving replacement efficiency. The replacement time of a single magazine compartment does not exceed 30 seconds.

[0033] Meanwhile, once the new magazine compartment is installed, the control system drives the frame assembly to retract to its initial position. During the retraction, the frame separates from the loose magazines, ensuring no impact on them. After the frame retracts to its initial position, the control system drives the pusher assembly to move forward again. The pusher fits against the surface of the loose magazine at the very end of the new magazine compartment, while simultaneously fitting against the surface of the remaining loose magazines in the previous magazine compartment. A uniform thrust is applied, pushing both sets of loose magazines forward together. Once the set switching position is reached, the system switches back to frame-driven pushing. This cycle repeats continuously, enabling continuous magazine compartment replacement and continuous magazine pushing.

[0034] Step S6: Adsorption, grabbing, and distribution of loose packets.

[0035] When the loose package at the front is pushed to the gripping position of the gripping mechanism, the positioning component sends a gripping signal to the control system. The control system drives the adsorption component of the gripping mechanism to move directly above the loose package. The adsorption component activates, generating negative pressure, and adsorbs and fixes the loose package by adhering to the surface of the package through the adsorption head. After adsorption is completed, the positioning component reconfirms the adsorption status. If the adsorption is firm (the adsorption force is monitored by a pressure sensor, and the adsorption force reaches a set threshold to indicate firm adsorption), the control system drives the moving component to move the adsorption component along with the adsorbed loose package to the designated distribution position (such as a dispensing window, packaging station, conveyor line, etc.). After reaching the distribution position, the adsorption component stops generating negative pressure, releases the loose package, and the package falls into the designated container or conveyor line, completing the distribution of a single loose package.

[0036] The adsorption assembly uses vacuum adsorption, and the adsorption head is made of flexible material (such as a silicone suction cup). The shape of the adsorption head is adapted to the surface shape of the loose package, which can increase the contact area between the adsorption head and the loose package, improve the adsorption stability, and avoid damage to the loose package packaging during the adsorption process. The adsorption assembly has multiple adsorption heads, and one or more adsorption heads can be selected to work together to adsorb according to the size and weight of the loose package, ensuring a firm adsorption and preventing the loose package from falling off during movement. The negative pressure of the adsorption assembly can be adjusted according to the packaging material and weight of the loose package, ensuring that it can adsorb firmly without damaging the loose package packaging due to excessive negative pressure.

[0037] During the grasping process, the moving component is driven by a linear module with adjustable moving speed to ensure smooth movement of the loose packages and prevent them from falling off or being damaged due to excessive moving speed. The positioning component monitors the position of the adsorption component and the loose packages in real time and feeds back the position information to the control system. The control system adjusts the moving direction and speed of the moving component in real time according to the position information to ensure that the loose packages can be accurately moved to the designated distribution position with a distribution accuracy error of no more than ±1mm.

[0038] After a single packet distribution is completed, the control system drives the adsorption component to retract to the initial gripping position, ready for the next gripping. At the same time, the pushing mechanism continues to push the packets, pushing the next packet to the gripping position, thus achieving the one-to-one distribution of packets. The gripping frequency of the gripping mechanism is matched with the pushing speed of the pushing mechanism to ensure that gripping and pushing are carried out in coordination, avoiding the situation where packets accumulate due to gripping waiting or pushing too fast.

[0039] Step S7: Continuous cycle operation and exception handling.

[0040] Repeat steps S3 to S6, and realize the continuous automatic delivery of loose packets by alternating pushing of the pusher plate and frame, continuous replacement of the magazine compartment, and sequential distribution of the adsorption and gripping mechanism. During the operation, the control system monitors the operating status of each mechanism in real time, including the pushing force and speed of the pushing mechanism, the adsorption force and moving position of the gripping mechanism, the remaining amount of loose packets in the magazine compartment, and the fault status of each mechanism (such as jamming, adsorption failure, and improper installation of the magazine compartment).

[0041] When an abnormal situation occurs, the control system immediately issues an alarm signal (such as an audible and visual alarm), stops the operation of the corresponding mechanism to prevent the fault from escalating, and displays abnormal information (such as the type of abnormality, the location of the abnormality, and handling suggestions) on the control system's display screen. Operators can then troubleshoot and handle the fault based on the abnormal information. After the fault is handled, the operator issues a restart command through the control system, and the system returns to normal operation to continue the continuous distribution of loose packages.

[0042] Specific exception handling scenarios include:

[0043] 1. Material jamming: When the pushing mechanism pushes loose packages, if the loose packages jam (the moving speed of the loose packages is monitored by the positioning component. If the speed is 0 and the pushing force reaches the set maximum value, it is a jam), the control system will immediately stop the pushing mechanism and issue a jamming alarm. The operator can manually adjust the pushing mechanism or clear the jammed loose packages. After the problem is resolved, the system will be restarted.

