Traditional Chinese medicine dispensing system

Abstract

The utility model discloses a traditional Chinese medicine dispensing system which comprises a first conveying line, a second conveying line and a third conveying line. The dispensing equipment is used for dropping the traditional Chinese medicinal materials with different weights into the same turnover container according to prescriptions when the turnover container passes through; the second conveying line is used for conveying the packaging containers, and medicine loading openings of the packaging containers are opened upwards in the conveying process; and the medicine loading equipment is arranged at a medicine loading station between the first conveying line and the second conveying line and used for transferring the traditional Chinese medicine from the interior of the turnover container to the interior of the packaging container through the medicine loading opening when the turnover container and the packaging container pass through the medicine loading station. According to the traditional Chinese medicine dispensing system, the dispensing traditional Chinese medicine is transferred from the turnover container to the packaging container through the medicine charging equipment arranged beside the first conveying line, the packaging container is conveyed to the medicine supplementing unit through the second conveying line, the packaging container with the small size can be used during manual medicine supplementing, and therefore the occupied indoor area is reduced.

Description

Technical Field

[0001] The utility model relates to the field of automatic dispensing equipment, in particular to a Chinese medicine dispensing system. Background Art

[0002] The Chinese medicine dispensing system refers to a system that automatically dispenses each medicine in the prescription by dropping Chinese medicines of different weights into the same turnover container according to the prescription through the medicine drop ports of multiple dispensing units.

[0003] The existing Chinese medicine dispensing system has the following defects:

[0004] 1. The turnover container is large in size (such as medicine baskets and medicine barrels), and the medicines delivered to patients are usually in packaging containers that are easy to carry (such as paper bags and plastic bags). Manual or mechanical bagging operations are required to transfer the medicines from the turnover container to the packaging container.

[0005] 2. There are many types of Chinese medicinal materials, but the equipment room of the Chinese medicine dispensing system has limited space and cannot automatically dispense all the Chinese medicinal materials. Some of the medicines in the prescription need to be replenished manually. Directly using turnover containers to circulate replenished medicines will take up a lot of on-site space and affect the efficiency of circulating replenished medicines. Utility Model Content

[0006] The utility model aims to provide a Chinese medicine dispensing system to solve the problem that the turnover container used in the Chinese medicine dispensing system is large in volume, the space in the equipment room is limited, and it is inconvenient to manually replenish the medicine.

[0007] In order to solve the above technical problems, the utility model specifically provides the following technical solutions:

[0008] A Chinese medicine dispensing system comprises: a first conveying line for cyclically conveying a turnover container; a dispensing device for placing Chinese medicines of different weights into the same turnover container according to a prescription when the turnover container passes by; a second conveying line for conveying a packaging container, and making the medicine filling port of the packaging container open upward during the conveying process; a medicine filling device, which is arranged at a medicine filling station between the first conveying line and the second conveying line, and is used to transfer the Chinese medicine from the interior of the turnover container to the interior of the packaging container through the medicine filling port when the turnover container and the packaging container pass through the medicine filling station.

[0009] Furthermore, the medicine loading equipment comprises: a medicine loading robot; the medicine loading robot is used to move and flip the turnover container when the turnover container passes through the medicine loading station, so that the medicine in the turnover container falls into the packaging container.

[0010] Furthermore, the first conveyor line includes: a conveyor arranged along a circular conveying path; or, two first conveyors arranged side by side, the conveying directions of the two first conveyors are opposite, and when the loading robot moves the turnover container, it moves the turnover container from the terminal end of one first conveyor to the starting end of another first conveyor.

[0011] Furthermore, the charging robot includes: a first robot arm, whose actuator has three degrees of freedom: horizontal movement, vertical movement and rotation around a horizontal axis; a clamping unit, fixedly connected to the actuator of the first robot arm, for clamping and releasing the turnover container.

[0012] Furthermore, the clamping unit includes: a support arm, fixedly connected to the actuator of the first robotic arm; a bidirectional linear drive, fixedly connected to the middle end of the support arm, the two actuators of the bidirectional linear drive being able to move toward each other in a direction parallel to the rotation axis of the support arm; and a clamp, fixedly connected to the two actuators of the bidirectional linear drive, for clamping the turnover container.

