Medicament bottle transferring device applied to traditional Chinese medicine granule dispensing equipment

Abstract

The utility model discloses a medicament bottle transfer device applied to a traditional Chinese medicine granule dispensing device, which comprises a first rotary mechanism, a second rotary mechanism, a first driving mechanism and a second driving mechanism, the first linear motion mechanism is mounted on the first rotary mechanism and can do rotary motion around a first rotary center line based on the first rotary mechanism; the second linear motion mechanism is mounted on the first linear motion mechanism and can do linear reciprocating motion perpendicular to the first rotation center line based on the first linear motion mechanism; the grabbing device is installed on the second linear motion mechanism and can do linear reciprocating motion parallel to the first rotation center line based on the second linear motion mechanism. Wherein the grabbing device is used for grabbing medicament bottles. After the medicament bottle transfer device is mounted in the center of dispensing equipment designed by an applicant, the medicament bottle transfer device can transfer medicament bottles in the dispensing equipment and can automatically transfer the medicament bottles between a dispensing station and a weighing station on a dispensing panel.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic dispensing of traditional Chinese medicine granules, in particular to a medicine bottle transfer device used in traditional Chinese medicine granule dispensing equipment. Background Art

[0002] Although the automated Chinese medicine granule dispensing equipment can replace the manual preparation of Chinese medicine, it still needs to rely on manual operation in the process of taking and placing the medicine bottle. For example, when dispensing Chinese medicine, the staff needs to take the medicine bottle from the medicine cabinet, then move to the vicinity of the dispensing equipment, weigh the medicine bottle and place it at the dispensing station of the dispensing equipment, and then the dispensing equipment automatically completes the dispensing, packaging and other actions. After completion, the staff also needs to take the medicine bottle from the dispensing station, then move to the medicine cabinet, and put the medicine bottle back to the original storage position. Among them, the structure of the above-mentioned medicine cabinet can be found in the Chinese patent with publication number CN109567429A. The layout of the medicine cabinet is a planar array layout, and the above-mentioned dispensing equipment can be found in the Chinese patent with publication number CN117302608A.

[0003] It can be seen that in the above process, although the actions of dispensing and packaging are completed automatically, the process of taking and placing the medicine bottles is not automated and still needs to be completed manually.

[0004] In this regard, the applicant believes that it is necessary to improve the automation level of the entire operation process and automate the process of taking and placing medicine bottles to further save labor and improve work efficiency. Therefore, the applicant designed a dispensing system that can automate the entire process. Utility Model Content

[0005] In the fully automated dispensing system designed by the applicant, the dispensing system includes a medicine cabinet and a dispensing device. The medicine cabinet is enclosed, and the dispensing device is arranged in the enclosed medicine cabinet, wherein the dispensing device is provided with a dispensing station and a weighing station. When dispensing Chinese medicine granules, a manipulator needs to grab the medicine bottle from the inside of the medicine cabinet, and then place it on the dispensing station to perform the dispensing action. After the dispensing is completed, the manipulator puts the medicine bottle back into the medicine cabinet. During this period, the medicine bottle may need to be placed on the weighing station for weighing, depending on the situation, so that the background system can determine whether the amount of dispensing is accurate and know the remaining amount of medicine in the medicine bottle after dispensing. In this regard, the technical problem to be solved by the utility model is to provide a medicine bottle transfer device to transfer medicine bottles between the dispensing station and the weighing station.

[0006] The technical solution adopted by the utility model to solve its technical problems is: providing a medicine bottle transfer device used in a Chinese medicine granule dispensing device, which includes a grasping device, which is used to grasp the medicine bottle and can transfer the medicine bottle from being vertically placed at one workstation to being vertically placed at another workstation.

[0007] Preferably, the medicine bottle transfer device further comprises a first rotary mechanism, a first linear motion mechanism and a second linear motion mechanism;

[0008] The first rotary mechanism has a first rotary centerline;

[0009] The first linear motion mechanism is installed on the first rotary mechanism, and can perform rotary motion around the first rotary center line based on the first rotary mechanism;

[0010] The second linear motion mechanism is installed on the first linear motion mechanism, and can perform linear reciprocating motion perpendicular to the first rotation center line based on the first linear motion mechanism;

[0011] The grabbing device is mounted on the second linear motion mechanism, and can perform linear reciprocating movement parallel to the first rotation center line based on the second linear motion mechanism;

[0012] Wherein, the gripping device can transfer the medicine bottle from being vertically placed at one of the workstations to being vertically placed at another workstation based on the coordinated movement of the second linear motion mechanism, the first linear motion mechanism and the first rotary mechanism.