[0044] 2. Adsorption failure: When the gripping mechanism adsorbs loose packages, if the adsorption force does not reach the set threshold (i.e., adsorption failure), the control system will immediately stop the moving component, issue an adsorption failure alarm, drive the adsorption component to return to the initial position, and try adsorption again. If adsorption fails 3 times in a row, the system will stop running and prompt the operator to check the loose package or the adsorption component.

[0045] 3. Magazine compartment not installed correctly: When replacing the magazine compartment, if the magazine compartment is not installed correctly (as detected by the positioning sensor), the control system will issue an alarm indicating improper installation, stop the magazine compartment replacement mechanism, and prompt the operator to reinstall the magazine compartment.

[0046] 4. Insufficient remaining ammunition: When the remaining amount of ammunition in the current magazine compartment is lower than the set threshold, the control system will issue an alarm indicating insufficient remaining amount, prompting the operator to replace the magazine compartment. If the magazine compartment is not replaced in time, the system will automatically stop the pushing mechanism after the ammunition is pushed out, and wait for the magazine compartment to be replaced.

[0047] Step S8: Operation completed and equipment reset.

[0048] Once all undelivered packages have been distributed, the operator issues a work completion command through the control system. The control system then stops all mechanisms, the pusher plate and frame components of the pushing mechanism return to their initial positions, the gripping mechanism's suction component returns to its initial gripping position, and the magazine changing mechanism removes the empty magazine from the frame, completing the equipment reset. Simultaneously, the control system records relevant data for this operation, including the total number of undelivered packages, distribution time, number of malfunctions, and number of magazine changes, generating an operation report for subsequent statistics and management. Finally, the operator cleans, inspects, and maintains the equipment to ensure it can operate normally next time.

[0049] Further optimize the plan.

[0050] To further improve the efficiency, accuracy, and safety of continuous automatic dispensing of loose-packaged medicines, the present invention also provides the following further optimization solutions:

[0051] 1. Optimization of the magazine compartment: The magazine compartment is equipped with an automatic stacking mechanism, which can automatically and neatly stack loose packages without manual stacking, further reducing reliance on manual labor; the bottom of the magazine compartment is equipped with a vibration device. During the pushing process, the vibration device vibrates slightly, which can prevent loose packages from sticking together, ensure that the loose packages can move smoothly, and reduce jamming.

[0052] 2. Optimization of the pushing mechanism: The driving mechanism of the pushing mechanism adopts servo motor drive. Compared with the traditional cylinder drive, the servo motor drive can achieve precise adjustment of thrust and speed, improve pushing stability, and has lower energy consumption and less noise. Both the push plate assembly and the frame assembly are equipped with guiding mechanisms (such as guide rails and guide rods) to ensure smoother telescopic movement of the push plate and the frame and avoid deviation.

[0053] 3. Optimization of the gripping mechanism: The adsorption component of the gripping mechanism adopts a combination of vacuum adsorption and flexible grippers. Vacuum adsorption ensures firm adsorption, while the flexible grippers assist in limiting the position, further improving the stability of loose package gripping and preventing loose packages from falling off during movement. The gripping mechanism has multiple gripping stations, which can realize the simultaneous gripping and distribution of multiple loose packages, greatly improving distribution efficiency.

[0054] 4. Control System Optimization: The control system adopts a combination of PLC controller and touch screen, which is easy to operate and can display the operating status and operation data of each mechanism in real time. The control system can be connected to the pharmacy management system to realize automated scheduling and data sharing of bulk package distribution, which facilitates the overall management of the pharmacy. The control system is equipped with a fault self-diagnosis module, which can automatically identify the fault type and fault location, provide operators with accurate handling suggestions, and shorten the fault handling time.

[0055] 5. Optimized safety protection: The frame is equipped with safety guardrails and an emergency stop button. In case of emergency, the operator can press the emergency stop button to immediately stop the equipment and ensure the safety of the operator and the equipment. During the operation of the equipment, if personnel approach the danger zone (such as the pushing mechanism or the gripping mechanism), the infrared sensor will issue an alarm signal and the equipment will slow down until the personnel leave the danger zone to avoid safety accidents.