[0013] Furthermore, the packaging container is a square-bottom kraft paper bag, which is in a sheet shape when folded and in a rectangular box shape when unfolded and has a self-standing function.

[0014] Furthermore, the second conveyor line includes: a storage rack, fixedly connected to the frame, for storing the folded packaging containers; a second robotic arm, having at least two degrees of freedom, arranged between the storage rack and the charging station; a first adsorption unit, having two and relatively arranged on both sides of the charging station, for adsorbing the side walls of the packaging container, wherein one of the first adsorption units is fixedly connected to the frame, and the other first adsorption unit is fixedly connected to the actuator of the second robotic arm.

[0015] Furthermore, the storage rack includes: a first slide groove, allowing the folded packaging container to slide in one direction therein; a baffle, arranged at one end of the first slide groove, and an opening is arranged in the middle of the baffle, and the opening allows the packaging container to leave the interior of the first slide groove through the opening under the drive of external force.

[0016] Furthermore, it also includes: a marking machine, which is arranged beside the baffle and has an execution part capable of marking and / or labeling the packaging container through the opening.

[0017] Furthermore, the labeling machine includes: a label printer for outputting labels; a second adsorption unit for adsorbing the non-adhesive surface of the label; a third robotic arm with at least 2 degrees of freedom, arranged between the label printer and the storage rack, for driving the second adsorption unit to pass through the opening to stick the label to the packaging container.

[0018] Furthermore, the second conveyor line also includes: a charging table, which is arranged at the charging station and is used to support the packaging container; a second conveyor, which is arranged beside the charging table; a partition, which is vertically connected to the conveyor belt of the second conveyor and is arranged side by side along the conveying direction of the second conveyor; a first push rod, which is arranged beside the charging table and is used to push the packaging container from the charging table to the conveyor belt of the second conveyor, and make each of the packaging containers be located between two adjacent partitions.

[0019] In another embodiment, the second conveyor line also includes: a medicine loading table, arranged at the medicine loading station, for supporting the packaging container; a medicine transferring table, arranged beside the medicine loading table, a first push rod, fixedly connected to a frame, for moving the packaging container from the medicine loading table to the medicine transferring table; a seventh linear drive, fixedly connected to the frame, for driving the medicine transferring table to move in a direction away from the medicine loading table; a second slide, comprising a plurality of slides and arranged side by side along the moving trajectory of the medicine transferring table; a second push rod, fixedly connected to an actuator of the seventh linear drive, for pushing the packaging container from the medicine transferring table to the second slide.

[0020] Furthermore, it also includes a medicine replenishing table, and arranged on the medicine replenishing table: a bag opener for supporting the medicine filling port of the packaging container to open it; a weigher for weighing the weight of the required medicine replenishing; and an image collector for collecting images of the interior of the packaging container.

[0021] Compared with the prior art, this application has the following beneficial effects:

[0022] A Chinese medicine dispensing system is provided, which transfers the prepared Chinese medicine from a turnover container to a packaging container through a medicine loading device arranged beside a first conveyor line, and conveys the packaging container to a medicine replenishing unit through a second conveyor line. When replenishing the medicine manually, a packaging container with a smaller volume can be used, thereby reducing the occupation of indoor area. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the implementation of the utility model or the technical solution in the prior art, the following is a brief introduction to the drawings required for the implementation or the prior art description. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0024] Figure 1 It is a system flow chart of the first and second embodiments of the utility model;

[0025] Figure 2 A top view of the first embodiment of the utility model;

[0026] Figure 3 It is a three-dimensional diagram of the first conveying line, the charging equipment and part of the second conveying line of the first embodiment of the utility model;

[0027] Figure 4 It is a three-dimensional diagram of the clamping unit of the first embodiment of the utility model;

[0028] Figure 5 A three-dimensional diagram of the working state of the clamping unit of the first embodiment of the utility model;