[0013] Preferably, the first rotating mechanism includes a second motor and a first turntable; the second motor is arranged below the first turntable to drive the first turntable to rotate around the first rotation center line; the first linear motion mechanism is installed on the top of the first turntable.

[0014] Preferably, the first linear motion mechanism is a first synchronous belt module, and the first synchronous belt module is driven by a third motor; the second linear motion mechanism is fixed to the synchronous belt in the first synchronous belt module.

[0015] Preferably, the second linear motion mechanism is a rack and pinion mechanism, which includes a first rack, a first gear and a fourth motor; the first rack is fixed to the grasping device, and the extension direction of the first rack is parallel to the first rotation center line; the first gear is meshed with the first rack; the output shaft of the fourth motor is connected to the first gear to drive the first gear to rotate, and the fourth motor is relatively fixed to the moving part of the first linear motion mechanism.

[0016] Preferably, the rack and pinion mechanism further comprises a guide rod, the guide rod is mounted on the moving part of the first linear motion mechanism through a first mounting seat, and the extending direction of the guide rod is parallel to the first rotation center line, and the fourth motor is fixed on the first mounting seat;

[0017] The grabbing device is provided with a guide hole matched with the guide rod, and the guide hole is penetrated by the guide rod to limit the grabbing device to only be able to make a linear reciprocating movement parallel to the first rotation center line.

[0018] Preferably, the gripping device comprises a housing, an airbag and an airbag pipeline;

[0019] The bottom of the shell is provided with a bottle accommodating cavity, and the bottle accommodating cavity allows the medicine bottle to be partially placed therein;

[0020] The air bag is arranged on the inner wall of the bottle body accommodating cavity;

[0021] The airbag pipeline is in communication with the airbag and is used to inflate or deflate the airbag;

[0022] When the airbag is inflated, it can clamp the medicine bottle placed in the bottle accommodating cavity.

[0023] Preferably, a first sensor is provided on the top of the bottle body accommodating cavity, and a second sensor is provided on the side of the bottom; the first sensor is used to detect whether the medicine bottle is properly placed in the bottle body accommodating cavity, and the second sensor is used to detect whether the medicine bottle is completely detached from the bottle body accommodating cavity.

[0024] Preferably, there are multiple airbags, and the multiple airbags are distributed around the inner wall of the bottle body accommodating cavity.

[0025] Preferably, a plurality of guide limit plates are provided in the bottle accommodating cavity, and the plurality of guide limit plates are distributed around the inner wall of the bottle accommodating cavity to guide the medicine bottle so that the medicine bottle can be placed in the bottle accommodating cavity along the central axis of the bottle accommodating cavity.

[0026] The beneficial effects of the utility model are:

[0027] After the medicine bottle transfer device of the utility model is installed in the center of the dispensing equipment designed by the applicant, it can undertake the work of transferring medicine bottles in the dispensing equipment and can automatically transfer medicine bottles between the dispensing station and the weighing station on the dispensing panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1This is a state diagram of the medicine bottle transfer device provided by the embodiment of the utility model when it is working;

[0029] Figure 2 It is a structural schematic diagram of a medicine bottle transfer device provided by an embodiment of the utility model;

[0030] Figure 3 yes Figure 2 Exploded diagram of

[0031] Figure 4 yes Figure 2 An isolated view of the rack and pinion mechanism and the gripping device;

[0032] Figure 5 yes Figure 2 An isolated view of the gripping device in the middle;

[0033] Figure 6 Yes Figure 5 A view of the internal structure of the grabbing device after cutting along the symmetry plane. DETAILED DESCRIPTION

[0034] The present invention will be further described in detail below in conjunction with specific embodiments, but the implementation methods of the present invention are not limited thereto.