[0056] Beneficial Effects. Compared with the prior art, the continuous automatic dispensing method for loose-packaged medicine of the present invention has the following significant beneficial effects:

[0057] 1. Achieve continuous automatic distribution of bulk packages, completely solving the problem of machine downtime required to change the loading container in existing technologies: Through the alternating pushing of the pusher plate and the frame, the magazine compartment can be continuously changed while the frame pushes the bulk packages, without stopping the machine. This enables continuous conveying and distribution of bulk packages, greatly improving distribution efficiency. Compared with traditional manual distribution, the efficiency is increased by 5-10 times, which is suitable for the large-scale bulk package distribution needs of large pharmacies and Chinese herbal medicine processing plants.

[0058] 2. Protect loose packaging and reduce breakage rate: The push plate is made of flexible material and the inner side of the frame is equipped with flexible buffer strips. The alternating pushing method of the push plate and the frame can avoid damage to the flexible packaging of loose packaging by rigid pushing. At the same time, the push plate applies uniform pushing force to ensure that the loose packaging is subjected to uniform force. The breakage rate of loose packaging is less than 0.1%, effectively protecting the quality of the medicine slices inside the loose packaging and ensuring safe use.

[0059] 3. High pushing stability, reducing jamming and offset: The alternating pushing of the pusher plate and the frame, combined with the real-time positioning and pushing force adjustment of the positioning component, ensures that the loose packages move at a uniform speed and smoothly, avoiding problems such as loose package offset, stacking, and jamming. The pushing stability is greatly improved, and the equipment failure rate is less than 0.5%.

[0060] 4. Precise and stable gripping, preventing loose packages from falling off: The gripping method uses a combination of vacuum adsorption and flexible grippers. The adsorption head is made of flexible material, which can adapt to loose packages of different sizes, improving adsorption stability. At the same time, the positioning component uses a combination of visual positioning and infrared positioning to ensure the accuracy of gripping and distribution. The distribution accuracy error does not exceed ±1mm, preventing loose packages from falling off and being distributed incorrectly during movement.

[0061] 5. High degree of automation and reduced reliance on manual labor: The entire bulk package distribution process (loading, pushing, grabbing, distributing, and changing magazines) is automated, requiring only one operator for monitoring and handling of anomalies, which greatly reduces the intensity of manual labor and labor costs, and solves the problem of high reliance on manual labor in existing technologies.

[0062] 6. High adaptability, adaptable to different sizes of loose packages: The magazine compartment is equipped with an adjustable divider plate, and the size of the push plate and frame can be adjusted according to the size of the loose packages. The pushing force and suction force can be adjusted according to the weight and packaging material of the loose packages. It can adapt to loose packages of different sizes, weights and packaging materials, and has high adaptability.

[0063] 7. Traceable and easy to manage: The magazine compartment is equipped with an identification tag. The control system can record information such as the type, quantity, and distribution time of the loose packages, generate operation reports, and can be connected with the pharmacy management system and production management system to realize full traceability and data sharing of loose package distribution, which is convenient for subsequent statistics, management and traceability.

[0064] 8. Safe and reliable, easy to operate: The equipment is equipped with safety guardrails, emergency stop buttons and infrared sensors to ensure the safety of operators and equipment; the control system adopts a combination of PLC controller and touch screen, which is easy to operate and can display the operating status and operation data of each mechanism in real time. The fault self-diagnosis module can automatically identify the fault type and location, which is convenient for fault diagnosis and handling.

[0065] To better understand and implement this application, the following detailed description is provided in conjunction with the accompanying drawings. Attached Figure Description

[0066] Figure 1 The flowchart illustrates an exemplary method for continuous automatic delivery and dispensing of loose-packaged medicines in this application. Detailed Implementation

[0067] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0068] This embodiment provides a method for continuous automatic dispensing of loose-packaged medicines, applicable to the distribution of loose-packaged medicinal herbs in the pharmacy of a large hospital. It is implemented using a continuous automatic dispensing system for loose-packaged medicines. The system includes a magazine compartment, a pushing mechanism, a gripping mechanism, a control system, a frame, and a magazine compartment changing mechanism. The specific structure is as follows:

[0069] Magazine compartment: It adopts a modular design and is made of stainless steel. It has three adjustable partitions inside to accommodate different sizes of bulk packages (such as loose slices of Angelica sinensis, Astragalus membranaceus, and Poria cocos). The inner wall of the magazine compartment has a 5mm thick flexible rubber cushioning layer, a guide groove at the bottom, and an RFID identification tag at the top. The tag stores information such as the type, quantity, and production date of the bulk package. The magazine compartment has a capacity of 500 bulk packages and can be detachably connected to the frame via positioning buckles.

