Self-service dispensing machine with quick checking function

Abstract

The utility model provides a quick check self-service dispensing machine which comprises a cabinet body, a medicine taking mechanism, a check mechanism and a medicine storage hopper, a plurality of layer plates are installed in the cabinet body, and a plurality of partition plates are installed on the layer plates; the medicine taking mechanism comprises a transverse rail, a vertical rail, a medicine taking manipulator and a driving device, the vertical rail is arranged on the transverse rail in a transverse moving mode, the medicine taking manipulator is arranged on the vertical rail in a vertical moving mode, and the driving device drives the vertical rail to move on the transverse rail and drives the medicine taking manipulator to move on the vertical rail; the checking mechanism comprises a rotatable second suction cup assembly and a checking camera assembly, and checking cameras comprise a plurality of checking cameras located on the peripheral side of the second suction cup assembly; the medicine storage hopper is arranged below the second suction cup assembly and comprises two medicine bins, and the two medicine bins are used for temporarily storing normal checking medicine and abnormal checking medicine correspondingly. According to the quick-checking self-service medicine dispensing machine, the self-service medicine taking efficiency can be guaranteed, and meanwhile the self-service medicine taking accuracy can be guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, and particularly relates to a quick-check self-service medicine dispenser. Background Art

[0002] Self-service medicine dispensers (self-service medicine pick-up machines) have been widely used in hospitals, which can alleviate the time-consuming and laborious problems brought by the manual medicine pick-up method in hospitals, avoid problems such as crowded medicine pick-up and long queuing time, and can greatly improve the work efficiency and modernization level of hospitals. In existing self-service medicine dispensers, usually multiple medicine shelves are provided, medicines are placed in different medicine shelves, a mechanical medicine picking device is installed in the medicine cabinet of the dispenser, and a scanning device is arranged on the medicine picking surface of the dispenser. Users can start the self-service medicine dispenser by scanning a prescription form or the like. The self-service medicine dispenser controls the mechanical medicine picking device to move up, down, left and right in the cabinet to pick up medicines, and then distributes them to users after remote manual verification is correct.

[0003] For example, the existing patent (CN213634687U) discloses a self-service medicine pick-up machine, which sets a verification unit in the medicine pick-up system, uses the verification unit to obtain the information of the medicines issued by the medicine dispensing device, and sends the obtained medicine information to an external terminal or a server through a communication unit. Staff members verify the medicines issued by the medicine dispensing device according to the received medicine information on the external terminal or the server, and make a judgment of correct or incorrect medicine dispensing. At the same time, a control instruction of "dispensing medicine" or "not dispensing medicine" for the medicine dispensing device is sent to the medicine pick-up system through the terminal or the server, so as to realize the verification function of the issued medicines and avoid the potential safety hazard of medicine use caused by taking wrong medicines.

[0004] However, the verification speed of this manual verification method depends on staff such as pharmacists and is easily affected by human factors. During the long-term use of the self-service medicine dispenser, situations that affect the medicine dispensing speed will inevitably occur, resulting in a reduction in the medicine dispensing and picking efficiency and easily causing queuing for medicine picking. Content of the Utility Model

[0005] In order to better solve the above problems, the utility model provides a quick-check self-service medicine dispenser, which can ensure the accuracy of self-service medicine picking while ensuring the efficiency of self-service medicine picking.

[0006] To achieve the above object, an embodiment of the present utility model provides a quick-check self-service medicine dispenser, including: a cabinet body, in which a plurality of shelves are installed, and a plurality of partition boards are installed on the shelves; a medicine-taking mechanism, which includes a horizontal track, a vertical track, a medicine-taking manipulator and a driving device. The vertical track is horizontally movably arranged on the horizontal track, the medicine-taking manipulator is vertically movably arranged on the vertical track, and the driving device is used to drive the vertical track to move on the horizontal track and drive the medicine-taking manipulator to move on the vertical track; a checking mechanism, which includes a rotatable second suction cup assembly and a checking camera assembly. The checking camera includes a plurality of checking cameras respectively located on the periphery of the second suction cup assembly; a medicine storage hopper, which is arranged below the second suction cup assembly and includes two medicine bins, and the two medicine bins are respectively used for temporarily storing medicines with normal check and medicines with abnormal check.

