An integrated full-category medicine dispensing device based on intelligent matching and adaptive grabbing

Abstract

The application discloses an integrated full-category medicine dispensing device based on intelligent matching and adaptive grabbing, and relates to the technical field of medicine dispensing devices.The device comprises a cabinet, a modular medicine storage unit, a three-dimensional mobile mechanical arm, a composite adaptive grabbing head, an annular combined conveying belt and a control unit.The modular medicine storage unit comprises a box medicine storage unit, a bottle medicine and needle tube medicine storage unit and a flexible article storage unit.A prescription analysis module, a matching engine module, a scheduling module and a database module are arranged in the control unit.The composite adaptive grabbing head comprises a vacuum adsorption module, a flexible clamping module, a flexible pickup module and a visual identification system.The device realizes automatic association and accurate grabbing of medicines, instruments and consumables through intelligent matching and multi-mode grabbing collaborative control, improves medicine dispensing accuracy, automation degree and operation efficiency, reduces the risk of missed dispensing, wrong dispensing and manual intervention, and realizes traceable management of the whole medicine dispensing process.

Description

Technical Field

[0001] This invention relates to the field of dispensing device technology, and in particular to an integrated full-category dispensing device based on intelligent matching and adaptive grasping. Background Technology

[0002] With the rapid development of smart hospital pharmacies, automated drug management systems, and internet hospital dispensing centers, automated dispensing equipment has gradually become an important component of hospital pharmacy construction. Existing automated dispensing equipment can automatically store and dispense some medications, playing a role in improving dispensing efficiency and reducing manual operations.

[0003] However, hospital prescriptions actually involve a wide variety of items, including not only common boxed medications but also bottled medications, syringes, needles, ampoules, nebulizers, and flexible medical consumables such as cotton pads and gauze. These different items vary significantly in size, material properties, and methods of use. Existing technologies, products, or devices suffer from the following problems in practical use: 1. Most existing automated dispensing equipment is designed for a single type of drug and is usually only suitable for the storage and dispensing of boxed drugs or some standardized packaged drugs. It is difficult to simultaneously accommodate various different forms of items such as boxed drugs, bottled drugs, syringes and flexible medical consumables, resulting in some items still needing to be dispensed manually, and the degree of automation is low. 2. Existing medication dispensing systems typically control medication dispensing based solely on prescription drug information. They lack intelligent matching mechanisms for complementary items such as syringes, needles, measuring cups, nebulizers, and protective equipment. Most of these items rely on pharmacists' manual judgment for replenishment, which can easily lead to omissions, mis-dispensing, or duplicate dispensing, thus affecting patients' medication convenience and safety. 3. Existing automated dispensing equipment generally uses a single suction cup or single gripper grasping mechanism, which has poor adaptability to items with different materials and structural characteristics, such as glass bottles, syringes, and flexible consumables. It is prone to grasping failure, falling and damage, and inaccurate positioning. At the same time, in the multi-layer drawer-type medicine storage structure, the adjacent trays are prone to obstruction and interference, which will further reduce the recognition accuracy and grasping success rate. 4. Existing automated dispensing systems mostly rely on single barcode scanning or manual verification after dispensing medications. They lack a comprehensive verification mechanism for medication types, quantities, weights, and placement. When prescriptions contain multiple medications, medical devices, and consumables, it is difficult to detect omissions, mis-dispensing, and quantity anomalies in a timely manner, and the accuracy of dispensing needs to be improved. 5. Existing automated dispensing equipment typically uses a decentralized dispensing method for medicines. Different medicines and medical consumables need to be collected separately or manually. At the same time, empty tray recycling mostly relies on manual operation, making it difficult to form a continuous closed-loop operation process. This not only increases the workload of pharmacists, but also affects the overall operating efficiency of the pharmacy and the continuous operation capability of the equipment.

[0004] Therefore, how to provide an integrated intelligent dispensing device that can automatically store and dispense various medical supplies, achieve intelligent matching of medicines and supporting equipment, support adaptive switching of multiple grasping methods, have high reliability verification capabilities, and achieve automatic tray recycling has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides an integrated full-category drug dispensing device based on intelligent matching and adaptive grasping, so as to solve the problems existing in the background art.

[0006] This invention provides the following technical solution: an integrated full-category medication dispensing device based on intelligent matching and adaptive grasping, comprising: Server rack; Multiple modular drug storage units are installed inside the cabinet door of the cabinet. The modular drug storage units include boxed drug storage units, bottled drug and syringe drug storage units, and flexible item drug storage units. A three-dimensional mobile robotic arm is positioned in front of the cabinet, and a composite adaptive gripping head is also provided at the end of the three-dimensional mobile robotic arm. A circular combined conveyor belt is installed at the bottom of the cabinet. Multiple cargo pallets are installed on the circular combined conveyor belt, and loading station, verification station and packaging station are sequentially arranged on the circular combined conveyor belt. The control unit, located inside the base of the cabinet, is used for communication connection with the hospital prescription system; The control unit is used to receive electronic prescription information, generate a list of medicines and supporting equipment according to preset matching rules, and control the robotic arm to drive the composite adaptive gripper head to take out the target item from the corresponding multiple modular medicine storage units and place it in the cargo tray. The circular combined conveyor belt is used to drive the cargo pallet to pass sequentially through the loading station, the verification station and the packaging station. The verification station is used to automatically verify the items in the carrying tray and, after verification, complete the integrated output of the items corresponding to the prescription.

[0007] Preferably, the control unit includes a prescription parsing module, a matching engine module, a scheduling module, and a database module. The matching engine module includes a basic matching rule base, a dose association rule base, and a patient feature rule base. The prescription parsing module is used to parse the drug information in the electronic prescription; the matching engine module is used to generate a list of drugs and related equipment based on the drug information, dosage information and patient information; the scheduling module is used to generate the corresponding pickup instruction sequence; and the database module is used to store prescription information, inventory information and dispensing record information.

[0008] Preferably, the boxed medicine storage unit includes multiple storage channels formed by adjustable partitions, and the position of the adjustable partitions is adjusted by a sliding groove and a locking mechanism; The boxed medicine storage unit also includes a spring-driven mechanism disposed at the bottom of the storage channel, and the front end of the spring-driven mechanism is connected to a pusher slider; The boxed medicine storage unit also includes an electrically controlled baffle located at the front end of the medicine storage channel, and the electrically controlled baffle is connected to a micro stepper motor.