[0029] Figure 6 A three-dimensional diagram of the charging device and part of the second conveying line of the first embodiment of the utility model;

[0030] Figure 7 It is a three-dimensional diagram of the drug loading platform, the second mechanical arm and the two first adsorption units of the first embodiment of the utility model;

[0031] Figure 8 A three-dimensional diagram of a marking machine according to a first embodiment of the present utility model;

[0032] Fig. 9 A three-dimensional diagram of a cache unit according to a first embodiment of the present invention;

[0033] Fig.10 A three-dimensional diagram of a medicine tonic unit according to a first embodiment of the present invention;

[0034] Fig.11 A three-dimensional diagram of a cache unit according to a second embodiment of the present invention;

[0035] The numbers in the figure represent the following:

[0036] 1-first conveyor line; 11-first conveyor; 2-turnover container; 3-dispensing equipment; 4-second conveyor line; 41-storage rack; 411-guide rod; 412-baffle; 413-opening; 42-second mechanical arm; 421-third linear drive; 422-second rotary drive; 423-fourth linear drive; 43-first adsorption unit; 431-bracket; 432-suction cup; 44-loading table; 441-support plate; 442-side plate; 45-buffer unit; 451-second conveyor; 452-partition plate; 453-drug transfer table ;454-second push rod;455-second slide;46-first push rod;5-packaging container;6-charging equipment;61-first linear drive;62-second linear drive;63-first rotary drive;64-clamping unit;65-support arm;66-bidirectional linear drive;67-fixture;68-funnel;7-marking machine;71-label printer;72-fifth linear drive;73-sixth linear drive;74-second adsorption unit;8-drug replenishment unit;81-drug replenishment table;882-weigher;83-image collector. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0038] A Chinese medicine dispensing system is provided below.

[0039] (First embodiment)

[0040] Figure 1 This is the system flow chart of the Chinese medicine dispensing system. Figure 2 This is a top view of the Chinese medicine dispensing system.

[0041] Combination Figure 1 , Figure 2 , the Chinese medicine dispensing system includes:

[0042] A first conveying line 1 is used for cyclically conveying a turnover container 2;

[0043] The dispensing device 3 is arranged beside the first conveying line 1 and is used to place Chinese medicinal materials of different weights into the same turnover container 2 according to the prescription when the turnover container 2 passes by;

[0044] The second conveying line 4 is used to convey the packaging container 5, and during the conveying process, the medicine filling port of the packaging container 5 is opened upward;

[0045] The medicine loading equipment 6 is arranged at the medicine loading station between the first conveyor line 1 and the second conveyor line 4, and is used to transfer the Chinese medicine from the inside of the turnover container 2 to the inside of the packaging container 5 when the turnover container 2 and the packaging container 5 pass through the medicine loading station.

[0046] The Chinese medicine inside the turnover container 2 is bagged by the medicine filling equipment 6, thus replacing manual bagging. The end of the second conveyor line 4 is the medicine replenishment station. The staff replenishes the medicine into the packaging container 5 according to the prescription of the Chinese medicine. The volume of the packaging container 5 is small, so it occupies less on-site space.

[0047] The dispensing device 3 in the first embodiment is no different from the existing automatic dispensing device for traditional Chinese medicine, and will not be described here.

[0048] Figure 3 A first conveyor line 1 , a charging device 6 and part of a second conveyor line 4 are shown.

[0049] Combination Figure 3 The drug loading device 6 includes a drug loading robot with at least 3 degrees of freedom, which is used to clamp the turnover container 2 when the turnover container 2 passes by, move the turnover container 2 to the top of the packaging container 5 and flip the turnover container 2, so that the medicine in the turnover container 2 falls into the packaging container 5 through the drug loading port.

[0050] The first conveying line 1 can be a chain plate conveyor or a bucket conveyor. The conveying paths of these two conveyors are closed loop paths. The turnover container can circulate in the conveying of the chain plate conveyor or the bucket conveyor without other operations.

[0051] However, the speed of dispensing and the speed of loading of traditional Chinese medicine are not necessarily the same. In order to avoid the situation that the turnover container 2 stops moving in one link of dispensing or loading, causing the other link to stop moving as well.