[0007] Optionally, the medicine-taking manipulator includes a telescopic robotic arm, a fixing plate and a first suction cup assembly. The fixing plate is arranged at the end of the robotic arm, and the first suction cup assembly is arranged outside the fixing plate.

[0008] Optionally, a photoelectric detection element is further arranged on the fixing plate, and the detection direction of the photoelectric detection element faces outward and is perpendicular to the fixing plate surface.

[0009] Optionally, the robotic arm includes an electric push rod type telescopic rod.

[0010] Optionally, the checking mechanism further includes a fixing frame and a reduction motor. The reduction motor is arranged on the fixing frame, and the second suction cup assembly is arranged at the output shaft end of the reduction motor.

[0011] Optionally, a slide rail is arranged on the fixing frame, a matching slide seat is arranged on the slide rail, and the reduction motor is installed on the slide seat; a driving motor is further installed on the fixing frame, and the output shaft end of the driving motor is connected to both sides of the slide seat through a wire rope.

[0012] Optionally, the medicine storage hopper further includes a conversion guide plate and a driving member. The conversion guide plate is rotatably arranged between the two medicine bins, and the driving member is used to drive the conversion guide plate to rotate.

[0013] Optionally, the checking camera assembly includes a first checking camera located on one side of the second suction cup assembly, a second checking camera located above the second suction cup assembly, and a third checking camera located in front of the second suction cup assembly.

[0014] Optionally, a plurality of jacks are arranged on the shelf, and plugs are arranged at the bottom of the partition board. The plugs are matched with the jacks and can be inserted into the jacks.

[0015] Optionally, it further includes a control device, which is electrically connected to the driving device, the medicine-taking manipulator, the second suction cup assembly and the checking camera assembly respectively.

[0016] Compared with the prior art, the beneficial effects of the quick-check self-service medicine dispenser of the present utility model are as follows:

[0017] By installing multiple shelves in the cabinet body and multiple partitions on the shelves, the quick-check self-service medicine dispenser can divide the medicine storage space in the cabinet body into multiple medicine storage compartments; and further, by using the plug-in method to install the partitions on the shelves, the position of the partitions on the shelves can be flexibly adjusted, so as to conveniently adjust the space size of each medicine storage compartment, and it can be suitable for storing various types of medicines.

[0018] By arranging a horizontal track and a vertical track in the cabinet body, the quick-check self-service medicine dispenser can make the medicine-taking manipulator move horizontally and vertically, which is convenient to adjust the medicine-taking manipulator to the medicine storage compartment at any position for taking medicine; and further, by adopting a multi-section telescopic robotic arm, the extending distance of the medicine-taking manipulator is long and the retracting distance is small, realizing that the medicine-taking distance of the medicine-taking manipulator is adjustable, without the need to reserve more space for the telescopic movement of the robotic arm in the cabinet body, and the size and occupied space of the cabinet body can be minimized to the greatest extent.

[0019] The medicine-checking mechanism of the quick-check self-service medicine dispenser can adsorb the medicine with a suction cup and rotate it, and cooperate with multiple cameras arranged on the periphery of the suction cup, which can comprehensively collect the images of the medicine boxes, conveniently check the medicine information through image recognition, and can more accurately check the taken-out medicines to ensure the correctness and traceability of the dispensed medicines; and by dividing the medicine storage hopper into two medicine bins, it is convenient to temporarily store the medicines with normal and abnormal checks.