[0009] Preferably, the bottled medicine and syringe medicine storage unit includes multiple drawer trays and rotating wheels adapted to the trays; The drawer-type tray has multiple placement holes; the rotating wheel has a groove that matches the top placement hole; and a micro motor is located at the bottom center of the rotating wheel mechanism to drive the rotating wheel to rotate so that the groove corresponds to the placement hole to release the medicine. The rotary dial mechanism has a receiving slot on one side below for receiving released items; A cylinder is also provided on the other side of the drawer-type tray to drive the corresponding drawer-type tray to extend a preset distance along the guide rail, so that the target drawer-type tray and the stacked drawer-type trays are arranged in a staggered manner.

[0010] Preferably, the flexible medicine storage unit includes a stacked hopper, a paper-feeding roller disposed at the bottom of the hopper, a pressing roller disposed inside the hopper, and a receiving trough disposed on one side of the bottom of the hopper; One side of the paper-feeding roller is connected to a motor to drive the paper-feeding roller to separate flexible medical consumables one by one and transport them to the picking position.

[0011] Preferably, the composite adaptive gripper head includes a rotating platform and a vacuum adsorption module, a flexible clamping module and a flexible pickup module disposed on the rotating platform; The rotating platform is used to drive each gripping module to switch to its working position.

[0012] Preferably, the vacuum adsorption module includes multiple vacuum suction cups of different sizes and a vacuum detection sensor; The flexible clamping module includes at least two flexible clamping fingers, a driving component, and a force detection sensor; The flexible pickup module includes a flexible pickup pad, an electrostatic generator, and medical adhesive on the surface of the pickup pad to form a dual-mode pickup structure of electrostatic adsorption and negative pressure adsorption.

[0013] Preferably, the composite adaptive gripper head is equipped with a visual recognition system; The visual recognition system includes an industrial camera, a 3D contour detection device, and an embedded image processor. The embedded image processor is used to determine the category, size, and pose information of the target item based on the image information acquired by the industrial camera and the contour information acquired by the 3D contour detection device.

[0014] Preferably, the control unit automatically matches the corresponding grasping module based on the visual recognition result, and adjusts the grasping parameters in real time based on the feedback results from the vacuum detection sensor and the force detection sensor; When a capture failure is detected, the control unit automatically switches the capture parameters or switches the capture module and then re-executes the capture action.

[0015] Preferably, the surface of the carrying tray is provided with a plurality of groove structures for positioning different items, and the carrying tray is also provided with an electronic tag for storing tray identification information; The verification station includes a barcode scanning device, a weighing device, and a visual verification device, which are used to scan, weigh, and photograph items that pass through the pallet. The control unit acquires the barcode verification result, weight verification result, and visual verification result respectively, and determines whether the verification passes or fails based on preset conditions. The control unit is used to record prescription information, matching results, capture records, review records, and medication collection records, and to establish a traceability file associated with the corresponding prescription; The circular combined conveyor belt is also equipped with an empty pallet return station; The empty pallet return station includes a first lifting platform located downstream of the packaging station, a horizontal return conveyor belt located at the bottom of the conveyor belt, and a second lifting platform located below the loading station. The first lifting platform is used to receive the empty pallet after the medicine is taken and lower it to the horizontal return conveyor belt, which is used to transport the empty pallet to the second lifting platform.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention constructs a modular drug storage system by setting up storage units for boxed medicines, bottled medicines and syringes, and flexible items. Combined with a three-dimensional mobile robotic arm, it achieves unified scheduling and automatic material handling, enabling the same equipment to adapt to various medical items with different packaging forms and physical properties. This achieves centralized storage and automatic dispensing of medicines and consumables, improving the equipment's versatility and automation level. 2. This invention, by setting up a prescription parsing module, a matching engine module, and a database module, and constructing a basic matching rule library, a dose association rule library, and a patient characteristic rule library, realizes automatic matching between drugs and corresponding instruments and consumables and intelligent generation of dispensing lists, effectively reducing human judgment errors and improving the accuracy of dispensing and the safety of patient medication. 3. This invention, by setting up a composite adaptive gripping head with a vacuum adsorption module, a flexible clamping module and a flexible pickup module, and combining it with a vision recognition system, a force feedback control system and a tray misalignment and push-out mechanism, achieves automatic matching of gripping methods for different items. At the same time, by actively pushing out the target tray to form a gripping space, it effectively reduces the risk of interference from the robotic arm and improves the accuracy of target item recognition and the success rate of gripping. 4. This invention establishes a triple verification mechanism by setting up a verification station and integrating a barcode scanning device, a weighing device, and a visual verification device. This mechanism comprehensively verifies the type, quantity, weight, and placement of medicines, enabling timely detection of anomalies and significantly improving the accuracy and reliability of dispensing results. 5. This invention adopts a pallet-level integrated output method, which loads the medicines and supporting equipment corresponding to the same prescription onto the same cargo pallet for output, and sets up an empty pallet return station consisting of a first lifting platform, a horizontal return conveying mechanism and a second lifting platform to realize the automatic recycling and reuse of empty pallets, thereby forming a continuous closed-loop dispensing process, simplifying the patient's medication collection process, and improving the overall operating efficiency of the pharmacy and the continuous operation capability of the equipment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall dispensing device of the present invention.

[0018] Figure 2 This is a schematic diagram of the boxed medicine storage unit of the present invention.

[0019] Figure 3 This is a schematic diagram of the bottled medicine and syringe-type medicine storage unit of the present invention.

[0020] Figure 4 This is a schematic diagram of the flexible medicine storage unit of the present invention.

[0021] Figure 5 This is a schematic diagram of the composite adaptive gripper head of the present invention.

[0022] Figure 6 This is a schematic diagram of the annular combined conveyor belt of the present invention.

[0023] Figure 7 This is a block diagram of the control unit system of the present invention.

[0024] Figure 8 This is a flowchart of the crawling strategy decision-making process of the present invention.

[0025] Figure 9 This is a flowchart illustrating the overall system workflow of the present invention.

