Medicine feeding machine and medicine warehouse with same

Abstract

The medicine feeding machine comprises a body part, a plurality of medicine feeding grooves extending in the vertical direction are formed in the body part, openings of the medicine feeding grooves face forwards, and the tops of the medicine feeding grooves extend upwards till the medicine feeding grooves penetrate through the body part; a push plate is arranged in the medicine feeding groove; a first driving device is further arranged in the body part, and the first driving device can drive any push plate to move along the medicine feeding groove where the push plate is located and can move to the top of the medicine feeding groove; a boxed medicine grabbing device is arranged on the rear side of each medicine feeding groove and can grab boxed medicine from the top end of any medicine feeding groove. The medicine feeding machine can automatically feed medicine.

Description

Technical Field

[0001] This utility model relates to the field of medicine storage technology, and in particular to a medicine loading machine and a medicine storage device having the same. Background Technology

[0002] With technological advancements, automated pharmacies are widely used in hospitals, capable of performing tasks such as automatic medication dispensing and filling. However, automatic medication dispensing, especially for boxed medications, is a relatively complex process. Current dispensing machines typically use a horizontal gripping and filling method, limiting the number of boxes dispensed at a time to less than 10. This design necessitates frequent movements of the dispensing robot, increasing wear and tear on mechanical parts and reducing overall dispensing efficiency. Pharmacists, on the other hand, face slower, more strenuous manual dispensing, leading to fatigue and affecting the accuracy and timeliness of the process.

[0003] Therefore, designing a drug delivery machine that can automatically dispense drugs has become an urgent problem to be solved. Utility Model Content

[0004] In view of this, the main objective of this utility model is to provide a medicine feeding machine and a medicine storage container having the same.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows: 1. A medicine feeding machine, comprising: a main body, on which a plurality of vertically extending medicine feeding grooves are provided, the openings of the medicine feeding grooves facing forward, and the tops of the medicine feeding grooves extending upwards until penetrating the main body; a push plate is provided in the medicine feeding groove; a first driving device is also provided in the main body, the first driving device being capable of driving any push plate to move along the medicine feeding groove it is located in, and being capable of moving to the top of the medicine feeding groove; a boxed medicine gripping device is provided on the rear side of the medicine feeding groove, the boxed medicine gripping device being capable of gripping boxed medicine from the top of any medicine feeding groove.

[0006] As an improvement of this utility model embodiment, in the medicine loading trough, the top is tilted backward relative to the bottom; the push plate is perpendicular to the left inner side and the right inner side of the medicine loading trough.

[0007] As an improvement of this utility model embodiment, the front end of the push plate is higher than the rear end.

[0008] As an improvement of this utility model embodiment, there are multiple medicine loading slots, each extending from the bottom of the main body to the top of the medicine loading slot. All medicine loading slots are arranged parallel to each other and in a row along the left and right direction. The bottom surface of each medicine loading slot is provided with a waist hole, which penetrates the bottom surface of the medicine loading slot. The extension direction of the waist hole is consistent with the extension direction of the medicine loading slot and extends from the bottom to the top of the medicine loading slot. Each push plate is fixedly connected to a connecting block, and the push plate penetrates the waist hole in the medicine loading slot. The first driving device can drive the connecting block in any medicine loading slot to move along the waist hole it is located in.

[0009] As an improvement of this utility model embodiment, the first driving device includes: an upper slide rail, a lower slide rail, and a vertical slide rail. The upper slide rail is located directly above the lower slide rail, and both the upper and lower slide rails extend in the left-right direction. Both the upper and lower slide rails extend from the leftmost medicine trough to the rightmost medicine trough. The vertical slide rail can slide along the upper and lower slide rails, and extends from the bottom to the top of all medicine troughs. A slider is provided on the vertical slide rail, and the slider can slide along the vertical slide rail. A vertical plate is provided on the slider, and a forward-extending protrusion is provided on the front surface of the vertical plate. The vertical plate can move in the back-and-forth direction relative to the slider. A recessed hole is provided on the rear surface of all connecting blocks, and the protrusion can be inserted into the recessed hole in the medicine trough located directly in front.

[0010] As an improvement of this utility model embodiment, a first detector is provided on the slider, which can detect whether there are boxed medicines piled on the push plate in the medicine loading slot located directly in front.