[0020] The structure of the quick-check self-service medicine dispenser is designed simply, reasonably and reliably, which can ensure the effective and accurate operation of the medicine-taking mechanism and the checking mechanism. The automatic medicine-taking and checking processes are carried out simultaneously, which can ensure the accuracy of self-service medicine-taking while ensuring the self-service medicine-taking efficiency, and has the function of abnormal medicine recovery, further ensuring the operation safety and effectiveness of the self-service medicine dispenser. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 It is a schematic diagram of the internal structure of the quick-check self-service medicine dispenser according to the embodiment of the present utility model;

[0023] Figure 2 It is a schematic diagram of the structure of the telescopic robotic arm according to the embodiment of the present utility model;

[0024] Figure 3 This is a schematic structural diagram of the verification mechanism according to an embodiment of the present utility model.

[0025] Reference numerals:

[0026] 1, cabinet body; 2, shelf; 3, partition board; 4, medicine box; 5, horizontal track; 6, vertical track; 7, medicine taking mechanism; 8, medicine taking manipulator; 9, verification mechanism; 10, fixing frame; 11, reduction motor; 12, second sucker assembly; 13, first verification camera; 14, second verification camera; 15, third verification camera; 16, medicine storage hopper; 17, conversion guide plate; 81, second telescopic arm; 82, third telescopic arm; 83, fixing plate; 84, first sucker assembly; 85, photoelectric detection element. Specific embodiments

[0027] In order to make the above objects, features and advantages of the present utility model more obvious and understandable, the specific embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present utility model. However, the present utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this utility model belongs. The terms used herein in the description of the present utility model are only for the purpose of describing specific embodiments and are not intended to limit the present utility model. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0029] The fast verification self-service medicine dispenser according to an embodiment of the present utility model includes a cabinet body 1, a medicine taking mechanism 7, a verification mechanism 9, and a medicine storage hopper 16. Among them, a variety of medicines are stored in the cabinet body 1, including but not limited to boxed medicines and bagged medicines; the medicine taking mechanism 7 is used to take out the medicines in the cabinet body 1, the verification mechanism 9 is used to verify the taken-out medicines, and the medicine storage hopper 16 is used to temporarily store the medicines with normal or abnormal verification.

[0030] Such as Figure 1As shown, a plurality of layers 2 are installed in the cabinet 1, and a plurality of partitions 3 are installed on each layer 2. The plurality of layers 2 divide the cabinet 1 into multiple layers of medicine storage space, and the plurality of partitions 3 divide each layer of medicine storage space into multiple medicine storage bins, and a kind of medicine is stored in each medicine storage bin. Optionally, a plurality of jacks are provided on each layer 2, and the plurality of jacks are arranged along the length direction of the layer 2; a plug is provided at the bottom of the partition 3, and the plug matches the jack and can be inserted into the jack. The partition 3 can be detachably installed on the layer 2 by using the plug-in method of the jack, so that the position of the partition 3 on the layer 2 can be conveniently switched by switching the position of the jack, so as to adjust the size of the medicine storage bin. Here, two or more columns of jacks can be provided on the layer 2, and correspondingly, two or more plugs are provided on the partition 3.

[0031] The medicine taking mechanism 7 includes a transverse track 5, a vertical track 6, a medicine taking manipulator 8 and a driving device. The vertical track 6 can be arranged on the transverse track 5 in a transversely movable manner. The medicine taking manipulator 8 can be arranged on the vertical track 6 in a vertically movable manner. The driving device is used to drive the vertical track 6 to move on the transverse track 5 and drive the medicine taking manipulator 8 to move on the vertical track 6. Optionally, the transverse track 5 is respectively arranged at the upper and lower edges of the medicine storage position inside the cabinet 1, and the upper and lower ends of the vertical track 6 are respectively installed with transverse slides that match the transverse track 5. The transverse slide slides on the transverse track 5 can realize the transverse movement of the vertical track 6, thereby driving the medicine taking manipulator 8 thereon to move transversely. The medicine taking manipulator 8 is provided with a vertical slide that matches the vertical track 6. The vertical slide slides on the vertical track 6 can realize the vertical movement of the medicine taking manipulator 8.