[0026] The attached figures are labeled as follows: 100. Server rack; 200. Modular medicine storage unit; 201. Boxed medicine storage unit; 2011. Partition; 2012. Medicine storage channel; 2013. Slide; 2014. Locking mechanism; 2015. Spring propulsion mechanism; 2016. Medicine pusher slider; 2017. Electrically controlled baffle; 2018. Miniature stepper motor; 202. Bottled medicine and syringe medicine storage unit; 2021. Drawer-type tray; 2022. Placement hole; 2023. Rotary dial wheel; 2024. Groove; 2025. Miniature motor; 2026. Receiving slot; 2027. Cylinder; 203. Flexible material medicine storage unit; 2031. Hopper; 2032. Paper feeding roller; 2033. Pressing roller; 2034. Receiving trough; 2035. Motor; 300. Robotic arm; 400. Composite adaptive gripper head; 401. Rotary platform; 402. Vacuum adsorption module; 4021. Vacuum suction cup; 4022. Vacuum detection sensor; 403. Flexible clamping module; 4031. Flexible clamping finger; 4032. Drive assembly; 4033. Force detection sensor; 404. Flexible pickup module; 4041. Flexible pickup pad; 4042. Electrostatic generator; 4043. Medical adhesive; 405. Vision recognition system; 4051. Industrial camera; 4052. 3D contour detection device; 4053. Embedded image processor; 500. Circular combined conveyor belt; 501. Pallet; 5011. Grooved structure; 5052. Electronic tag; 502. Loading station; 503. Verification station; 5031. Barcode scanning device; 5032. Weighing device; 5033. Visual inspection device; 504. Packaging station; 505. Empty pallet return station; 5051. First lifting platform; 5052. Horizontal return conveyor belt; 5053. Second lifting platform; 600. Control Unit. Detailed Implementation

[0027] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0028] An integrated, all-category medication dispensing device based on intelligent matching and adaptive grasping, such as Figure 1-9 As shown, it includes a cabinet 100, multiple modular drug storage units 200, a three-dimensional mobile robotic arm 300, a composite adaptive gripper head 400, a circular combined conveyor belt 500, and a control unit 600.

[0029] The system includes multiple modular drug storage units 200 housed inside the cabinet 100 for storing different types of drugs, medical devices, and medical consumables; a three-dimensional mobile robotic arm 300 is located in the front working area of ​​the cabinet 100, with a composite adaptive gripper head 400 installed at its end for automatic identification and gripping of target items; a circular combined conveyor belt 500 is located at the bottom of the cabinet 100, with multiple carrying trays 501 for carrying drugs and related equipment corresponding to the same prescription; and a control unit 600 is located inside the cabinet 100 and is communicatively connected to the hospital prescription system, the modular drug storage units 200, the three-dimensional mobile robotic arm 300, the composite adaptive gripper head 400, and the circular combined conveyor belt 500, for functions such as prescription parsing, drug and equipment matching, gripping scheduling, automatic verification, and medication traceability.

[0030] In this embodiment, the control unit 600 includes a prescription parsing module, a matching engine module, a scheduling module, and a database module.

[0031] The prescription parsing module is used to receive electronic prescription data sent by the hospital information system and parse the drug name, specifications, dosage, quantity, and patient information.

[0032] The matching engine module automatically generates a list of medications and related devices based on the parsing results. Specifically, the matching engine module includes a basic matching rule base, a dose-related rule base, and a patient characteristic rule base. The basic matching rule base establishes the correspondence between medications and related devices, enabling the control unit 600 to automatically generate a list of devices corresponding to each medication. The dose-related rule base automatically determines the specifications of the corresponding devices based on the medication dosage, allowing the control unit 600 to query the dose-related rule base based on the parsed medication dosage information and automatically determine the corresponding device specifications. The patient characteristic rule base generates assistive devices and prompts based on individual patient information, enabling the control unit 600 to automatically query the patient characteristic rule base based on the patient information in the electronic prescription and add the matched assistive devices and prompts to the item list.

[0033] The scheduling module is used to generate corresponding pickup tasks and movement routes based on the item list.

[0034] The database module stores inventory status information, item attribute information, retrieval strategy information, and dispensing record information. It should be noted that the control unit 600 can achieve fully automated control from electronic prescription reception to drug dispensing, thereby reducing manual intervention and improving dispensing efficiency and accuracy.

[0035] Specifically, after the prescription parsing module completes the electronic prescription parsing, it first queries the basic matching rule base based on the drug code to obtain the corresponding auxiliary device; then, it queries the dose association rule base based on the drug dosage to determine the specifications of the auxiliary device; next, it queries the patient characteristic rule base based on the patient's age, medical history, and special labels to generate assistive devices and medication prompts; finally, it performs deduplication, merging, and sorting processing on all matching results to form the final item list. The scheduling module generates the corresponding retrieval instruction sequence based on the final item list and controls the robotic arm 300 to sequentially complete the retrieval operations of the drugs and auxiliary devices.

[0036] It can be explained here that, through the collaborative work of the basic matching rule base, the dose association rule base, and the patient characteristic rule base, the automatic association and matching of drugs, medical devices, and auxiliary consumables is realized, reducing reliance on manual experience and improving the accuracy and completeness of drug dispensing.

[0037] In this embodiment, the modular drug storage unit 200 includes a boxed drug storage unit 201, a bottled drug and syringe drug storage unit 202, and a flexible item drug storage unit 203. Each storage unit adopts a uniform external dimension design and is connected to the control unit 600 via a standard power supply interface and communication interface, thereby achieving standardized installation and rapid replacement. Hospitals can adjust the configuration quantity of different storage units according to their actual drug structure to adapt to inventory needs at different times.

[0038] Specifically, the boxed medicine storage unit 201 has multiple storage channels 2012 formed by adjustable partitions 2011 inside. The adjustable partitions 2011 are installed inside the storage unit via sliding grooves 2013 and fixed in corresponding positions by locking mechanisms 2014. Operators can adjust the distance between adjacent partitions according to the size of the medicine box, allowing the same storage unit to accommodate medicine boxes of different sizes. A spring-driven mechanism 2015 is located at the rear end of each storage channel 2012, and the front end of the spring-driven mechanism 2015 is connected to a pusher slider 2016, which continuously pushes the medicine box forward under the action of elastic restoring force. An electrically controlled baffle 2017 is located at the front end of each storage channel 2012, and the electrically controlled baffle 2017 is connected to a micro stepper motor 2018. Under normal conditions, the electronically controlled baffle 2017 is closed. When the control unit 600 issues a medication dispensing command, the micro stepper motor 2018 drives the electronically controlled baffle 2017 to open once. The spring-driven mechanism 2015 pushes the foremost medicine box forward and pushes it out of the dispensing port. After the medicine box leaves, the electronically controlled baffle 2017 automatically closes, thus realizing the release of medicine boxes one by one. Furthermore, a photoelectric detection sensor can be installed in the medicine storage channel 2012 to detect the number of medicine boxes in real time. When the number of medicine boxes is lower than a preset threshold, it automatically sends a shortage information to the control unit 600 to remind staff to replenish the stock in time.