[0052] Combination Figure 3 The first conveying line 1 in the first embodiment includes two first conveyors 11 arranged side by side at different heights or horizontal positions. The conveying directions of the two first conveyors 11 are opposite, and the conveying speeds may be asynchronous.

[0053] One end of the two first conveyors 11 is close to the charging robot, respectively constituting the terminal end and the starting end of the first conveyor line 1. While the charging robot performs the charging operation, it moves the turnover container 2 from the terminal end of the first conveyor 11 on the lower layer to the starting end of the first conveyor 11 on the upper layer.

[0054] The other end of the two first conveyors 11 is not shown in the figure. After being adjusted by the adjusting device 3, the turnover container 2 can be moved from the terminal end of the first conveyor 11 on the upper layer to the starting end of the first conveyor 11 on the lower layer by other robots (not shown in the figure).

[0055] The first conveyor 11 can be a bucket type, belt type, chain type, mesh plate, or chain plate conveyor, as long as it can convey the turnover container 2.

[0056] The charging manipulator includes:

[0057] The first robot arm has an actuator with three degrees of freedom: horizontal movement, vertical movement and rotation around a horizontal axis.

[0058] The clamping unit 64 is fixedly connected to the execution part of the first robot arm and is used to clamp and release the turnover container 2.

[0059] Specifically, the first robotic arm includes:

[0060] A first linear drive 61 is horizontally arranged and fixedly connected to the frame, and is used to move back and forth between the starting end and the ending end of the first conveying line 1;

[0061] A second linear drive 62 is vertically arranged and fixedly connected to the execution part of the first linear drive 61;

[0062] The first rotary drive 63 is fixedly connected to the actuator of the second linear drive 62 . The actuator of the first rotary drive 63 can rotate around a horizontal axis. The clamping unit 64 is rotatably connected to the actuator of the second linear drive 62 , and the clamping unit 64 is transmission-connected to the actuator of the first rotary drive 63 .

[0063] The clamping unit 64 obtains three degrees of freedom through the first linear drive 61, the second linear drive 62 and the first rotary drive 63, so that it can move the turnover container 2 from the end end to the starting end of the first conveyor line 1 and flip the turnover container 2 during the movement.

[0064] The first linear drive 61 and the second linear drive 62 may be any one of a servo slide, a cylinder slide, and a synchronous belt slide, and the first rotary drive 63 may be any one of a motor and a rotary cylinder.

[0065] Figure 4 A first rotary drive 63 and a clamping unit 64 are shown. Figure 5 A clamping unit 64 is shown.

[0066] Combination Figure 4 and Figure 5 , the clamping unit 64 comprises:

[0067] A support arm 65, one end of which is rotatably connected to the actuator of the second linear actuator 62 via a bearing, and the other end of which is transmission-connected to the actuator of the first rotary actuator 63;

[0068] A bidirectional linear driver 66 is fixedly connected to the middle end of the support arm 65, and two actuators of the bidirectional linear driver 66 can move toward each other in a direction parallel to the rotation axis of the support arm 65;

[0069] The clamp 67 is fixedly connected to the two actuators of the bidirectional linear drive 66 and is used to clamp the turnover container 2.

[0070] Among them, the support arm 65 can adopt any one of a gantry and a C-arm, the bidirectional linear drive 66 can adopt any one of a bidirectional servo slide, a bidirectional cylinder slide, and a bidirectional synchronous belt slide, and the clamp 67 and the edge of the turnover container 2 (such as the edge of the medicine frame or the medicine barrel) are matched with each other in clearance, so that the clamp 67 and the turnover container 2 can be separated smoothly.

[0071] Figure 6 Shows part of the charging device 6 and part of the second conveyor line 4, combined with Figure 6 .

[0072] The packaging container 5 is a square-bottomed kraft paper bag. When the square-bottomed kraft paper bag is folded, it is in a sheet shape. When the square-bottomed kraft paper bag is unfolded, it is in a rectangular box shape and has a self-standing function.