[0035] In the fully automated dispensing system designed by the applicant, the dispensing system includes a medicine cabinet and a dispensing device. The medicine cabinet is enclosed, and the dispensing device is arranged in the enclosed medicine cabinet. The dispensing device includes a dispensing panel d1, see Figure 1 , a plurality of dispensing stations d2 and a plurality of weighing stations d3 are arranged on the dispensing panel d1, and the plurality of dispensing stations d2 are distributed along a circular path, and the plurality of weighing stations d3 are evenly distributed in a circular shape on the inner side of the plurality of dispensing stations d2. When dispensing Chinese medicine granules, the manipulator needs to grab the medicine bottle p from the inner side of the medicine cabinet, and then place it on the dispensing station d2 to perform the dispensing action. After the dispensing is completed, the manipulator puts the medicine bottle p back into the medicine cabinet. During this period, the medicine bottle p may need to be placed on the weighing station d3 for weighing, depending on the situation, so that the background system can determine whether the amount of dispensing is accurate and know the remaining amount of medicine in the medicine bottle p after dispensing.

[0036] In this regard, in order to facilitate the transfer of medicine bottles p between the above-mentioned dispensing station d2 and the weighing station d3, the utility model provides a medicine bottle transfer device used in the Chinese medicine granule dispensing equipment, and the medicine bottle transfer device e includes a gripping device g, and the gripping device g is used to grip the medicine bottle and can transfer the medicine bottle from being vertically placed in one station to being vertically placed in another station. That is, for example, the gripping device g can grip the medicine bottle and transfer the medicine bottle from being vertically placed in a certain dispensing station d2 to being vertically placed in a certain weighing station d3, or, from being vertically placed in a certain weighing station d3 to being vertically placed in a certain dispensing station d2.

[0037] For more details, see Figure 1 and Figure 2 The medicine bottle transfer device e also includes a first rotating mechanism e1, a first linear motion mechanism and a second linear motion mechanism.

[0038] See also Figure 2 and Figure 3 , the first rotary mechanism e1 has a first rotary center line z1. Figure 1 When the first rotary mechanism e1 is installed at the center of the adjustment panel d1, the first rotary center line z1 is collinear with the axis z. The axis z is the center line of the entire adjustment device and extends vertically.

[0039] The first linear motion mechanism is installed on the first rotary mechanism e1, and the first rotary mechanism e1 can drive the first linear motion mechanism to perform rotary motion around the first rotary center line z1.

[0040] The second linear motion mechanism is installed on the first linear motion mechanism, and the first linear motion mechanism can drive the second linear motion mechanism to perform horizontal linear reciprocating movement perpendicular to the first rotation center line z1.

[0041] The grabbing device g is installed on the second linear motion mechanism, and the second linear motion mechanism can drive the grabbing device g to make vertical linear reciprocating movements parallel to the first rotation center line z1.

[0042] The above-mentioned adjustment device includes an adjustment panel d1, see Figure 1 The adjusting panel d1 is provided with a plurality of adjusting stations d2 and a plurality of weighing stations d3. The adjusting station d2 can vertically place the medicine bottle p, and is used to perform the adjusting and unloading steps, so that the Chinese medicine particles in the medicine bottle p are quantitatively adjusted into the packaging belt below the adjusting station d2. The weighing station d3 can also vertically place the medicine bottle p, and is used to perform the weighing step, so as to weigh the weight of the Chinese medicine particles in the medicine bottle p.

[0043] When the first rotating mechanism e1 is installed in the center of the dispensing panel d1, the grasping device g can grasp the medicine bottle p, and then transfer the medicine bottle p from a certain dispensing station d2 to a certain weighing station d3 or transfer the medicine bottle p from a certain weighing station d3 to a certain dispensing station d2 based on the coordinated movement of the second linear motion mechanism, the first linear motion mechanism and the first rotating mechanism e1.

[0044] In some embodiments, see Figure 3 The first rotary mechanism e1 includes a second motor e11 and a first turntable e12. The second motor e11 is arranged below the first turntable e12 to drive the first turntable e12 to rotate around the first rotation center line z1. The first linear motion mechanism is installed on the top of the first turntable e12.

[0045] The first turntable e12 can be selected from the existing turntables, or can be customized based on the structure of the existing turntable. That is, the first turntable e12 used in the present invention usually adopts the turntable of the prior art, so the present application does not provide a detailed description of the structure and working principle of the first turntable e12. Usually, the second motor e11 can be connected to the first turntable e12 through transmission components such as a reducer and gears.

[0046] It should also be noted that, under reasonable and applicable circumstances, the first turntable e12 may also adopt a turntable of a non-existing structural form, as long as it can drive the first linear motion mechanism installed on the turntable to perform a rotational motion.