[0039] Furthermore, the bottled medicine and syringe storage unit 202 includes multiple drawer-type trays 2021, each drawer-type tray 2021 having multiple placement holes 2022. Different sized placement holes 2022 are used to store bottled medicines and syringes of different sizes. A rotating wheel 2023 is located below each placement hole 2022. The rotating wheel 2023 has a groove 2024 adapted to the target item, and a micro motor 2025 is connected to the bottom of the rotating wheel 2023. When the control unit 600 issues a discharge command, the micro motor 2025 drives the rotating wheel 2023 to rotate by a preset angle, aligning the groove 2024 with the corresponding placement hole 2022, thereby releasing the bottommost item into the receiving slot 2026, achieving single-item discharge. Preferably, a buffer pad is installed inside the receiving slot 2026 to reduce the impact of the item falling and prevent damage to glass bottles or ampoules.

[0040] It should be noted that, to avoid obstruction of the robotic arm's recognition and grasping by adjacent trays, a cylinder 2027 is also installed on one side of the drawer-type tray 2021. When it is necessary to grasp a target item, the control unit 600 controls the cylinder 2027 to move, causing the target drawer-type tray 2021 to extend outward a preset distance along the guide rail, thus creating a staggered state with other drawer-type trays. At this time, the target item is fully exposed within the shooting range of the vision recognition system 405, while reserving sufficient grasping space for the composite adaptive grasping head 400, thereby improving the target recognition accuracy and grasping success rate.

[0041] Furthermore, the flexible medical consumable storage unit 203 includes a stacked hopper 2031, a paper-feeding roller 2032, a pressure roller 2033, and a receiving trough 2034. Flexible medical consumables are stacked inside the stacked hopper 2031 by their own gravity and continuously move downwards under the influence of gravity. The paper-feeding roller 2032 is connected to a motor 2035 and rotates under the drive of the motor 2035; the pressure roller 2033 provides pressure to the bottommost item. When the paper-feeding roller 2032 rotates, friction causes the bottommost item to enter the receiving trough 2034, achieving the separation of flexible items one by one. The combination of the stacked hopper and the paper-feeding roller separation structure not only improves storage density but also solves the problems of flexible medical consumables being easily deformed and sticking together, making automatic feeding difficult.

[0042] In this embodiment, the composite adaptive gripping head 400 includes a rotating platform 401, a vacuum adsorption module 402, a flexible clamping module 403, a flexible pickup module 404, and a vision recognition system 405. The rotating platform 401 is used to drive each gripping module to switch to its working position, thereby enabling the same robotic arm to adapt to the gripping needs of items of different shapes. The vacuum adsorption module 402 includes multiple vacuum suction cups 4021 of different specifications and a vacuum detection sensor 4022. A silent vacuum pump is installed inside the cabinet 100. The vacuum suction cups 4021 are connected to the silent vacuum pump through vacuum pipelines. A buffer tank is provided in the vacuum pipelines to reduce negative pressure fluctuations and improve adsorption stability.

[0043] It should be noted that the silent vacuum pump, buffer tank, and vacuum pipeline are all located inside the cabinet 100.

[0044] The flexible clamping module 403 includes flexible clamping fingers 4031, a driving component 4032, and a force detection sensor 4033. The driving component 4032 drives the flexible clamping fingers 4031 to open and close, and the force detection sensor 4033 is used to detect the clamping force in real time. The flexible pickup module 404 includes a flexible pickup pad 4041, an electrostatic generator 4042, and medical adhesive 4043. The flexible pickup pad 4041 forms a negative pressure channel inside, which together with the electrostatic generator 4042 can form a dual-mode pickup structure of electrostatic adsorption and negative pressure adsorption. The medical adhesive 4043 is used to assist in the pickup of ultra-thin flexible items.

[0045] Furthermore, the visual recognition system 405 includes an industrial camera 4051, a 3D contour detection device 4052, and an embedded image processor 4053. The industrial camera 4051 is used to acquire image information of the target object, the 3D contour detection device 4052 is used to acquire 3D contour data of the target object, and the embedded image processor 4053 is used to identify the target object's category, size parameters, and spatial pose information based on the image and contour information, and sends the recognition results to the control unit 600. The control unit 600 automatically matches the corresponding grasping module based on the recognition results and adjusts the grasping parameters in real time based on feedback from the vacuum detection sensor 4022 and the force detection sensor 4033. When a grasping failure is detected, the control unit 600 automatically switches the grasping parameters or switches the grasping module and re-executes the grasping action to improve the grasping success rate of medical items of different shapes.

[0046] In this embodiment, the control unit 600 has a pre-established item grasping database, which stores grasping attribute information corresponding to various medicines and medical consumables. The grasping attribute information includes item category, size, material characteristics, recommended grasping module, grasping position and grasping parameters.

[0047] Furthermore, when the control unit 600 receives the pickup instruction generated by the scheduling module, it first queries the item retrieval database based on the target item code.

[0048] When a corresponding item grabbing record already exists in the database, the control unit 600 directly reads the preset grabbing strategy and controls the composite adaptive grabbing head 400 to switch to the corresponding grabbing module to perform the grabbing action.

[0049] When there is no record of the corresponding item being retrieved in the database, the control unit 600 initiates the adaptive recognition process.

[0050] Specifically, the industrial camera 4051 acquires image information of the target object, the three-dimensional contour detection device 4052 acquires contour information of the target object, and the embedded image processor 4053 performs fusion analysis on the image information and contour information to obtain the category information, size information, pose information and surface feature information of the target object.

[0051] The control unit 600 automatically matches the corresponding grasping method based on the recognition result.

[0052] When the target item is identified as a boxed medicine, the control unit 600 controls the rotating platform 401 to switch to the vacuum adsorption module 402, and automatically selects the corresponding vacuum suction cup 4021 for adsorption and gripping according to the size of the medicine box.