[0011] As an improvement of this utility model embodiment, the boxed medicine gripping device includes: a base, a suction device, and a support; the base is fixedly disposed on the top of the vertical slide rail, the bottom of the support is slidably connected to the base, and can move back and forth relative to the base; the suction device is disposed on the top of the support, and the suction device can move up and down relative to the support; the bottom of the suction device is provided with a suction nozzle with the front end of the suction nozzle facing downward, and the suction nozzle can suck up the boxed medicine located on the top of the medicine tray directly in front.

[0012] As an improvement of this utility model embodiment, the boxed medicine gripping device includes: a conveyor belt located below the suction device and extending in the front-back direction; the boxed medicine sucked by the suction device can be placed at the front end of the conveyor belt.

[0013] As an improvement of this utility model embodiment, the boxed medicine gripping device includes: a first camera, a second camera and a third camera; the first camera is fixed to the suction device and faces the suction nozzle; the second camera is located directly behind the suction device and faces the suction device, and the suction nozzle can rotate along its vertical axis; the third camera is located at the front end of the conveyor belt and is arranged upwards.

[0014] As an improvement of this utility model embodiment, the top of the medicine loading trough is provided with a notch that penetrates the bottom plate of the medicine loading trough; the front end of the conveyor belt is provided with a second detector, which can detect whether there is boxed medicine at the top of the medicine loading trough located directly in front.

[0015] As an improvement of this utility model embodiment, the boxed medicine gripping device further includes: a plurality of lights, each of which illuminates the suction device.

[0016] This utility model embodiment also provides a medicine storage room, which includes the above-mentioned medicine feeding machine.

[0017] The medicine dispensing machine and medicine storage unit provided in this embodiment of the present invention have the following advantages: This embodiment of the present invention discloses a medicine dispensing machine and medicine storage unit. The medicine dispensing machine includes: a main body, on which a plurality of vertically extending medicine dispensing grooves are provided, the openings of the medicine dispensing grooves facing forward, and the tops of the medicine dispensing grooves extending upwards until they penetrate the main body; a push plate is provided in the medicine dispensing groove; a first driving device is also provided in the main body, the first driving device being able to drive any push plate to move along the medicine dispensing groove it is located in, and being able to move to the top of the medicine dispensing groove; a boxed medicine gripping device is provided on the rear side of the medicine dispensing groove, the boxed medicine gripping device being able to grip boxed medicine from the top of any medicine dispensing groove. This medicine dispensing machine can automatically dispense medicine. Attached Figure Description

[0018] Figure 1 and Figure 2A A structural diagram of the medicine-applying machine provided in an embodiment of this utility model;

[0019] Figure 2B for Figure 2A A magnified view of region A in the middle;

[0020] Figure 2C for Figure 2A A magnified view of region B in the middle;

[0021] Figure 3 A structural diagram of the first drive unit provided in an embodiment of this utility model;

[0022] Figure 4 This is a structural diagram of the boxed medicine gripping device provided in an embodiment of the present invention. Detailed Implementation

[0023] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the protection scope of the present invention.

[0024] The following description and accompanying drawings fully illustrate specific embodiments described herein to enable those skilled in the art to practice them. Some embodiments may include or substitute parts and features of other embodiments. The scope of the embodiments herein encompasses the entire scope of the claims and all available equivalents thereof. Throughout this document, the terms “first,” “second,” etc., are used only to distinguish one element from another without requiring or implying any actual relationship or order between the elements. Indeed, a first element can also be referred to as a second element, and vice versa. Furthermore, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a structure, apparatus, or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a structure, apparatus, or device. Without further limitation, an element defined by the phrase “comprising one…” does not exclude the presence of other identical elements in the structure, apparatus, or device that includes said element. The various embodiments described herein are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments; similar or identical parts between embodiments can be referred to interchangeably.

[0025] The terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" used in this document to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings. They are used solely for the convenience of describing the document and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In the description herein, unless otherwise specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two elements; they can be direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0026] Embodiment 1 of the present invention provides a medicine feeding machine, such as Figure 1 , Figure 2A , Figure 2B , Figure 2C , Figure 3and Figure 4 As shown, it includes:

[0027] The main body has several vertically extending medicine loading slots 21 with their openings facing forward and their tops extending upwards through the main body. A push plate 211 is installed in each medicine loading slot 21. A first driving device 22 is also installed in the main body, capable of driving any push plate 211 to move along its assigned medicine loading slot 21 and to the top of the slot. A boxed medicine gripping device 25 is installed on the rear side of each medicine loading slot 21, capable of gripping boxed medicine from the top of any medicine loading slot 21.