[0032] In an optional embodiment, the drive device includes a transverse drive assembly and a vertical drive assembly, and the transverse drive assembly can adopt a motor winding cable mode or a motor driving gear mode to realize the driving of the transverse slide. For example, the transverse drive assembly includes two motors, which are respectively arranged at the two ends of a transverse track 5, and are connected with the corresponding transverse slide by the cable wound by the motor output end, and the motor at one end is used to rotate the winding cable to drive the transverse slide to slide in the direction of the motor (the motor at the other end releases the cable), and here, when the transverse slide at one end of the vertical track 6 slides, the transverse slide at the other end can be driven to follow the sliding, and the motor can no longer be set at the other end to pull. For another example, the transverse image drive assembly includes a motor and a gear, a transverse rack is provided in a transverse slide, and a meshing gear is provided in the corresponding transverse slide, and by connecting the motor output end with a gear transmission, the motor can be used to drive the gear to rotate accordingly by forward and reverse rotation, thereby driving the transverse slide to move laterally. Here, the motor can be a micro motor, which can be integrated into the end of the vertical track or the transverse slide; here, the sliding of the transverse slide at one end of the vertical track 6 can drive the transverse slide at the other end to follow the sliding, and the rack gear is no longer required at the other end for driving.

[0033] likeFigure 2 As shown, the medicine-taking manipulator 8 includes a telescopic robotic arm, a fixing plate 83, and a first suction cup assembly 84. The robotic arm is the main body of the medicine-taking manipulator 8, and the above-mentioned vertical sliding seat is arranged on the robotic arm; the fixing plate 83 is arranged at the end (front end) of the robotic arm, and the first suction cup assembly 84 is arranged outside the fixing plate 83. By using the telescopic movement of the robotic arm, the medicine-taking distance of the manipulator can be adjusted without reserving more space for the telescopic movement of the manipulator in the cabinet 1, which can minimize the space occupied by the cabinet to the greatest extent. The first suction cup assembly 84 may include two groups of suction cups, which are respectively arranged at the upper and lower parts of the fixing plate 83. Each group of suction cups includes two suction cups. By using the two groups of suction cups to contact the medicine box 4, the medicine box 4 can be tightly sucked, realizing the medicine-taking action of the manipulator. An air pipe is installed at the tail of each suction cup, and the air pipe is connected to the air source solenoid valve. The air source device can be connected to the air pipes of multiple suction cups through one air source solenoid valve, which is convenient for controlling the synchronous suction and release actions of multiple suction cups.

[0034] Optionally, a photoelectric detection element 85 is further arranged on the fixing plate 83. The detection direction of the photoelectric detection element 85 faces outward and is perpendicular to the surface of the fixing plate 83. The photoelectric detection element 85 can adopt a photoelectric switch, which is used to detect whether there is medicine in front of the fixing plate 83, that is, to detect whether the suction cup has sucked the medicine.

[0035] Optionally, the robotic arm includes an electric push rod type telescopic rod. The figure shows a telescopic robotic arm composed of three electric push rods, including a fixed wall at the rear end, a second telescopic arm 81 in the middle, and a third telescopic arm 82 at the front end. The fixing plate 83 is arranged at the front end of the third telescopic arm 82. Of course, in other embodiments, the robotic arm can also be composed of two or multiple sections of telescopic arms, or adopt other telescopic structures.

[0036] As Figure 3 shown, the verification mechanism 9 includes a rotatable second suction cup assembly 12 and a verification camera assembly. The verification cameras include multiple verification cameras respectively located on the periphery of the second suction cup assembly 12. The second suction cup assembly 12 is used to receive the medicine transported after being sucked by the medicine-taking manipulator 8. The multiple verification cameras are used to respectively take pictures of the medicine box 4 sucked by the second suction cup assembly 12 from multiple angles. Here, the second suction cup assembly 12 can rotate, so that the verification cameras can take pictures of multiple faces of the medicine box 4, completing the comprehensive acquisition of medicine images, and thus the key information such as the name, specification, and expiration date of the medicine can be obtained through image recognition for verifying the taken-out medicine.