[0053] When the target item is identified as bottled medicine, the control unit 600 controls the rotating platform 401 to switch to the flexible clamping module 403, and automatically sets the clamping force parameters according to the bottle diameter, material type and weight information.

[0054] When the target item is identified as a syringe, the control unit 600 controls the flexible clamping module 403 to clamp the area where the syringe barrel is connected to the push rod to improve clamping stability.

[0055] When the target item is identified as a flexible medical consumable, the control unit 600 controls the rotating platform 401 to switch to the flexible pickup module 404, and automatically sets the output voltage parameters of the electrostatic generator 4042 according to the weight of the item.

[0056] It can be explained here that different types of items correspond to different grasping strategies, enabling the composite adaptive grasping head 400 to automatically select the optimal grasping method based on the shape of the item, thereby improving the grasping success rate.

[0057] Furthermore, during the grasping process, the vacuum detection sensor 4022 detects the vacuum adsorption state in real time, the force detection sensor 4033 detects the clamping force in real time, and the current detection module corresponding to the electrostatic generator 4042 detects the electrostatic adsorption state in real time.

[0058] The control unit 600 determines whether the grasping was successful based on the detection results.

[0059] When the detection result meets the preset threshold, the control unit 600 determines that the grasping is successful and controls the three-dimensional mobile robotic arm 300 to transport the target item to the corresponding loading tray 501.

[0060] When the detection result does not reach the preset threshold, the control unit 600 determines that the grasping has failed and automatically adjusts the grasping parameters or switches the grasping module before re-executing the grasping action.

[0061] Specifically, for boxed medicines, priority should be given to adjusting the specifications and adsorption area of ​​the vacuum suction cup; for bottled medicines and syringes, priority should be given to adjusting the clamping force and clamping position; for flexible medical consumables, priority should be given to adjusting the electrostatic adsorption parameters and switching to the negative pressure assisted adsorption mode.

[0062] The above method forms an adaptive closed-loop grasping control mechanism, thereby improving the system's compatibility with different items and the reliability of grasping.

[0063] In this embodiment, the circular combined conveyor belt 500 operates in a pallet-level integrated conveying mode, with each carrying pallet 501 corresponding to an electronic prescription.

[0064] Furthermore, after the control unit 600 completes prescription parsing and intelligent matching, the control unit 600 allocates an empty cargo tray 501 to the corresponding prescription and establishes a binding relationship between the prescription information and the cargo tray 501 through the electronic tag 5012.

[0065] Subsequently, the scheduling module generates the picking order based on the item list and controls the robotic arm 300 to sequentially grab and load medicines, instruments, and medical consumables.

[0066] Specifically, the control unit 600 records the placement position of each item and automatically plans the placement position according to the groove structure 5011 on the surface of the tray 501, so that different types of items are placed in their corresponding areas.

[0067] After loading is completed at loading station 502, the pallet 501 enters the verification station 503 under the drive of the circular combined conveyor belt 500.

[0068] The barcode scanning device 5031 in the verification station 503 reads the barcode information of all items, the weighing device 5032 obtains the total weight information of the pallet 501, and the visual verification device 5033 obtains the image information of the placement of items in the pallet 501.

[0069] The control unit 600 compares the barcode information, weight information, and image information with the prescription list.

[0070] When the barcode information matches correctly, the weight information is within the preset error range, and the visual verification result meets the preset rules, the control unit 600 determines that the verification has passed.

[0071] When any test result fails to meet the requirements, the control unit 600 determines that the verification has failed and transports the corresponding cargo tray 501 to the abnormal handling area for manual verification.

[0072] Furthermore, once the verification is approved, the cargo pallet 501 enters the packaging station 504.

[0073] The control unit 600 retrieves prescription information, patient information, and medication guidance information from the database module and displays them on the display terminal.

[0074] After the staff completes the packaging, a medication collection record is generated through a confirmation process.

[0075] It should be noted that this embodiment adopts a tray-level integrated output method, which enables the centralized output of medicines, medical devices and consumables corresponding to the same prescription, avoiding the problems of missed or incorrect dispensing caused by the traditional decentralized dispensing mode.

[0076] Example 1: Insulin Prescription for Diabetic Patients in the Endocrinology Department Patient Li, 72 years old, had a history of type 2 diabetes for more than ten years and came to the hospital for a follow-up visit due to poor blood sugar control. The doctor prescribed: one vial of insulin injection (10 mL: 400 units), to be administered subcutaneously twice daily, 10 units each time.

[0077] After receiving the prescription, the prescription interface unit parses it. The matching engine queries the knowledge base and finds that the matching rules for insulin injection are: it must be matched with insulin-specific needles (31G×5 mm), and it is recommended to match with medical disinfectant wipes and a sharps container. At the same time, the patient information shows that Mr. Li is 72 years old, which is an elderly patient. The patient characteristic rules in the knowledge base suggest that "for elderly patients using insulin, it is recommended that a pharmacist provide on-site guidance on the method of use." The system finally generates a complete item list of: 1 box of insulin injection, 1 box of insulin-specific needles (containing 7 needles), 1 box of medical disinfectant wipes, 1 small sharps container, and additional medication instructions.

[0078] The control unit allocates empty pallets and generates a sequence of picking instructions. The robotic arm first moves to the boxed medicine unit. The vision camera identifies the insulin injection box as 95 mm × 65 mm × 25 mm, and the system automatically selects a 30 mm diameter suction cup. After vacuum adsorption, the box is placed into the rectangular groove of the pallet. Next, it moves to the syringe unit. The vision camera identifies the needle box as a long, narrow package (120 mm × 40 mm × 20 mm). The system switches to a flexible gripper, sets a gripping force of 2.5 N based on the item size, and picks it up, placing it into the long, narrow groove of the pallet. Then, it moves to the soft item unit. The vision camera identifies the disinfectant wipes as soft aluminum foil packaging. The system switches to the electrostatic adsorption module, applies a static voltage of 3 kV, and picks them up, placing them into the square groove of the pallet. Finally, it picks up the sharps box. The vision camera identifies it as a rigid plastic box (80 mm × 80 mm × 60 mm), and the system switches to a flexible gripper again, setting a gripping force of 3 N to complete the grasp.