[0028] Here, in use, a stack of boxed medicines can be placed on the upper surface of the push plate 211, and the first drive device 22 is controlled to drive the push plate 211 to move upward, so that the stack of boxed medicines can be pushed upward, and then the boxed medicine gripping device 25 can grab the boxed medicines from the top of the medicine tray 21.

[0029] In this embodiment, as Figure 1 As shown, in the medicine loading trough 21, the top is tilted backward relative to the bottom; the push plate 211 is perpendicular to the left inner side and the right inner side of the medicine loading trough 21.

[0030] Here, because the top of the medicine trough 21 is tilted backward relative to the bottom, the boxed medicine will also tilt backward, that is, it will stick tightly to the bottom plate of the medicine trough 21, thus greatly reducing the probability of a stack of boxed medicines tilting forward and tipping over.

[0031] In this embodiment, as Figure 1 As shown, in the pusher plate 211, the front end is higher than the rear end.

[0032] Here, because the front end of the push plate 211 is higher than the rear end, the boxed medicine will also tilt backward, that is, it will stick tightly to the bottom plate of the medicine tray 21, thereby greatly reducing the probability of a stack of boxed medicines tilting forward and tipping over.

[0033] In this embodiment, as Figure 1 , Figure 2A , Figure 2B and Figure 2CAs shown, there are multiple medicine-filling slots 21, each extending from the bottom of the main body to the top of the medicine-filling slot 21. All medicine-filling slots 21 are arranged parallel to each other and in a row along the left-right direction. The bottom surface of each medicine-filling slot 21 is provided with a waist hole 212, which penetrates the bottom surface of the medicine-filling slot 21. The extension direction of the waist hole 212 is consistent with the extension direction of the medicine-filling slot 21, and extends from the bottom to the top of the medicine-filling slot 21. Each push plate 211 is fixedly connected to a connecting block 214, which penetrates the waist hole 212 in the medicine-filling slot 21. The first driving device 22 can drive the connecting block 214 in any medicine-filling slot 21 to move along the waist hole 212.

[0034] Here, it can be understood that when it is necessary to drive the push plate 211 in a certain medicine loading tank 21 to move upward, it is only necessary to drive the connecting block 214 in the medicine loading tank 21 to move along the waist hole 212 through the first driving device 22.

[0035] In this embodiment, as Figure 3 As shown, the first driving device 22 includes: an upper slide rail 221A, a lower slide rail 221B, and a vertical slide rail 222. The upper slide rail 221A is located directly above the lower slide rail 221B, and both the upper and lower slide rails extend in the left-right direction. Both the upper slide rail 221A and the lower slide rail 221B extend from the leftmost medicine trough 21 to the rightmost medicine trough 21. The vertical slide rail 222 can slide along the upper and lower slide rails, and extends from the bottom end to the top end of all medicine troughs 21. The vertical slide rail 222 is provided with a slider 2221, which can slide along the vertical slide rail 222. A vertical plate 2222 is provided on the slider 2221. A forward-extending protrusion 2223 is provided on the front surface of the vertical plate 2222. The vertical plate 2222 can move back and forth relative to the slider 2221. The rear surface of all connecting blocks 214 is provided with a recess 2141. The protrusion 2223 can be inserted into the recess 2141 in the upper medicine groove 21 located directly in front.

[0036] Here, as Figure 3 As shown, a first transmission belt 2241 is provided in both the upper slide rail 221A and the lower slide rail 221B. The upper and lower ends of the vertical slide rail 222 are fixedly connected to the belt bodies of the two first transmission belts 2241 respectively. When the two first transmission belts 2241 rotate synchronously, they can drive the vertical slide rail 222 to move in the left and right directions along the upper and lower slide rails. A first motor 225 is provided in the first driving device 22. The first motor 225 can drive the two first transmission belts 2241 to rotate synchronously, thereby driving the vertical slide rail 222 to move along the upper and lower slide rails.

[0037] A second transmission belt 2242 and a second motor 226 are provided on the vertical slide rail 222. The slider 2221 is fixedly connected to the belt body of the second transmission belt 2242. The second motor 226 can drive the second transmission belt 2242 to rotate, thereby driving the slider 2221 to slide along the vertical slide rail 222.

[0038] A third motor 2224 is provided on the slider 2221, and a horizontal slide rail 2225 extends in the front-back direction. The motor can drive the vertical plate 2222 to move along the horizontal slide rail 2225. A first detector 2226 is also provided on the slider 2221. Due to the presence of the waist hole 212, the first detector 2226 can detect whether there are boxed medicines piled in the medicine tank 21.