[0073] The second conveying line 4 comprises:

[0074] A storage rack 41, fixedly connected to the frame, for storing the folded packaging container 5;

[0075] The second robot arm 42 has at least 2 degrees of freedom and is disposed between the storage rack 41 and the charging station;

[0076] The first adsorption units 43 have two and are relatively arranged on both sides of the charging station for adsorbing the side walls of the packaging container 5 , wherein one of the first adsorption units 43 is fixedly connected to the frame, and the other first adsorption unit 43 is fixedly connected to the execution part of the second robot arm 42 .

[0077] The second robot arm 42 drives a first adsorption unit 43 to adsorb one side of the square-bottom kraft paper bag from the storage rack 41, transfers it to the charging station and makes the other side of the square-bottom kraft paper bag stick to another first adsorption unit 43. After the two sides of the square-bottom kraft paper bag are adsorbed by the two first adsorption units 43, the mouth of the square-bottom kraft paper bag opens during the operation of the second robot arm 42. After the two first adsorption units 43 release the adsorption, the square-bottom kraft paper bag falls on the charging station independently.

[0078] The storage rack 41 comprises:

[0079] A first slide groove, allowing the folded packaging container 5 to slide in one direction;

[0080] The baffle 412 is disposed at one end of the first chute, and an opening 413 is disposed in the middle of the baffle 412 . The opening 413 allows the packaging container 5 to leave the interior of the first chute through the opening 413 under the driving of an external force.

[0081] Figure 6 The baffle 412 is horizontally arranged, and the first slide groove is composed of a plurality of guide rods 411 vertically arranged above the baffle 412. The second robot arm 42 drives the first adsorption unit 43 to pass through the opening 413 to take out the lowest packaging container 5, and the remaining packaging containers 5 move toward the baffle 412 under the action of gravity.

[0082] The first slide in the first embodiment may also be horizontal, or the baffle 412 may be located above the guide rod 411 , and the packaging container 5 inside the first slide moves toward the baffle 412 by the force of a spring or an electric servo first push rod 46 .

[0083] Figure 7 The charging station, the second robot arm 42 and the first adsorption unit 43 are shown. Figure 7 .

[0084] The second mechanical arm 42 comprises:

[0085] A third linear drive 421 is fixedly connected to the frame and is used to move back and forth between the storage rack 41 and the charging station;

[0086] The second rotary driver 422 is fixedly connected to the actuator of the third linear driver 421 , and the rotation axis of the actuator of the second rotary driver 422 is horizontally arranged and perpendicular to the motion track of the actuator of the third linear driver 421 ;

[0087] The fourth linear driver 423 is fixedly connected to the actuator of the second rotary driver 422 , and one of the two first adsorption units 43 is fixedly connected to the actuator of the fourth linear driver 423 .

[0088] The third linear driver 421 and the fourth linear driver 423 may adopt any one of a servo slide, a cylinder slide, and a synchronous belt slide, and the second rotary driver 422 may adopt any one of a motor and a rotary cylinder.

[0089] Figure 7 The second robot arm 42 in the embodiment includes 3 degrees of freedom, but the second robot arm 42 in the first embodiment can have at least 2 degrees of freedom. As long as the first slide groove is set horizontally, the third linear drive 421 or the fourth linear drive 423 can be omitted.

[0090] The first adsorption unit 43 includes:

[0091] A bracket 431 is fixedly connected to the frame or the actuator of the second mechanical arm 42;

[0092] The suction cup 432 is fixedly connected to the bracket 431 and has an air inlet end facing the charging station;

[0093] The vacuum pump (not shown) is fixedly connected to the frame and connected to the air outlet of the suction cup 432 through a hose.

[0094] The number of the suction cups 432 is preferably four, and the arrangement rule of the four suction cups 432 follows a rectangular array.

[0095] Combination Figure 3 , Figure 6 The medicine charging device 6 also includes a funnel 68, which is arranged in the moving path of the medicine charging robot and is located directly above the medicine charging station. The traditional Chinese medicine poured by the medicine charging robot falls accurately into the packaging container 5 through the guidance of the funnel 68.