[0037] Optionally, the checking mechanism 9 further includes a fixing frame 10 and a reduction motor 11, the reduction motor 11 is arranged on the fixing frame 10, and the second suction cup assembly 12 is arranged at the output shaft end of the reduction motor 11, and the second suction cup assembly 12 and the medicine box adsorbed thereon can be driven to rotate by the rotation of the reduction motor 11. The fixing frame 10 can be arranged above the medicine dispensing place corresponding to the medicine dispensing surface of the self-service medicine dispensing machine in the cabinet 1, and the second suction cup assembly 12 can include two or more suction cups that can stably adsorb the medicine box.

[0038] Optionally, the verification camera assembly includes three verification cameras, the first verification camera 13 is located on one side of the second suction cup assembly 12, the second verification camera 14 is located above the second suction cup assembly 12, and the third verification camera 15 is located in front of the second suction cup assembly 12. The three verification cameras cooperate with the reduction motor 11 to rotate the second suction cup assembly 12 and the medicine box, and take images before, after and during the rotation, so as to fully collect the medicine box image. Here, the collected images can be stored in the control system or control device for later tracing.

[0039] In an optional embodiment, the medicine storage hopper 16 includes two medicine bins and a conversion guide plate 17 and a driving member. The two medicine bins are used to temporarily store and check normal medicines and abnormal medicines, respectively. The conversion guide plate 17 is rotatably arranged between the two medicine bins. The medicine storage hopper 16 is arranged below the second suction cup assembly 12 and above the medicine dispensing area. When the checking mechanism checks that the medicine is normal, the conversion guide plate 17 rotates to the side of the abnormal medicine bin, so that the medicine released by the second suction cup assembly 12 can fall on the conversion guide plate 17 and slide into the normal medicine bin. After all medicines are checked, the outlet below the normal medicine bin is opened so that the medicine slides to the medicine dispensing area; when the checking mechanism checks that the medicine is abnormal, the conversion guide plate 17 rotates to the side of the normal medicine bin, so that the medicine released by the second suction cup assembly 12 can fall on the conversion guide plate 17 and slide into the abnormal medicine bin. The bottom end of the conversion guide plate 17 may be connected to a pin, and a shaft seat is provided at the joint of the two medicine bins, and the pin is inserted into the shaft seat, so that the conversion guide plate 17 can rotate around the pin; when it rotates to one medicine bin, it can cover the medicine bin, so that the fallen medicine can slide to the other medicine bin. The driving member may include electric paddles or electric pull wires provided on both sides of the conversion guide plate 17, and the rotation of the conversion guide plate 17 is realized by prying or pulling.

[0040] In another alternative embodiment, the medicine storage hopper 16 only includes two medicine bins, and the reduction motor 11 on the fixing frame 10 can move (along the direction in which the two medicine bins are arranged), thereby driving the second suction cup assembly 12 to move, facilitating the movement of the second suction cup assembly 12 above the normal medicine bin when the medicine check is normal, and moving the second suction cup assembly 12 above the abnormal medicine bin when the medicine check is abnormal. Among them, a slide rail is provided on the fixing frame 10, and the reduction motor 11 is installed on a slide seat, and the slide seat is matched with the slide rail to enable the reduction motor 11 to move on the fixing frame 10; here, a driving motor can be installed below the fixing frame 10, and both sides of the slide seat are connected to the shaft end of the driving motor through a pull rope, so that the driving motor can drive the slide seat to slide on the slide rail through forward and reverse rotation, realizing the movement of the reduction motor 11, and facilitating the adjustment of the dropping position of the medicine after verification to any one of the two medicine bins.