[0070] The pushing mechanism includes a push plate assembly, a frame assembly, a drive mechanism, and a connecting plate. The push plate assembly consists of a silicone push plate and a first connecting piece. The size of the push plate matches the internal cross-sectional dimensions of the magazine compartment (50cm long and 30cm wide), and the surface has anti-slip textures. The frame assembly consists of an aluminum alloy frame and a second connecting piece. The inner side of the frame has a 3mm thick flexible sponge buffer strip, the size of which matches the edge dimensions of the magazine. The drive mechanism uses a servo motor, which is connected to the push plate assembly and the frame assembly respectively, enabling precise telescopic movement of the push plate and the frame. The pushing mechanism also has guide rails to ensure smoother movement of the push plate and the frame.

[0071] The gripping mechanism includes an adsorption component, a moving component, and a positioning component. The adsorption component uses vacuum adsorption and has four silicone adsorption heads, which can be selected to adsorb one or more adsorption heads in tandem depending on the size of the package. The moving component is driven by a linear module, and the moving speed is adjustable (0-50cm / s). The positioning component uses a combination of industrial camera and infrared positioning, with a positioning accuracy error of no more than ±0.5mm. The gripping mechanism also has flexible grippers to help limit the package and improve gripping stability.

[0072] Control system: It adopts a combination of PLC controller and touch screen to display the operating status and operation data of each mechanism in real time; the control system is electrically connected to the pushing mechanism, grabbing mechanism and magazine changing mechanism respectively, and can control the coordinated operation of each mechanism; the control system is equipped with a fault self-diagnosis module, which can automatically identify the fault type and fault location; the control system can interface with the hospital pharmacy management system to achieve data sharing.

[0073] Magazine compartment replacement mechanism: including robotic arm, guide rail and positioning device, it can realize automatic disassembly, transportation and installation of magazine compartments, and the replacement time of a single magazine compartment does not exceed 30 seconds.

[0074] The frame is made of stainless steel and is equipped with safety guardrails and an emergency stop button. The frame is equipped with an RFID tag reader that can read the identification tag information in the magazine compartment.

[0075] Magazine compartment: It adopts a modular design and is made of stainless steel. It has three adjustable partitions inside to accommodate different sizes of bulk packages (such as loose slices of Angelica sinensis, Astragalus membranaceus, and Poria cocos). The inner wall of the magazine compartment has a 5mm thick flexible rubber cushioning layer, a guide groove at the bottom, and an RFID identification tag at the top. The tag stores information such as the type, quantity, and production date of the bulk package. The magazine compartment has a capacity of 500 bulk packages and can be detachably connected to the frame via positioning buckles.

[0076] The pushing mechanism includes a push plate assembly, a frame assembly, a drive mechanism, and a connecting plate. The push plate assembly consists of a silicone push plate and a first connecting piece. The size of the push plate matches the internal cross-sectional dimensions of the magazine compartment (50cm long and 30cm wide), and the surface has anti-slip textures. The frame assembly consists of an aluminum alloy frame and a second connecting piece. The inner side of the frame has a 3mm thick flexible sponge buffer strip, the size of which matches the edge dimensions of the magazine. The drive mechanism uses a servo motor, which is connected to the push plate assembly and the frame assembly respectively, enabling precise telescopic movement of the push plate and the frame. The pushing mechanism also has guide rails to ensure smoother movement of the push plate and the frame.

[0077] The gripping mechanism includes an adsorption component, a moving component, and a positioning component. The adsorption component uses vacuum adsorption and has four silicone adsorption heads, which can be selected to adsorb one or more adsorption heads in tandem depending on the size of the package. The moving component is driven by a linear module, and the moving speed is adjustable (0-50cm / s). The positioning component uses a combination of industrial camera and infrared positioning, with a positioning accuracy error of no more than ±0.5mm. The gripping mechanism also has flexible grippers to help limit the package and improve gripping stability.

[0078] Control system: It adopts a combination of PLC controller and touch screen to display the operating status and operation data of each mechanism in real time; the control system is electrically connected to the pushing mechanism, grabbing mechanism and magazine changing mechanism respectively, and can control the coordinated operation of each mechanism; the control system is equipped with a fault self-diagnosis module, which can automatically identify the fault type and fault location; the control system can interface with the hospital pharmacy management system to achieve data sharing.

[0079] Magazine compartment replacement mechanism: including robotic arm, guide rail and positioning device, it can realize automatic disassembly, transportation and installation of magazine compartments, and the replacement time of a single magazine compartment does not exceed 30 seconds.

[0080] The frame is made of stainless steel and is equipped with safety guardrails and an emergency stop button. The frame is equipped with an RFID tag reader that can read the identification tag information in the magazine compartment.

[0081] The specific steps of the continuous automatic dispensing method for loose-packaged medicine in this embodiment are as follows:

[0082] Step S1: Loading and installing the magazine compartment.