[0047] In some embodiments, see Figures 1 to 3 The first linear motion mechanism is a first synchronous belt module e2, which is mounted on the rotating part of the first turntable e12 and driven by a third motor e22. The second linear motion mechanism is fixed to the synchronous belt (not shown) in the first synchronous belt module e2 through a first mounting seat e35.

[0048] Therefore, when the third motor e22 is working, it will drive the synchronous belt in the first synchronous belt module e2 to operate, and then can drive the second linear motion mechanism to make a linear reciprocating movement perpendicular to the first rotation center line z1 through the first mounting seat e35.

[0049] In some other embodiments, the first linear motion mechanism may also be a lead screw module or other commonly used linear motion mechanisms.

[0050] In some embodiments, see Figure 3 and Figure 4The second linear motion mechanism is a rack and pinion mechanism e3, which includes a first rack e31, a first gear e32, a fourth motor e33 and the above-mentioned first mounting seat e35.

[0051] The first rack e31 is fixed to the gripping device g, and the extending direction of the first rack e31 is parallel to the first rotation center line z1. The first gear e32 is meshed with the first rack e31. The output shaft of the fourth motor e33 is connected to the first gear e32 to drive the first gear e32 to rotate, and the fourth motor e33 is installed on the first mounting seat e35. The first mounting seat e35 is relatively fixed to the synchronous belt in the first synchronous belt module e2, and can be driven by the synchronous belt to make linear reciprocating movements.

[0052] Therefore, when the fourth motor e33 is working, it can drive the first gear e32 to rotate, and the first gear e32 can drive the first rack e31 meshing therewith to move linearly. Since the extension direction of the first rack e31 is parallel to the first rotation center line z1, the movement of the first rack e31 will drive the grasping device g fixed thereto to make a vertical linear reciprocating movement parallel to the first rotation center line z1.

[0053] For further information, see Figure 3 and Figure 4 The gear rack mechanism e3 further includes a guide rod e34, which is mounted on the first mounting seat e35, and the extension direction of the guide rod e34 is parallel to the first rotation center line z1. At the same time, the grasping device g is provided with a guide hole g12 adapted to the guide rod e34, and the guide hole g12 is penetrated by the guide rod e34, so as to limit the grasping device g to move only along the guide rod e34.

[0054] There are four guide rods e34 in the figure, and the four guide rods e34 are distributed in a rectangular shape. Correspondingly, four guide holes g12 are provided on the grasping device g, and each guide hole g12 is penetrated by a guide rod e34.

[0055] Therefore, under the cooperation restriction of each guide hole g12 and each guide rod e34, it is ensured that the grasping device g will not deviate when moving, and can only make vertical linear reciprocating movements parallel to the first rotation center line z1.

[0056] In some embodiments, see Figure 5 and Figure 6 The gripping device g comprises a housing g1, an airbag g2 and an airbag pipeline g3. The bottom of the housing g1 is provided with a bottle accommodating cavity g11, and the bottle accommodating cavity g11 allows the bottom of the medicine bottle p to be placed therein, see Figure 4 The airbag g2 is arranged on the inner wall of the bottle body accommodating cavity g11. The airbag pipeline g3 is arranged in the shell g1, and the airbag pipeline g3 is connected with the airbag g2, and is used to inflate or deflat the airbag g2. When the airbag g2 is inflated, it can clamp the bottom of the medicine bottle p placed in the bottle body accommodating cavity g11.

[0057] Furthermore, the number of the airbags g2 is multiple, and the multiple airbags g2 are distributed around the inner wall of the bottle body accommodating cavity g11. Figure 5 The number of the airbags g2 is eight, and the eight airbags g2 are distributed in four areas of the inner wall of the bottle body accommodating cavity g11 in groups of two, wherein the two airbags g2 in each area are distributed in an upper and lower arrangement.

[0058] The airbag pipeline g3 includes a main pipeline and multiple branch pipelines, one end of the main pipeline can be connected to the air pump through a hose, and the other end is connected to each branch pipeline, and each branch pipeline is respectively connected to each airbag g2. The airbag pipeline g3 can be a pipeline integrally formed with the shell g1, or a separate independent pipeline inserted in the shell g1, or a combination of the two.