[0041] According to an exemplary embodiment of the present invention, the quick-verification self-service medicine dispenser further includes a control device, which is electrically connected to the driving device, the medicine-taking manipulator 8, the reduction motor 11, the second suction cup assembly 12, and the verification camera assembly respectively, and is also electrically connected to the driving member of the conversion guide plate 17 or the driving motor of the slide seat below the reduction motor 11; the control device is used to control the driving device to drive the vertical track to move horizontally on the horizontal track and drive the medicine-taking manipulator to move vertically on the vertical track; and, control the telescopic action of the robotic arm, the suction and release actions of the first suction cup assembly, the detection actions and signal processing of the photoelectric detection element; and, control the suction and release actions of the second suction cup assembly, the rotation of the reduction motor, the shooting actions of each verification camera and the recognition analysis processing of the captured images and responses; and, control the driving member to act to turn the conversion guide plate or the driving motor to act to move the medicine dropping position. In this embodiment, the control device is a part of the control system of the self-service medicine dispenser. In other embodiments, the control device can also be an independently provided processor or controller, which is only associated with the control system of the self-service medicine dispenser.

[0042] The working process of the rapid verification self-service medicine dispenser in the embodiment of the present utility model is as follows: After the user confirms the purchase of medicine, the control system issues a medicine-taking command, and the medicine-taking mechanism 7 starts to take medicine one by one according to the medicine purchase list. First, the medicine-taking mechanism 7 moves to the front of the medicine box 4 according to the preset coordinates of the medicine storage position. The medicine-taking manipulator 8 extends the suction cup and quickly approaches the medicine box 4. When the suction cup contacts the medicine box 4, it immediately sucks the medicine box 4 tightly and can detect that the medicine box 4 is sucked through the adsorption pressure. At the same time, the photoelectric detection element 85 in front detects the medicine box 4 again. After ensuring that the medicine box 4 is reliably sucked, the medicine-taking manipulator 8 retracts. After the retraction is completed, the medicine-taking mechanism 7 moves to the position of the verification mechanism 9. First, the first verification camera 13 takes a photo of the front of the medicine box. Then, the medicine-taking manipulator 8 extends and makes the medicine box 4 contact the second suction cup assembly 12. The second suction cup assembly 12 sucks the medicine box 4, and at the same time, the medicine-taking manipulator 8 releases the medicine box 4 and performs the subsequent medicine-taking operation. After the second suction cup assembly 12 sucks the medicine box, the third verification camera 15 and the second verification camera 14 take photos of the back and the first side of the medicine box 4. After the third verification camera 15 and the second verification camera 14 finish taking photos, the reduction motor 11 rotates the medicine box 90 degrees. Then, the second verification camera 14 takes a photo of the second side of the medicine box. After rotating and taking photos 3 times like this, the image acquisition of the six sides of the medicine box 4 can be completed. The control system performs verification processing according to the acquired images. After the verification is normal, the driving motor drives the second suction cup assembly to move above the normal medicine bin or the conversion guide plate turns to the side of the abnormal medicine bin. The second suction cup assembly 12 releases the medicine box 4, and the medicine box 4 drops into the normal medicine bin of the medicine storage hopper. After the verification is abnormal, the driving motor drives the second suction cup assembly to move above the abnormal medicine bin or the conversion guide plate turns to the side of the normal medicine bin. The second suction cup assembly 12 releases the medicine box 4, and the medicine box 4 drops into the abnormal medicine bin of the medicine storage hopper. In this way, the cycle completes the process of taking out and verifying all medicines.

[0043] In the actual application scenario, components such as the cabinet body 1, the shelf board 2, the partition board 3, the track, the motor, the suction cup, the camera, the robotic arm, and the photoelectric detection element in the rapid verification self-service medicine dispenser in the embodiment of the present utility model can be designed accordingly according to the actual working conditions such as the quantity and packaging specification information of the stored medicines, the motor driving force requirement information, the suction force requirement information of the suction cup, and the image acquisition clarity requirement information in the application scenario, or devices with corresponding functions and specifications in the prior art can be adopted.