[0096] Figure 6 A labeling machine 7 is also shown. The labeling machine 7 is used to print a label and attach it to the packaging container 5 through the opening 413 before the second robot arm 42 drives the first suction unit 43 to obtain the folded packaging container 5. The label contains prescription information.

[0097] Figure 8 The specific structure of the marking machine 7 is shown, combined with Figure 8 , marking machine 7 includes:

[0098] A label printer 71, used for outputting labels;

[0099] A third robotic arm, having at least 2 degrees of freedom, is disposed between the label printer 71 and the storage rack 41;

[0100] The second adsorption unit 74 is fixedly connected to the execution part of the third robot arm.

[0101] The label output by the label printer 71 is sucked by the second suction unit 74 , and the third robot arm drives the second suction unit 74 to pass through the opening 413 to stick the label onto the packaging container 5 .

[0102] The structure of the label printer 71 of the first embodiment is the same as that of the existing label printer 71 and will not be described again here.

[0103] The marking machine 7 may also be a laser printer, which directly prints the prescription information on the packaging container 5 through the opening 413 .

[0104] The third robotic arm includes:

[0105] A fifth linear drive 72, horizontally fixedly connected to the frame, for moving back and forth between the label printer 71 and the storage rack 41;

[0106] The sixth linear drive 73 is vertically fixedly connected to the actuator of the fifth linear drive 72 , and is used for driving the second adsorption unit 74 to pass through the opening 413 .

[0107] The fifth linear drive 72 and the sixth linear drive 73 may adopt any one of a servo slide, a cylinder slide, and a synchronous belt slide.

[0108] The second adsorption unit 74 is a hollow flat plate connected to a vacuum pump (not shown), and a plurality of through holes are provided on one side thereof.

[0109] Fig. 9 The remaining part of the second conveyor line 4 is shown, combined with Figure 7 , Fig. 9 , the second conveyor line 4 also includes:

[0110] The medicine loading table 44 is arranged at the medicine loading station, and has a horizontal support plate 441 and side plates 442 vertically arranged on both sides of the support plate 441, allowing the packaging container 5 to move in a direction that does not interfere with the two first adsorption units 43;

[0111] A buffer unit 45 is provided at the exit of the medicine loading station 44 and is used for temporarily storing the packaging container 5;

[0112] The first push rod 46 is disposed beside the medicine loading platform 44 and is used to push the packaging container 5 from the medicine loading platform 44 to the buffer unit 45 .

[0113] The medicine loading platform 44 includes a horizontal support plate 441 and side plates 442 vertically arranged on both sides of the support plate 441 . The first push rod 46 can be an electric first push rod 46 or a pneumatic first push rod 46 .

[0114] The cache unit 45 includes:

[0115] The second conveyor 451 is arranged on a side of the medicine loading platform 44 away from the first push rod 46;

[0116] The partition 452 is vertically connected to the conveyor belt of the second conveyor 451 and is arranged side by side along the conveying direction of the second conveyor 451 to isolate adjacent packaging containers 5.

[0117] The second conveyor 451 can be a bucket type, belt type, chain type, mesh plate, or chain plate conveyor, as long as it can convey the packaging container 5 .

[0118] Fig.10 Presented the tonic unit 8, combined with Fig.10 .

[0119] The medicine replenishing unit 8 includes a medicine replenishing table 81, and the following components disposed on the medicine replenishing table 81:

[0120] A bag supporter (not shown) for supporting the medicine filling opening of the packaging container 5 so that it is always open;

[0121] The weighing device 882 is used to weigh the weight of the Chinese medicine to be replenished in the packaging container 5;

[0122] The image collector 83 is used to collect photos of the interior of the packaging container 5 .

[0123] The workflow of the tonic is as follows:

[0124] The medicine picker obtains the packaging container 5 from the buffer unit 45, places it in the area to be replenished, and then manually picks the medicine according to the prescription information recorded on the label.