[0079] After all items were placed, the conveyor belt transported the tray to the verification station. A fixed barcode scanner sequentially scanned the barcodes of the insulin box, needle box, cotton pad box, and sharps container, all matching the prescription information. The electronic scale measured the total weight of the tray at 485.6 g, a deviation of 0.4 g from the expected weight of 485.2 g, within the acceptable range. After verification, the tray was sent to the packaging station, and the screen displayed, "Patient Li, Insulin Prescription, Note: Elderly Patient, Suggested Instructions for Use." The pharmacist retrieved the items and explained the insulin injection method, needle replacement frequency, and precautions for sharps container use to the patient in detail. The patient left the hospital satisfied.

[0080] This embodiment demonstrates the intelligent matching capability of the present invention for chronic disease prescriptions. The system automatically identifies all the necessary accessories for insulin and provides them all at once. At the same time, it automatically generates medication guidance prompts based on patient characteristics, effectively avoiding the embarrassment of elderly patients having "medicine but no needle" and the potential safety risks of medication use.

[0081] Example 2: Prescription for chemotherapy patients in the oncology department Patient Wang, 45 years old, underwent breast cancer surgery and requires adjuvant chemotherapy. The doctor prescribed: two vials of docetaxel injection (20 mg), one vial of cyclophosphamide injection (500 mg), and one box of ondansetron tablets (an antiemetic). This prescription involves chemotherapy drugs and requires special protective and management measures.

[0082] After receiving the prescription, the prescription interface unit parses the drug information. The matching engine, while searching the knowledge base, finds that docetaxel and cyclophosphamide are both high-risk chemotherapy drugs, requiring the following matching rules: a 10ml anti-puncture syringe, medical protective gloves (latex-free), a chemotherapy-specific sharps container, and a medical protective mask. Additionally, the antiemetic ondansetron tablets require the use of the instructions. The system generates a complete item list including: 2 vials of docetaxel injection, 1 vial of cyclophosphamide injection, 1 box of ondansetron tablets, 3 x 10ml anti-puncture syringes (1 syringe for each chemotherapy drug, with an extra syringe as a backup), 2 pairs of medical protective gloves, 1 chemotherapy-specific sharps container, and 2 medical protective masks, along with the message: "Chemotherapy drugs, please have a pharmacist verify and provide protective instructions."

[0083] The control unit allocates empty pallets and generates a sequence of picking instructions. The robotic arm sequentially performs the following gripping operations: chemotherapy drugs are all vials of injectable solution, visually identified as glass vials (25 mm in diameter, 50 mm in height). The system switches to flexible grippers, precisely controlling the gripping force at 2N based on their fragile nature, and gently picks them up before placing them into the circular groove on the pallet. Puncture-proof syringes are needle-like items, visually identified as elongated (110 mm in length). The system uses flexible grippers with a gripping force set to 3N, placing them into the elongated groove. Protective gloves, masks, and sharps containers are all soft items or small instruments, grasped using electrostatic adsorption and flexible grippers respectively.

[0084] The verification station scans the barcodes and weighs all items. Once everything passes verification, the tray is sent to the packaging station. When the pharmacist retrieves the items, the system screen displays a chemotherapy drug protection prompt. After verifying the prescription, the pharmacist explains to the patient in detail the method of taking the chemotherapy drugs, the timing of taking the antiemetic, and the precautions for using protective equipment. The pharmacist also specifically instructs the patient's family to use a dedicated sharps container when disposing of chemotherapy drug-related waste.

[0085] This embodiment demonstrates the invention's intelligent matching capability for high-risk drugs. The system automatically identifies chemotherapy drugs and matches them with a complete set of protective equipment, automatically providing more than ten items that pharmacists would otherwise have to manually memorize and select at once. It also provides protective prompts, significantly reducing occupational exposure risks and patient safety hazards during the preparation and use of chemotherapy drugs.

[0086] Example 3: Pediatric Respiratory Tract Infection Prescription The patient, Zhang, 3 years old, presented with acute bronchitis. The doctor prescribed: one box of amoxicillin clavulanate potassium dry suspension (twice daily, half a packet each time), one bottle of ibuprofen suspension drops (for use when fever occurs), and five nebulized budesonide suspension.

[0087] After receiving the prescription, the prescription interface unit parses the drug information. When the matching engine queries the knowledge base, the patient information shows an age of 3 years, classifying the patient as a child. The knowledge base automatically activates child-specific rules: amoxicillin clavulanate potassium dry suspension requires a 5 mL pediatric measuring cup, ibuprofen suspension drops require a pediatric dropper, and nebulized inhalation medications require a pediatric nebulizer mask (small size) and connecting tubing. The complete item list generated by the system includes: 1 box of amoxicillin clavulanate potassium dry suspension, 1 pediatric measuring cup, 1 bottle of ibuprofen suspension drops, 1 pediatric dropper, 5 vials of budesonide suspension, 1 pediatric nebulizer mask (small size), and 1 nebulizer connecting tubing, along with the message "For children's medication, please verify the dosage and instruct parents on how to use the medication."

[0088] The control unit allocates empty pallets and generates a sequence of picking instructions. The robotic arm sequentially picks up the following items: dry suspensions (boxed medicines) are visually identified and then gripped using a vacuum suction cup, placed into a rectangular groove; measuring cups and droppers (small plastic items) are visually identified and then gripped using flexible grippers, placed into their corresponding grooves; suspension drops (bottled medicines) are gripped using flexible grippers with a 2 N clamping force; and atomizing masks and connecting tubes (soft items) are gripped using an electrostatic adsorption module. After all items are placed, the verification station scans the barcodes and weighs them. Once verified, they are sent to the packaging station.

[0089] When the pharmacist retrieved the medication, the system screen displayed a message: "Child patient, please verify the dosage." The pharmacist carefully verified the medication dosage—amoxicillin-clavulanate potassium dry suspension requires dosage calculation based on weight. After confirming that the prescribed dosage matched the child's weight, the pharmacist explained in detail to the child's parents the preparation method of the dry suspension, the appropriate timing for ibuprofen use (for fever exceeding 38.5 ℃), and the procedure for nebulized inhalation.

[0090] This embodiment demonstrates the adaptability of the invention to pediatric patients. The system automatically matches pediatric-specific equipment (small measuring cup, pediatric dropper, small nebulizer mask) according to the patient's age, and generates medication guidance prompts to help pharmacists focus on the special needs of pediatric medication, effectively avoiding dosage errors or administration difficulties caused by incompatible equipment.