[0083] The loose packages of Angelica sinensis to be distributed are pre-processed to remove damaged or leaking packages, ensuring the integrity of the packaging. According to the specifications of the loose packages, the dividers inside the magazine compartment are adjusted, and the pre-processed packages are neatly stacked into the magazine compartment. During stacking, the packages are ensured to be arranged neatly, without tilting or misalignment, with the pushing end facing the pushing mechanism and the gripping end facing the gripping mechanism. The magazine compartment is then installed into the designated position on the frame using the robotic arm of the magazine compartment changing mechanism. The guide groove of the magazine compartment mates with the guide rail of the frame, and the positioning buckles are engaged and secured. After installation, the RFID tag reader on the frame reads the RFID tag information of the magazine compartment and transmits it to the control system. The control system records information such as the quantity of 500 packages of Angelica sinensis in the magazine compartment and the specification of 10g / package, completing the loading and installation of the magazine compartment.

[0084] Step S2: Initial position reset and parameter setting.

[0085] The control system issues an initial reset command, driving the pusher plate assembly and frame assembly of the pushing mechanism to retract to their initial positions. The pusher plate aligns with the tail end of the magazine compartment, and the frame is located in front of the pusher plate, close to the gripping mechanism, and is in a retracted state. The adsorption component of the gripping mechanism moves to the initial gripping position, the positioning component is activated, and the industrial camera captures images of the loose packages at the magazine compartment's discharge end. The image recognition algorithm determines the gripping coordinates of the foremost loose package, and the infrared positioning component assists in positioning, transmitting the positioning information to the control system. The operator sets the loose package distribution parameters via the control system's touchscreen: the distribution speed is 20 packages / minute, the single gripping quantity is 1 package, the pushing force is 50N, and the switching position between the pusher plate and the frame is at 1 / 2 the length of the magazine compartment's discharge end. After the parameters are set, the control system issues a start command, and the system enters the standby state.

[0086] Step S3: Push the loose packages using the pusher plate.

[0087] After receiving the start command, the control system drives the servo motor of the pushing mechanism to move forward, causing the pusher plate assembly to move forward. The pusher plate adheres to the surface of the Angelica sinensis loose package at the very end of the magazine compartment, applying a uniform thrust of 50N to push all the Angelica sinensis loose packages in the magazine compartment forward together. During the pushing process, the control system monitors the thrust applied by the pusher plate in real time through a pressure sensor. If the thrust exceeds 50N, the control system automatically adjusts the output power of the servo motor to reduce the thrust; if the thrust is less than 50N, the control system automatically increases the thrust to ensure that the loose packages move smoothly. The positioning component monitors the movement position of the loose packages in real time and transmits the position information to the control system in real time. The control system adjusts the pushing speed of the pusher plate in real time according to the movement position of the loose packages to ensure that the loose packages move at a uniform speed. When the loose packages move to the position of 1 / 2 length of the magazine compartment discharge end, the positioning component sends a switching signal to the control system.

[0088] Step S4: Switch between pushing the pusher plate and the frame.

[0089] After receiving the switching signal, the control system stops driving the push plate assembly to move forward and simultaneously drives the frame assembly to extend forward. The inner edge of the frame aligns with the edge of the Angelica dahurica package, and the flexible buffer strip contacts the surface of the package to limit its movement. After the frame is limited, the control system drives the push plate assembly and the connecting plate to retract to their initial positions. The push plate separates from the package, and after retracting to the correct position, the push plate assembly sends a retraction signal to the control system, awaiting the installation and replacement of the next magazine compartment. The switching process takes 0.8 seconds, is seamless, and the package does not experience any pauses or shifts.

[0090] Step S5: Continuous pushing of the frame and replacement of the magazine compartment.

[0091] After the pusher assembly retracts to its initial position, the control system drives the frame assembly to continue moving forward. The frame, passing the edge of the package, applies a uniform 50N thrust, pushing the packages forward until the foremost Angelica dahurica package reaches the gripping position of the grasping mechanism. During this pushing process, the control system monitors the package's position in real time via the positioning component, adjusting the frame's pushing speed and thrust to ensure smooth movement. Simultaneously, the operator uses the magazine changing mechanism to install a new magazine containing the Astragalus membranaceus packages into the designated position on the frame. After installation, the tag reader reads the new magazine. The information from the magazine compartment is transmitted to the control system. The control system records information such as the quantity of Astragalus membranaceus packets in the new magazine compartment being 500 portions and the specification being 15g / portion, thus completing the magazine compartment replacement. After the new magazine compartment is installed in place, the control system drives the frame assembly to retract to the initial position, separating the frame from the packets. Then, it drives the pusher assembly to move forward, with the pusher plate adhering to the surface of the Astragalus membranaceus packets at the very end of the new magazine compartment, while simultaneously adhering to the surface of the Angelica sinensis packets that were not pushed to the end in the previous batch. A uniform pushing force of 50N is applied, pushing both batches of packets forward together. After pushing them to the position of 1 / 2 length of the magazine compartment's discharge end, the system switches back to frame pushing.