[0044] Moreover, other devices or components can also be set in the rapid verification self-service medicine dispenser, or the actual installation positions of each device or component can be adjusted to realize the actual application or other functions of the rapid verification self-service medicine dispenser. For example, support legs and universal wheels are provided at the bottom of the cabinet body 1 to facilitate the transfer of the cabinet body 1.

[0045] It should be noted that according to the needs of implementation, each component described in the embodiments of the present utility model can be split into more components, or two or more components or parts of components can be combined into new components to achieve the purpose of the embodiments of the present utility model.

[0046] The above embodiments only express several implementation manners of the present utility model, and the description thereof is relatively specific and detailed. However, it should not be construed as a limitation to the scope of the patent of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several deformations and improvements can still be made, and these all belong to the protection scope of the present utility model. Therefore, the protection scope of the patent of the present utility model shall be subject to the appended claims.

Claims

1. A quick check self-service medicine dispensing machine, characterized in that: include: A cabinet body, wherein a plurality of layer boards are installed in the cabinet body, and a plurality of partition boards are installed on the layer boards; A medicine taking mechanism, the medicine taking mechanism comprising a transverse track, a vertical track, a medicine taking manipulator and a driving device, the vertical track can be laterally movably arranged on the transverse track, the medicine taking manipulator can be vertically movably arranged on the vertical track, and the driving device is used to drive the vertical track to move on the transverse track and drive the medicine taking manipulator to move on the vertical track; A checking mechanism, the checking mechanism comprising a rotatable second suction cup assembly and a checking camera assembly, the checking camera comprising a plurality of checking cameras respectively located on the peripheral sides of the second suction cup assembly; The medicine storage hopper is arranged below the second suction cup assembly and includes two medicine bins, which are respectively used to temporarily store normal medicines and abnormal medicines.

2. A quick check self-service medicine dispensing machine according to claim 1, characterized in that: The medicine taking robot comprises a retractable robot arm, a fixing plate and a first suction cup assembly. The fixing plate is arranged at the end of the robot arm, and the first suction cup assembly is arranged on the outside of the fixing plate.

3. A quick check self-service medicine dispensing machine according to claim 2, characterized in that: The fixing plate is also provided with a photoelectric detection element, the detection direction of which faces outward and is perpendicular to the fixing plate surface.

4. A quick check self-service medicine dispensing machine according to claim 2, characterized in that: The mechanical arm comprises an electric push rod type telescopic rod.

5. A quick check self-service medicine dispensing machine according to claim 1, characterized in that: The checking mechanism further comprises a fixing frame and a reduction motor, wherein the reduction motor is arranged on the fixing frame, and the second suction cup assembly is arranged at an output shaft end of the reduction motor.

6. A quick check self-service medicine dispensing machine according to claim 5, characterized in that: The fixed frame is provided with a slide rail, the slide rail is provided with a matching slide seat, and the reduction motor is installed on the slide seat; the fixed frame is also provided with a drive motor, and the output shaft end of the drive motor is connected to the two sides of the slide seat through a pull wire.

7. A quick check self-service medicine dispensing machine according to claim 1, characterized in that: The medicine storage hopper further comprises a conversion guide plate and a driving member, wherein the conversion guide plate is rotatably arranged between the two medicine bins, and the driving member is used for driving the conversion guide plate to rotate.

8. The quick-check self-service medicine dispensing machine according to claim 1, characterized in that: The verification camera assembly includes a first verification camera located at one side of the second suction cup assembly, a second verification camera located above the second suction cup assembly, and a third verification camera located in front of the second suction cup assembly.

9. The quick-check self-service medicine dispensing machine according to claim 1, characterized in that: The layer plate is provided with a plurality of jacks, and the bottom of the partition plate is provided with a plug, which matches the jack and can be inserted into the jack.

10. A quick check self-service medicine dispensing machine according to any one of claims 1 to 9, characterized in that: It also includes a control device, which is electrically connected to the driving device, the medicine taking robot, the second suction cup assembly, and the verification camera assembly.

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