[0091] Example 4: Prescription for a Cardiology Patient with Hypertension and Coronary Artery Disease The patient, Mr. Zhao, 68 years old, had a 20-year history of hypertension and coronary heart disease, and had been taking multiple medications for a long time. The doctor prescribed: one box of enteric-coated aspirin tablets (100 mg) (one tablet once daily), one box of atorvastatin calcium tablets (20 mg) (one tablet once daily), and one bottle of nitroglycerin tablets (0.5 mg) (to be taken sublingually for angina). The doctor also prescribed one electronic blood pressure monitor for home monitoring.

[0092] After receiving the prescription, the prescription interface unit parses the medication information. When the matching engine queries the knowledge base, it finds that nitroglycerin tablets are an emergency medication. The recommended matching rule is: a portable pillbox (for easy carrying), with the added message "Emergency medication, please inform the patient to carry this with them." The electronic blood pressure monitor is a medical device, and the system records its brand and model information for inventory management. The complete item list generated by the system includes: 1 box of enteric-coated aspirin tablets, 1 box of atorvastatin calcium tablets, 1 bottle of nitroglycerin tablets, 1 portable pillbox, and 1 electronic blood pressure monitor, with the added message "Nitroglycerin is an emergency medication; please instruct the patient on proper use and storage."

[0093] The control unit allocates empty trays and generates a sequence of pickup instructions. All three medications are packaged in boxes or bottles; the robotic arm uses either a suction cup or a flexible gripper to pick them up and place them on the tray. The portable pillbox and electronic blood pressure monitor are small medical devices, but are relatively large (the blood pressure monitor is approximately 150 mm × 100 mm × 50 mm). The robotic arm uses a flexible gripper with a set gripping force of 4 N to ensure stable handling. Due to their large size, they occupy a significant amount of space on the tray.

[0094] The verification station scans the barcodes of all items; for electronic blood pressure monitors, the serial number needs to be scanned for unique verification. After verification, the tray is sent to the packaging station. When the pharmacist retrieves the items, the system screen displays a "Nitroglycerin emergency medication" prompt. The pharmacist explains the usage of the three medications to the patient in detail: aspirin and atorvastatin need to be taken regularly and long-term, and should not be stopped arbitrarily; nitroglycerin should be carried at all times and taken sublingually during an angina attack. If it is ineffective after 5 minutes, another tablet can be taken, up to a maximum of three tablets. If it is still ineffective, immediate medical attention is required. The pharmacist also demonstrates how to use the electronic blood pressure monitor and instructs the patient to measure and record their blood pressure at a fixed time every day.

[0095] This embodiment demonstrates the invention's comprehensive management capabilities for long-term medication prescriptions and medical devices. The system can automatically identify emergency medications and generate special prompts, while also supporting serial number management and inventory records for medical devices such as electronic blood pressure monitors, achieving integrated dispensing of medications and medical devices.

[0096] Example 5: Emergency Department - Prescription for Acute Gastroenteritis Patient Sun, 24 years old, visited the emergency department for acute gastroenteritis and needed immediate medication. The doctor prescribed: Oral rehydration salts III 5 sachets (1 sachet three times a day), montmorillonite powder 3 boxes (1 sachet three times a day), berberine hydrochloride tablets 1 box (2 tablets three times a day). Two 10 mL syringes were also prescribed (for administering to children; the patient was an adult, but the doctor considered the severe vomiting and recommended administering small amounts frequently using syringes).

[0097] Emergency prescriptions have extremely high time requirements, and patients usually want to receive their medication as quickly as possible. This device activates a priority processing mode upon receiving an emergency prescription.

[0098] After receiving the prescription, the prescription interface unit parses the drug information. The matching engine queries the knowledge base and finds that Oral Rehydration Salts III is a powder, requiring a measuring cup; Montmorillonite powder is a powder, requiring a stirring rod; Berberine Hydrochloride Tablets are tablets, which can be dispensed normally. Meanwhile, the prescription clearly specifies a 10 mL syringe, which the system directly includes in the item list without further matching. The complete item list generated by the system includes: 5 sachets of Oral Rehydration Salts III, 1 measuring cup, 3 boxes of Montmorillonite powder, 1 stirring rod, 1 box of Berberine Hydrochloride Tablets, and 2 10 mL syringes.

[0099] Due to the urgency of emergency prescriptions, the control unit's scheduling module prioritizes these prescriptions, placing the pickup instruction sequence at the front of the queue. The robotic arm immediately begins grasping: Oral rehydration salts III, a soft, bagged item, are grasped using electrostatic adsorption; measuring cups and stirring rods, small plastic implements, are grasped using flexible grippers; montmorillonite powder, a boxed medication, is grasped using a suction cup; berberine hydrochloride tablets, also a boxed medication, are grasped using a suction cup; and syringes, needle-like items, are grasped using flexible grippers. The robotic arm's movement path has been optimized, reducing the total grasping time to 20 seconds.

[0100] The verification station quickly completes barcode scanning and weighing, and the entire process, from prescription receipt to tray delivery to the packaging station, takes only 38 seconds. When the patient arrives at the packaging station, the medication is ready. The pharmacist quickly verifies the medication and delivers it to the patient, briefly explaining the usage: oral rehydration salts should be taken according to the instructions, montmorillonite powder should be taken 2 hours apart from other medications, and if vomiting is severe, it can be administered in small, frequent doses using a syringe.

[0101] This embodiment demonstrates the invention's rapid response capability for emergency prescriptions. Through a priority scheduling mechanism and optimized robotic arm path planning, the manual medication dispensing process, which typically takes several minutes, is reduced to less than 40 seconds, significantly shortening the waiting time for emergency patients. This is particularly suitable for medical scenarios with high time sensitivity.

[0102] As can be seen from the five embodiments above, this invention can flexibly meet the dispensing needs of different departments, different patient groups, and different types of drugs. Whether it is long-term medication for chronic diseases, high-risk chemotherapy drugs, pediatric preparations, long-term medication combined with medical devices, or rapid dispensing in the emergency department, this device can automatically generate a complete item list through an intelligent matching system, reliably grasp items of various shapes through an adaptive gripping head, and complete the dispensing in one go through an integrated output system, significantly improving pharmacy work efficiency and patient medication safety.

[0103] Several points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection" and "linkage" should be interpreted broadly, and can be mechanical or electrical connection, or internal connection between two components, or direct connection. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may change.

[0104] The above description is only a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. Any equivalent modifications or changes made by those skilled in the art based on the content disclosed in the present invention should be included within the scope of protection set forth in the claims.