[0092] Step S6: Adsorption, grabbing, and distribution of loose packets.

[0093] When the first packet of Angelica sinensis is pushed to the gripping position of the gripping mechanism, the positioning component sends a gripping signal to the control system. The control system then drives the adsorption component of the gripping mechanism to move directly above the packet. The adsorption component activates, generating negative pressure, and the four silicone adsorption heads adhere to the surface of the Angelica sinensis packet, adsorbing and fixing it in place. A pressure sensor monitors the adsorption force. When the adsorption force reaches 30N (a set threshold), confirming a firm adsorption, the control system drives the moving component to move the adsorption component along with the adsorbed Angelica sinensis packet to the dispensing window (dispensing position) of the hospital's traditional Chinese medicine pharmacy. Upon reaching the dispensing position, the adsorption component stops generating negative pressure, releasing the packet, which falls into the medicine tray at the dispensing window, completing the dispensing of a single packet. After a single dispensing is completed, the adsorption component returns to the initial gripping position, preparing for the next gripping. The pushing mechanism continues to push the packet, bringing the next Angelica sinensis packet to the gripping position, thus achieving the dispensing of packets one by one.

[0094] Step S7: Continuous Cyclic Operations and Exception Handling.

[0095] Repeat steps S3 to S6, using alternating pushing of the pusher plate and frame, continuous replacement of the magazine compartment, and sequential distribution by the adsorption and gripping mechanism to achieve continuous automatic delivery of Angelica sinensis and Astragalus membranaceus powder packets. During operation, the control system monitors the operating status of each mechanism in real time: when a jamming abnormality occurs (the movement speed of the powder packet is 0 and the pushing force reaches 50N), the control system immediately stops the pushing mechanism, issues an audible and visual alarm, and displays "Dieting abnormality, it is recommended to clear the jammed powder packet." After the operator clears the jammed powder packet, they press the restart button, and the system returns to normal operation. When adsorption fails (adsorption force does not reach 30N), the control system immediately stops the moving component, issues an audible and visual alarm, drives the adsorption component back to the initial position, and attempts adsorption again. After three consecutive adsorption failures, the system stops operating and prompts the operator to check the powder packet packaging or the adsorption component. When the remaining powder packet in the current magazine compartment is less than 50 packets, the control system issues an audible and visual alarm, prompting the operator to replace the magazine compartment.

[0096] Step S8: Operation completed and equipment reset.

[0097] After all the Angelica sinensis and Astragalus membranaceus packets have been distributed, the operator issues a work completion command via the touchscreen of the control system. The control system then drives all mechanisms to stop operating. The pusher plate and frame components of the pushing mechanism return to their initial positions, the suction component of the gripping mechanism returns to its initial gripping position, and the magazine changing mechanism removes the empty magazine from the frame, completing the equipment reset. The control system records the data for this operation: a total of 1000 packets distributed, a distribution time of 50 minutes, 0 malfunctions, and 1 magazine change. It then generates an operation report and transmits it to the hospital pharmacy management system. Finally, the operator cleans, inspects, and maintains the equipment to ensure it can operate normally next time.

[0098] This embodiment of the continuous automatic dispensing method for loose-package medicine achieves continuous automatic delivery and distribution of loose-package medicine without the need to stop the machine to change the magazine compartment. The distribution efficiency reaches 20 portions / minute, which is 5-8 times more efficient than traditional manual distribution. The alternating pushing of the pusher plate and the frame ensures both uniformity of the pushing force and protection of the flexible packaging of the loose packages, with a breakage rate of less than 0.1%. The precise positioning and adsorption of the adsorption and gripping mechanism ensures the accuracy of the loose package distribution, with a distribution accuracy error of no more than ±1mm. The entire process is completed automatically, requiring only one operator for monitoring and anomaly handling, which greatly reduces labor costs, solves many problems of existing technologies, and is suitable for the large-scale loose-package distribution needs of large hospital pharmacies.

[0099] The embodiments described above are merely examples of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.