[0059] Therefore, when the bottle body accommodating cavity g11 is sleeved on the periphery of the bottom of the medicine bottle p, the eight airbags g2 are inflated at the same time, and the eight airbags g2 can be used to clamp the bottom of the medicine bottle p from four directions. The eight airbags g2 clamp the medicine bottle p from four directions at the same time, which can ensure that the outer wall of the medicine bottle p is evenly stressed, and avoid the situation where the medicine bottle p is pushed away from the original position by the airbags. At the same time, since the airbag g2 is used for clamping, it has a certain flexibility after clamping. When the airbag g2 clamps the medicine bottle p and puts the medicine bottle p into the dispensing station d2 or the weighing station d3, if there is a slight deviation, the medicine bottle p can be deflected to a certain extent based on the flexible characteristics of the airbag g2 clamping, so that the medicine bottle p can be smoothly inserted into the dispensing station d2 or the weighing station d3. In detail, the outer wall of the bottle cap p2 of the medicine bottle p is provided with two groups of driving protrusions p22 (see Figure 4 ), a positioning groove d322 matching the driving protrusion p22 is provided in the adjusting station d2 or the weighing station d3 (see Figure 1 ), under normal circumstances, when the medicine bottle p is placed in the dispensing station d2 or the weighing station d3, the driving protrusion p22 should be aligned with the positioning groove d322. However, if the driving protrusion p22 is not completely aligned with the positioning groove d322, but there is a slight deviation, and the deviation is within the allowable range, then the medicine bottle p can be slightly twisted relative to the airbag g2 during the placement process, and after the twisting, it can be aligned with the positioning groove d322, so that the medicine bottle p can be smoothly inserted into the dispensing station d2 or the weighing station d3.

[0060] In order to facilitate the detection of the position status of the medicine bottle p, in some embodiments, see Figure 5 The top of the bottle accommodating cavity g11 is provided with a first sensor g4, and the side of the bottom is provided with a second sensor g5. The first sensor g4 is used to detect whether the medicine bottle p is properly placed in the bottle accommodating cavity g11 when grabbing the medicine bottle p. The second sensor g5 is used to detect whether the medicine bottle p is completely out of the bottle accommodating cavity g11 when releasing the medicine bottle p.

[0061] Preferably, the first sensor g4 is a reflective photoelectric sensor, which can detect the distance between the bottom of the medicine bottle p and the top surface of the bottle body accommodating cavity g11 when grabbing the medicine bottle p, and then determine whether the medicine bottle p is placed in the bottle body accommodating cavity g11.

[0062] Preferably, the second sensor g5 is a beam-type infrared sensor, which is composed of a transmitter and a receiver, and the transmitter and the receiver are respectively arranged on the left and right sides of the bottom of the bottle body accommodating cavity g11. When the medicine bottle p is released, when the receiver receives the infrared ray emitted by the transmitter, it indicates that the medicine bottle p has completely left the bottle body accommodating cavity g11.

[0063] Of course, the first sensor g4 and the second sensor g5 are not limited to the above-mentioned types of sensors. In some other embodiments, the first sensor g4 and the second sensor g5 may also be other types of applicable sensors.

[0064] In some embodiments, see Figure 6 A third sensor g6 is also provided at the center of the top of the bottle body accommodating cavity g11. The third sensor g6 is used to read the RFID tag provided at the bottom of the bottle body of the medicine bottle p. The RFID tag has the name information of the medicine stored in the medicine bottle p. The third sensor g6 can determine whether the medicine bottle p grasped by the grasping device g is correct by reading the RFID tag to avoid grasping the wrong one.

[0065] In some embodiments, a plurality of guide limit plates g13 are provided in the bottle body accommodating cavity g11, and the plurality of guide limit plates g13 are distributed around the inner wall of the bottle body accommodating cavity g11, so as to guide the medicine bottle p, so that the medicine bottle p can be inserted into the bottle body accommodating cavity g11 along the central axis of the bottle body accommodating cavity g11 to avoid deviation from the predetermined position.