[0125] The medicine replenishing staff takes down the packaging container 5 from the area to be replenished, then opens the medicine filling port by means of a bag opener, and takes out the Chinese medicine manually prepared by the medicine dispensing staff. After confirming the weight by means of a weighing device 882, each packaging container 5 is replenished manually according to the medicine replenishment information. The image collector 83 takes a photo and keeps it after the replenishment of a single medicine is completed. After all the medicines in the prescription are replenished, the medicine dispensing staff confirms the prescription adjustment information and delivers the packaging container 5 to the patient.

[0126] The shape and structure of the bag opener are not limited, as long as it can open the medicine filling port of the packaging container 5.

[0127] The weighing device 882 may be an electronic scale, and the image collector 83 may be a camera.

[0128] (Second embodiment)

[0129] Fig.11 Another structure of the cache unit 45 is shown.

[0130] Combination Figure 7 , Fig.11 , the cache unit 45 includes:

[0131] a seventh linear drive (not shown), fixedly connected to the frame;

[0132] The medicine transfer station 453 is arranged on a side of the medicine loading station 44 away from the first push rod 46 and is fixedly connected to the actuator of the seventh linear drive. The first push rod 46 pushes the packaging container 5 from the medicine loading station 44 to the medicine transfer station 453;

[0133] The second chute 455 has a plurality of chute 455 and is arranged side by side along the moving track of the medicine transfer platform 453;

[0134] The second push rod 454 is fixedly connected to the actuator of the seventh linear drive, and is used to push the packaging container 5 from the medicine transfer platform 453 to the second slide groove 455 .

[0135] Fig.11 In the embodiment, multiple second slide grooves 455 are arranged side by side along the vertical direction. Therefore, the seventh linear drive is used to drive the medicine transfer platform 453 to move along the vertical direction. However, in the second embodiment, the seventh linear drive can also be arranged horizontally, and multiple second slide grooves 455 are arranged side by side along the horizontal direction, as long as the packaging container 5 can be moved to the second slide groove 455.

[0136] In addition to the first and second embodiments, a belt conveyor or a chain plate conveyor may also be used to replace the charging table 44, the first push rod 46 and the buffer unit 45, as long as it has a flat working surface that allows the square-bottomed kraft paper bags to be placed independently on its surface.

[0137] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A Chinese medicine dispensing system, characterized in that: include: A first conveying line (1) for cyclically conveying a turnover container (2); a dispensing device (3) for placing Chinese medicinal materials of different weights into the same turnover container (2) according to a prescription when the turnover container (2) passes by; A second conveying line (4) is used to convey the packaging container (5), and during the conveying process, the medicine filling port of the packaging container (5) is opened upward; The medicine loading device (6) is arranged at the medicine loading station between the first conveyor line (1) and the second conveyor line (4), and is used for transferring the Chinese medicine from the interior of the turnover container (2) to the interior of the packaging container (5) through the medicine loading port when the turnover container (2) and the packaging container (5) pass through the medicine loading station.

2. A Chinese medicine dispensing system according to claim 1, characterized in that: The drug charging equipment (6) comprises: a drug charging manipulator; The medicine loading robot is used to move and flip the turnover container (2) when the turnover container (2) passes through the medicine loading station, so that the medicine in the turnover container (2) falls into the packaging container (5).

3. A Chinese medicine dispensing system according to claim 2, characterized in that: The first conveying line (1) comprises: A conveyor arranged along a circular conveying path; or, Two first conveyors (11) are arranged side by side, and the conveying directions of the two first conveyors (11) are opposite. When the medicine loading robot moves the turnover container (2), it moves the turnover container (2) from the end end of one first conveyor (11) to the start end of another first conveyor (11).

4. A Chinese medicine dispensing system according to claim 2, characterized in that: The charging manipulator comprises: The first robot arm has an actuator having three degrees of freedom: horizontal movement, vertical movement and rotation around a horizontal axis; A gripping unit (64) is fixedly connected to the execution part of the first mechanical arm and is used for gripping and releasing the turnover container (2).