Claims

1. A method for continuous automatic dispensing of loose-packaged medicine, characterized in that, The system employs a continuous automatic dispensing system for loose-packed drugs. The system includes a magazine compartment, a pushing mechanism, a gripping mechanism, a control system, a frame, and a magazine compartment changing mechanism. The pushing mechanism includes a push plate assembly, a frame assembly, a drive mechanism, and a connecting plate. The push plate assembly includes a push plate and a first connecting member. The frame assembly includes a frame and a second connecting member. The drive mechanism is connected to both the push plate assembly and the frame assembly. The gripping mechanism includes an adsorption assembly, a moving assembly, and a positioning assembly. The control system is electrically connected to the pushing mechanism, the gripping mechanism, and the magazine compartment changing mechanism. The method includes the following steps: Step S1: Loading and installing magazine compartments; Step S2: Initial position reset and parameter setting; Step S3: The pusher plate pushes the loose packages. The control system drives the drive mechanism to move, and the pusher plate assembly moves forward. The pusher plate fits against the surface of the loose packages at the rearmost end of the magazine compartment, applying a uniform thrust to push the loose packages in the magazine compartment forward together. During the pushing process, the control system monitors the thrust in real time through a pressure sensor. If the thrust exceeds the set threshold, the output power of the drive mechanism is automatically adjusted to reduce the thrust and avoid damage to the loose packages. If the thrust is lower than the set threshold, the thrust is increased synchronously to ensure that the loose packages move smoothly and prevent jamming or being unable to push. The positioning component monitors the movement position of the loose packages in real time and feeds the position information back to the control system. The control system adjusts the pushing speed of the pusher plate in real time to ensure that the loose packages move at a uniform speed. When the loose packages move to the preset switching position, the positioning component sends a switching signal to the control system. Step S4: Push plate and frame switching; After receiving the switching signal, the control system stops driving the push plate assembly to move forward, and at the same time drives the frame assembly to extend forward, so that the inner edge of the frame fits with the edge of the loose package, limiting the loose package and preventing it from shifting during subsequent pushing; After the frame is limited, the control system drives the push plate assembly and the connecting plate to retract to the initial position, the push plate separates from the loose package, and sends a retraction signal after retraction to wait for the replacement of the next magazine compartment; The switching process is seamless, and the switching time does not exceed 3 seconds to ensure the continuity of loose package delivery. During the switching, the positioning component continuously monitors the position of the loose package, and if a shift occurs, it automatically adjusts the position of the frame to correct it; Step S5: Continuous pushing of the frame and replacement of the magazine compartment; Step S6: Adsorption, grasping, and distribution of scattered packets; Step S7: Continuous Cyclic Operations and Anomaly Handling; Step S8: Operation completed and equipment reset.

2. The method for continuous automatic dispensing of loose-packaged medicine according to claim 1, characterized in that, The loading and installation of the magazine compartment in step S1 includes: neatly stacking the pre-treated loose packages into the magazine compartment, installing the magazine compartment with the stacked loose packages into the designated position on the frame through the magazine compartment replacement mechanism, and after the magazine compartment is installed in place, the magazine compartment replacement mechanism sends an installation signal to the control system, and the control system records the loose package information of the magazine compartment. The initial position reset and parameter setting in step S2 include: the control system issues an initial reset command, driving the push plate assembly and the frame assembly to retract to their initial positions, the adsorption assembly of the gripping mechanism moves to the initial gripping position, the positioning assembly starts and positions the gripping coordinates of the frontmost loose package; the operator sets the loose package distribution parameters through the control system, and after the parameters are set, the system enters the standby state.

3. The method for continuous automatic dispensing of loose-packaged medicine according to claim 2, characterized in that, The continuous pushing of the frame and replacement of the magazine compartment in step S5 includes: after the pusher assembly retracts to the initial position, the control system drives the frame assembly to continue moving forward. The frame applies a uniform thrust by limiting the loose bags, pushing the loose bags forward until the foremost loose bag reaches the gripping position of the gripping mechanism. During the pushing process, the control system monitors the position of the loose bags in real time through the positioning component and adjusts the pushing speed and thrust of the frame to avoid jamming or deviation. At the same time, after receiving the magazine replacement command, the magazine replacement mechanism disassembles the currently empty magazine compartment or the magazine compartment with a small number of loose bags remaining, and installs a new magazine compartment with loose bags stacked on it. After installation, it sends a magazine replacement signal, and the control system records the loose bag information of the new magazine compartment. After the new magazine compartment is installed, the frame assembly retracts to the initial position, and the pusher assembly moves forward again to fit the loose bags at the rear end of the new magazine compartment and the loose bags that were not pushed in the previous group. They are pushed forward together to the switching position, and the frame pushing is switched again. This cycle realizes the continuous replacement of the magazine compartment and the continuous pushing of loose bags.