[0066] For details, see Figure 5, four guide limit plates g13 are arranged in the bottle body accommodating cavity g11, and the four guide limit plates g13 are distributed in four positions of the front, back, left and right of the bottle body accommodating cavity g11. The bottom of the guide limit plate g13 is formed with an inclined surface, and the setting of the inclined surface can allow a certain deviation of the grasped medicine bottle p, and at the same time, the inclined surface is also conducive to the smooth insertion of the medicine bottle p into the area defined by the four guide limit plates g13. In addition, when the airbag g2 is not inflated (that is, when the airbag g2 is in a contracted state), the protruding height of the guide limit plate g13 is greater than the protruding height of the airbag g2 (that is, the guide limit plate g13 is closer to the central axis of the bottle body accommodating cavity g11 than the contracted airbag g2), so as to ensure that the medicine bottle p will not contact the uninflated airbag g2 during the process of being inserted into the bottle body accommodating cavity g11, and prevent the airbag g2 from sticking to the outer wall of the medicine bottle p, affecting the smooth insertion of the medicine bottle p.

[0067] During installation, the medicine bottle transfer device e of the utility model needs to be installed in the center of the dispensing equipment designed by the applicant, wherein the dispensing equipment includes a dispensing panel d1, and an installation area is reserved in the middle of the dispensing panel d1. The first turntable e12 of the medicine bottle transfer device e is installed in the installation area. After installation, the first rotation center line z1 of the first rotating mechanism e1 is colinear with the axis z, and the axis z is the center line of the dispensing equipment and extends vertically.

[0068] Among them, see Figure 1 A plurality of adjusting stations d2 and a plurality of weighing stations d3 are arranged on the adjusting panel d1. The plurality of adjusting stations d2 are distributed in a ring shape around the axis z, and the plurality of weighing stations d3 are also distributed in a ring shape around the axis z, and each weighing station d3 is evenly distributed on the inner side of the adjusting station d2.

[0069] The task of the medicine bottle transfer device e of the present invention is to transfer the medicine bottle p between the dispensing station d2 and the weighing station d3. Figure 1 , the working process of the medicine bottle transfer device e is roughly as follows:

[0070] First, the first rotating mechanism e1 of the medicine bottle transfer device e works, driving the grasping device g to rotate to a position in the same radial direction as the medicine bottle p to be grasped;

[0071] Afterwards, the first synchronous belt module e2 works, driving the grabbing device g to move radially to just above the medicine bottle p to be grabbed;

[0072] Then, the gear rack mechanism e3 works in the forward direction, driving the gripping device g to move downward and causing the bottle receiving cavity g11 to fit over the bottom of the medicine bottle p;

[0073] Afterwards, all the airbags g2 of the gripping device g are inflated, and after the airbags g2 are inflated, the bottom of the medicine bottle p is clamped from four directions;

[0074] Then, the gear rack mechanism e3 works in the reverse direction, driving the grabbed medicine bottle p to move upward;

[0075] Afterwards, the first synchronous belt module e2 works to drive the grabbed medicine bottle p to move radially to a position with the same radius as the corresponding station (dispensing station d2 or weighing station d3);

[0076] Then, the first rotary mechanism e1 works, driving the grabbed medicine bottle p to rotate to just above the corresponding workstation;

[0077] Afterwards, the gear rack mechanism e3 works forward, driving the grabbed medicine bottle p to move downward and clamp it into the corresponding station above;

[0078] Finally, the airbag g2 of the grasping device g is evacuated to release the grasping of the medicine bottle p, and then the gear rack mechanism e3 is made to work in the reverse direction to drive the grasping device g to move upward and away from the medicine bottle p.

[0079] It can be seen that the medicine bottle transfer device e of the utility model can undertake the task of transferring medicine bottles p in the dispensing equipment designed by the applicant, and can automatically transfer medicine bottles p between the dispensing station d2 and the weighing station d3 on the dispensing panel d1.

[0080] The above description is only the preferred implementation of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A medicine bottle transfer device used in a Chinese medicine granule dispensing device, characterized in that: The invention comprises a gripping device (g), wherein the gripping device (g) is used to grip a medicine bottle and transfer the medicine bottle from being vertically placed at one of the workstations to being vertically placed at another workstation; The medicine bottle transfer device also includes a first rotary mechanism (e1), a first linear motion mechanism and a second linear motion mechanism; The first rotating mechanism (e1) has a first rotating center line (z1); The first linear motion mechanism is installed on the first rotary mechanism (e1), and can perform rotary motion around the first rotary center line (z1) based on the first rotary mechanism (e1); The second linear motion mechanism is installed on the first linear motion mechanism, and can perform linear reciprocating movement perpendicular to the first rotation center line (z1) based on the first linear motion mechanism; The grabbing device (g) is installed on the second linear motion mechanism, and can make a linear reciprocating movement parallel to the first rotation center line (z1) based on the second linear motion mechanism; The gripping device (g) can transfer the medicine bottle from being vertically placed at one of the workstations to being vertically placed at another workstation based on the coordinated movement of the second linear motion mechanism, the first linear motion mechanism and the first rotary mechanism (e1).