Claims

1. An integrated full-category medication dispensing device based on intelligent matching and adaptive grasping, characterized in that, include: Server rack; Multiple modular drug storage units are installed inside the cabinet door of the cabinet. The modular drug storage units include boxed drug storage units, bottled drug and syringe drug storage units, and flexible item drug storage units. A three-dimensional mobile robotic arm is positioned in front of the cabinet, and a composite adaptive gripping head is also provided at the end of the three-dimensional mobile robotic arm. A circular combined conveyor belt is installed at the bottom of the cabinet. Multiple cargo pallets are installed on the circular combined conveyor belt, and loading station, verification station and packaging station are sequentially arranged on the circular combined conveyor belt. The control unit, located inside the base of the cabinet, is used for communication with the hospital prescription system; The control unit is used to receive electronic prescription information, generate a list of medicines and supporting equipment according to preset matching rules, and control the robotic arm to drive the composite adaptive gripper head to take out the target item from the corresponding multiple modular medicine storage units and place it in the cargo tray. The circular combined conveyor belt is used to drive the cargo pallet to pass sequentially through the loading station, the verification station and the packaging station. The verification station is used to automatically verify the items in the carrying tray and, after verification, complete the integrated output of the items corresponding to the prescription.

2. The integrated full-category dispensing device based on intelligent matching and adaptive grasping according to claim 1, characterized in that: The control unit includes a prescription parsing module, a matching engine module, a scheduling module, and a database module. The matching engine module includes a basic matching rule base, a dose association rule base, and a patient characteristic rule base. The prescription parsing module is used to parse the drug information in the electronic prescription; the matching engine module is used to generate a list of drugs and related equipment based on the drug information, dosage information and patient information; the scheduling module is used to generate the corresponding pickup instruction sequence; and the database module is used to store prescription information, inventory information and dispensing record information.

3. The integrated full-category dispensing device based on intelligent matching and adaptive grasping according to claim 1, characterized in that: The boxed medicine storage unit includes multiple storage channels formed by adjustable partitions, and the position of the adjustable partitions is adjusted by a sliding groove and a locking mechanism; The boxed medicine storage unit also includes a spring-driven mechanism disposed at the bottom of the storage channel, and the front end of the spring-driven mechanism is connected to a pusher slider; The boxed medicine storage unit also includes an electrically controlled baffle located at the front end of the medicine storage channel, and the electrically controlled baffle is connected to a micro stepper motor.

4. The integrated full-category dispensing device based on intelligent matching and adaptive grasping according to claim 1, characterized in that: The bottled medicine and syringe medicine storage unit includes multiple drawer trays and rotating wheels adapted to the trays; The drawer-type tray is provided with multiple placement holes; the rotating dial is provided with a groove that matches the top placement hole; and a micro motor is provided at the bottom center of the rotating dial mechanism to drive the rotating dial to rotate so that the groove is aligned with the placement hole to release the medicine. A receiving slot for receiving released items is provided on one side of the rotary dial mechanism. A cylinder is also provided on the other side of the drawer-type tray to drive the corresponding drawer-type tray to extend a preset distance along the guide rail, so that the target drawer-type tray and the stacked drawer-type trays are arranged in a staggered manner.

5. The integrated full-category dispensing device based on intelligent matching and adaptive grasping according to claim 1, characterized in that: The flexible medicine storage unit includes a stacked hopper, a paper-feeding roller at the bottom of the hopper, a pressing roller inside the hopper, and a receiving trough on one side of the bottom of the hopper. One side of the paper-feeding roller is connected to a motor to drive the paper-feeding roller to separate flexible medical consumables one by one and transport them to the picking position.

6. The integrated full-category dispensing device based on intelligent matching and adaptive grasping according to claim 1, characterized in that: The composite adaptive gripper head includes a rotating platform and a vacuum adsorption module, a flexible clamping module and a flexible pickup module disposed on the rotating platform; The rotating platform is used to drive each gripping module to switch to its working position.

7. An integrated full-category dispensing device based on intelligent matching and adaptive grasping according to claim 6, characterized in that: The vacuum adsorption module includes multiple vacuum suction cups of different sizes and a vacuum detection sensor. The flexible clamping module includes at least two flexible clamping fingers, a driving component, and a force detection sensor; The flexible pickup module includes a flexible pickup pad, an electrostatic generator, and medical adhesive on the surface of the pickup pad to form a dual-mode pickup structure of electrostatic adsorption and negative pressure adsorption.

8. The integrated full-category dispensing device based on intelligent matching and adaptive grasping according to claim 1, characterized in that: A visual recognition system is installed on the composite adaptive gripper head; The visual recognition system includes an industrial camera, a 3D contour detection device, and an embedded image processor. The embedded image processor is used to determine the category, size, and pose information of the target item based on the image information acquired by the industrial camera and the contour information acquired by the 3D contour detection device.

9. An integrated full-category dispensing device based on intelligent matching and adaptive grasping according to claim 1, characterized in that: The control unit automatically matches the corresponding grasping module based on the visual recognition results, and adjusts the grasping parameters in real time based on the feedback results from the vacuum detection sensor and the force detection sensor. When a capture failure is detected, the control unit automatically switches the capture parameters or switches the capture module and then re-executes the capture action.

10. An integrated full-category dispensing device based on intelligent matching and adaptive grasping according to claim 1, characterized in that: The surface of the cargo tray is provided with multiple groove structures for positioning different items, and the cargo tray is also provided with an electronic tag for storing the tray's identification information; The verification station includes a barcode scanning device, a weighing device, and a visual verification device, which are used to scan, weigh, and photograph items that pass through the pallet. The control unit acquires the barcode verification result, weight verification result, and visual verification result respectively, and determines whether the verification passes or fails based on preset conditions. The control unit is used to record prescription information, matching results, capture records, review records, and medication collection records, and to establish a traceability file associated with the corresponding prescription; The circular combined conveyor belt is also equipped with an empty pallet return station; The empty pallet return station includes a first lifting platform located downstream of the packaging station, a horizontal return conveyor belt located at the bottom of the conveyor belt, and a second lifting platform located below the loading station. The first lifting platform is used to receive the empty pallet after the medicine is taken and lower it to the horizontal return conveyor belt, and the horizontal return conveyor belt is used to transport the empty pallet to the second lifting platform.

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