4. The method for continuous automatic dispensing of loose-packaged medicine according to claim 3, characterized in that, Step S6, which involves adsorbing, grasping, and distributing loose packages, includes: after the foremost loose package reaches the grasping position, the positioning component sends a grasping signal, the control system drives the adsorption component to move directly above the loose package, the adsorption component starts to generate negative pressure, and the flexible adsorption head adheres to the surface of the loose package to adsorb and fix it; the pressure sensor monitors the adsorption force, and after confirming that the adsorption is firm, the moving component drives the adsorption component and the loose package to move to the designated distribution position, the adsorption component stops generating negative pressure and releases the loose package, completing a single distribution; after a single distribution, the adsorption component returns to the initial grasping position, and the pushing mechanism continues to push the next loose package to the grasping position, so as to realize the one-by-one distribution of loose packages, the grasping frequency and the pushing speed are matched, and the grasping waiting or loose package accumulation is avoided.

5. The method for continuous automatic dispensing of loose-packaged medicine according to claim 3, characterized in that, The continuous cyclic operation and anomaly handling in step S7 include: repeating steps S3 to S6, using alternating pushers and frames, continuous replacement of magazine compartments, and sequential dispensing via adsorption and gripping to achieve continuous automatic delivery of loose packets; during the operation, the control system monitors the operating status of each mechanism in real time, including the thrust and speed of the pushing mechanism, the adsorption force and movement position of the gripping mechanism, the remaining amount of loose packets in the magazine compartment, and the fault status of each mechanism; when an anomaly occurs, the control system immediately issues an audible and visual alarm, stops the operation of the corresponding mechanism, displays the anomaly type, location, and handling suggestions on the display screen, and after the operator has investigated and handled the anomaly, issues a restart command, and the system resumes operation.

6. The method for continuous automatic dispensing of loose-packaged medicine according to claim 3, characterized in that, Step S8, which involves the completion of the operation and equipment reset, includes: after all loose packages are distributed, the operator issues an operation completion command, the control system drives all mechanisms to stop operating, the push plate assembly, frame assembly, and adsorption assembly all return to their initial positions, the magazine compartment replacement mechanism disassembles the empty magazine compartment, and the equipment reset is completed; at the same time, the control system records data such as the total number of loose packages distributed, distribution time, number of failures, and number of magazine compartment replacements for this operation, and generates an operation report for subsequent statistical management; the operator cleans, inspects, and maintains the equipment to ensure normal operation of the equipment next time.

7. The method for continuous automatic dispensing of loose-packaged medicine according to any one of claims 3-6, characterized in that, In step S1, the pre-processing of loose packages includes removing damaged or leaking loose packages to ensure that the packaging is intact and free of impurities; the magazine compartment adopts a modular design, with an adjustable partition plate inside, a flexible buffer layer on the inner wall, and a guide groove at the bottom, which works with the guide rail of the frame to achieve precise positioning; the magazine compartment is equipped with an identification tag, and the tag reader on the frame automatically reads the information such as the type, quantity, and production date of the loose packages in the tag and transmits it to the control system for recording and management.

8. The method for continuous automatic dispensing of loose-packaged medicine according to any one of claims 3-6, characterized in that, In step S2, the bulk package distribution parameters include distribution speed, number of packages grabbed at a time, pushing force, and switching position between the pusher plate and the frame. The distribution speed is set to 10-30 packages / minute, and the switching position is set to push the bulk package to 1 / 3-1 / 2 of the length of the magazine compartment discharge end. The positioning component adopts a combination of visual positioning and infrared positioning, with a positioning accuracy error of no more than ±0.5mm. The control system pre-stores positioning parameters for bulk packages of different specifications, which can be automatically matched without manual resetting.

9. The method for continuous automatic dispensing of loose-packaged medicine according to any one of claims 3-6, characterized in that, In step S6, the adsorption component adopts a vacuum adsorption method and is equipped with multiple flexible silicone adsorption heads. Depending on the size and weight of the loose package, one or more adsorption heads can be selected to adsorb in tandem. The negative pressure can be adjusted according to the packaging material and weight of the loose package. The moving component is driven by a linear module, and the moving speed is adjustable. The dispensing accuracy error does not exceed ±1mm.

10. The method for continuous automatic dispensing of loose-packaged medicine according to any one of claims 3-6, characterized in that, In step S7, the abnormal handling scenarios include material jamming, adsorption failure, improper installation of the magazine compartment, and insufficient remaining quantity of loose packages. Material jamming is determined by monitoring the moving speed and thrust of loose packages through the positioning component. If adsorption fails, it can be re-adsorbed. If adsorption fails three times in a row, the system will stop running and prompt for inspection. If the remaining quantity of loose packages is lower than the set threshold, an alarm will be issued to prompt the magazine compartment to be replaced.

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