2. The medicine bottle transfer device used in the Chinese medicine granule dispensing equipment according to claim 1 is characterized in that: The first rotating mechanism (e1) comprises a second motor (e11) and a first turntable (e12); the second motor (e11) is arranged below the first turntable (e12) to drive the first turntable (e12) to perform a rotational motion around the first rotation center line (z1); the first linear motion mechanism is installed on the top of the first turntable (e12).

3. The medicine bottle transfer device used in the Chinese medicine granule dispensing equipment according to claim 1 is characterized in that: The first linear motion mechanism is a first synchronous belt module (e2), and the first synchronous belt module (e2) is driven by a third motor (e22); the second linear motion mechanism is fixed to the synchronous belt in the first synchronous belt module (e2).

4. The medicine bottle transfer device used in the Chinese medicine granule dispensing equipment according to claim 1 is characterized in that: The second linear motion mechanism is a rack and pinion mechanism (e3), which includes a first rack (e31), a first gear (e32) and a fourth motor (e33); the first rack (e31) is fixed to the grasping device (g), and the extension direction of the first rack (e31) is parallel to the first rotation center line (z1); the first gear (e32) is meshed with the first rack (e31); the output shaft of the fourth motor (e33) is connected to the first gear (e32) to drive the first gear (e32) to rotate, and the fourth motor (e33) is relatively fixed to the moving part of the first linear motion mechanism.

5. The medicine bottle transfer device used in the Chinese medicine granule dispensing equipment according to claim 4 is characterized in that: The gear rack mechanism (e3) further comprises a guide rod (e34), wherein the guide rod (e34) is mounted on the moving part of the first linear motion mechanism through a first mounting seat (e35), and an extending direction of the guide rod (e34) is parallel to the first rotation center line (z1), and the fourth motor (e33) is fixed on the first mounting seat (e35); The grasping device (g) is provided with a guide hole (g12) adapted to the guide rod (e34), and the guide hole (g12) is penetrated by the guide rod (e34) to limit the grasping device (g) to only be able to make a linear reciprocating movement parallel to the first rotation center line (z1).

6. The medicine bottle transfer device used in the Chinese medicine granule dispensing equipment according to claim 1 is characterized in that: The gripping device (g) comprises a housing (g1), an airbag (g2) and an airbag pipeline (g3); The bottom of the housing (g1) is provided with a bottle accommodating cavity (g11), and the bottle accommodating cavity (g11) allows the medicine bottle to be partially placed therein; The air bag (g2) is arranged on the inner wall of the bottle body accommodating cavity (g11); The airbag pipeline (g3) is in communication with the airbag (g2) and is used to inflate or deflate the airbag (g2); When the airbag (g2) is inflated, it can clamp the medicine bottle placed in the bottle accommodating cavity (g11).

7. The medicine bottle transfer device used in the Chinese medicine granule dispensing equipment according to claim 6 is characterized in that: A first sensor (g4) is arranged on the top of the bottle accommodating cavity (g11), and a second sensor (g5) is arranged on the side of the bottom; the first sensor (g4) is used to detect whether the medicine bottle is properly placed in the bottle accommodating cavity (g11), and the second sensor (g5) is used to detect whether the medicine bottle is completely separated from the bottle accommodating cavity (g11).

8. The medicine bottle transfer device used in the Chinese medicine granule dispensing equipment according to claim 6 is characterized in that: The number of the airbags (g2) is multiple, and the multiple airbags (g2) are distributed around the inner wall of the bottle body accommodating cavity (g11).

9. The medicine bottle transfer device used in the Chinese medicine granule dispensing equipment according to claim 6, characterized in that: A plurality of guide limit plates (g13) are arranged in the bottle body accommodating cavity (g11), and the plurality of guide limit plates (g13) are distributed around the inner wall of the bottle body accommodating cavity (g11) to guide the medicine bottle so that the medicine bottle can be placed in the bottle body accommodating cavity (g11) along the central axis of the bottle body accommodating cavity (g11).

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