5. A Chinese medicine dispensing system according to claim 4, characterized in that: The clamping unit (64) comprises: A support arm (65) fixedly connected to the execution part of the first mechanical arm; A bidirectional linear drive (66) is fixedly connected to the middle end of the support arm (65), and two actuators of the bidirectional linear drive (66) are capable of moving toward each other in a direction parallel to the rotation axis of the support arm (65); A clamp (67) is fixedly connected to the two actuators of the bidirectional linear drive (66) and is used to clamp the turnover container (2).

6. A Chinese medicine dispensing system according to claim 1, characterized in that: The packaging container (5) is a square-bottomed kraft paper bag. When folded, the square-bottomed kraft paper bag is in the shape of a thin sheet. When unfolded, the square-bottomed kraft paper bag is in the shape of a rectangular box and has a self-standing function.

7. A Chinese medicine dispensing system according to claim 1 or 6, characterized in that: The second conveying line (4) comprises: A storage rack (41), fixedly connected to the frame, and used for storing the folded packaging container (5); A second mechanical arm (42) having at least two degrees of freedom and arranged between the storage rack (41) and the charging station; The first adsorption units (43) have two and are arranged oppositely on both sides of the charging station, and are used to adsorb the side walls of the packaging container (5), wherein one of the first adsorption units (43) is fixedly connected to the frame, and the other first adsorption unit (43) is fixedly connected to the execution part of the second robot arm (42).

8. A Chinese medicine dispensing system according to claim 7, characterized in that: The storage rack (41) comprises: A first slide groove, allowing the folded packaging container (5) to slide in one direction therein; A baffle (412) is arranged at one end of the first slide groove, and an opening (413) is arranged in the middle of the baffle (412). The opening (413) allows the packaging container (5) to leave the interior of the first slide groove through the opening (413) under the drive of external force.

9. A Chinese medicine dispensing system according to claim 8, characterized in that: Also includes: The marking machine (7) is arranged beside the baffle (412) and is provided with an execution part capable of marking and / or labeling the packaging container (5) through the opening (413).

10. A Chinese medicine dispensing system according to claim 9, characterized in that: The marking machine comprises: A label printer (71), used for outputting labels; A second adsorption unit (74) is used for adsorbing the non-adhesive surface of the label; The third robot arm, whose actuator has at least two degrees of freedom, is arranged between the label printer (71) and the storage rack (41) and is used to drive the second adsorption unit (74) to pass through the opening (413) to stick the label onto the packaging container (5).

11. A Chinese medicine dispensing system according to claim 7, characterized in that: The second conveying line (4) also includes: A medicine loading table (44), arranged at the medicine loading station, for supporting the packaging container (5); A second conveyor (451) is arranged beside the medicine loading platform (44); a partition (452) vertically connected to the conveyor belt of the second conveyor (451) and arranged side by side along the conveying direction of the second conveyor (451); The first push rod (46) is arranged on the side of the charging platform (44) and is used to push the packaging container (5) from the charging platform (44) to the conveyor belt of the second conveyor (451), and make each packaging container (5) be located between two adjacent partitions (452).

12. A Chinese medicine dispensing system according to claim 7, characterized in that: The second conveying line (4) also includes: A medicine loading table (44), arranged at the medicine loading station, for supporting the packaging container (5); The medicine transfer table (453) is arranged beside the medicine loading table (44). A first push rod (46) is fixedly connected to the frame and is used to move the packaging container (5) from the medicine loading station (44) to the medicine transferring station (453); a seventh linear drive, fixedly connected to the frame, and used for driving the medicine transfer platform (453) to move in a direction away from the medicine loading platform (44); The second chute (455) is provided in plurality and arranged side by side along the moving track of the medicine transfer platform (453); The second push rod (454) is fixedly connected to the actuator of the seventh linear drive, and is used to push the packaging container (5) from the medicine transfer platform (453) to the second slide groove (455).

13. A Chinese medicine dispensing system according to claim 1, characterized in that: It also includes a medicine replenishing table (81), and the following components arranged on the medicine replenishing table (81): A bag opener, used for supporting the medicine filling opening of the packaging container (5) to open it; A weighing device (882) for weighing the required tonic; An image collector (83) is used to collect images of the interior of the packaging container (5).

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