[0039] In practical use, the second motor 226 moves the slider 2221 to the bottom of the vertical slide rail 222. Then, the first motor 225 controls the slider 2221 to move left and right. When the slider 2221 is directly behind any medicine tray 21, the first detector 2226 is controlled to detect whether there are boxed medicines piled on the push plate 211 in the medicine tray 21. If the first detector 2226 detects that there are boxed medicines piled on a push plate 211, the third motor 2224 is controlled to rotate, thereby controlling the vertical plate 2222 to move forward. Then, the protrusion 2223 can be inserted into the concave hole 2141 in the medicine tray 21. Then, the second motor 226 is controlled to rotate, thereby driving the slider 2221 to slide upward along the vertical slide rail 222. As a result, the boxed medicine will move upward along the medicine trough 21 and move to the top of the medicine trough 21. Then, the boxed medicine gripping device 25 can be controlled to grip the boxed medicine from the top of the medicine trough 21.

[0040] In this embodiment, as Figure 3 As shown, a first detector 2226 is provided on the slider 2221. The first detector 2226 can detect whether there are boxed medicines piled on the push plate 211 in the medicine loading tank 21 located directly in front.

[0041] Here, the first detector 2226 can be a laser detector, which can emit a laser beam toward the waist hole 212. The laser beam is parallel to the push plate 211 and the thickness of the push plate 211 is less than the thickness of the boxed medicine. It can be understood that when there is boxed medicine on the upper surface of the push plate 211, the boxed medicine can reflect the laser beam. Thus, the laser detector can obtain the distance C between itself and the boxed medicine. When there is no boxed medicine on the upper surface of the push plate 211, the laser beam may not be able to reflect back to the laser detector. Or even if an object in front of the medicine tray 21 reflects the laser beam, the laser detector can obtain the distance D between itself and the object. However, C ≠ D. Therefore, it can be used to determine whether there is boxed medicine on the push plate 211 of the medicine tray 21.

[0042] In this embodiment, as Figure 4 As shown, the boxed medicine gripping device 25 includes: a base 251, a suction device 252, and a support 253; the base 251 is fixedly disposed on the top of the vertical slide rail 222, the bottom of the support 253 is slidably connected to the base 251, and can move back and forth relative to the base 251; the suction device 252 is disposed on the top of the support 253, and the suction device 252 can move up and down relative to the support 253; the bottom of the suction device 252 is provided with a suction nozzle 2521 with the front end of the suction nozzle 2521 facing downward, and the suction nozzle 2521 can suck up the boxed medicine located on the top of the medicine tray 21 directly in front.

[0043] Here, when the suction nozzle 2521 needs to draw up the boxed medicine, the support 253 can be controlled to move forward, which in turn controls the suction device 252 to move forward until the suction device 252 is above the medicine tray 21. Then, the suction device 252 is controlled to move downward until the suction nozzle 2521 touches the boxed medicine. Then, the suction nozzle 2521 is controlled to draw up the boxed medicine. After that, the suction device 252 is controlled to move upward, and the support 253 is controlled to move backward.

[0044] In this embodiment, as Figure 4 As shown, the boxed medicine gripping device 25 includes: a conveyor belt 254, which is located below the suction device 252 and extends in the front-back direction; the boxed medicine sucked by the suction device 252 can be placed at the front end of the conveyor belt 254.

[0045] In use, when the suction device 252 picks up the boxed medicine, the boxed medicine can be placed at the front end of the conveyor belt 254, so that the conveyor belt 254 can transport the boxed medicine to the rear end of the conveyor belt 254.

[0046] In this embodiment, as Figure 4 As shown, the boxed medicine gripping device 25 includes: a first camera 2551, a second camera 2552, and a third camera 2553; the first camera 2551 is fixed to the suction device 252 and faces the suction nozzle 2521; the second camera 2552 is located directly behind the suction device 252 and faces the suction device 252, and the suction nozzle 2521 can rotate along its vertical axis; the third camera 2553 is located at the front end of the conveyor belt 254 and is arranged upwards.

[0047] Here, when the suction nozzle 2521 needs to pick up the boxed medicine, the support 253 can be controlled to move forward, which in turn controls the suction device 252 to move forward, so that the suction nozzle 2521 can pick up the boxed medicine from the top of the medicine tray 21 in front. Then, the support 253 can be controlled to move backward, which in turn controls the suction device 252 to move backward. During this process, it will pass above the third camera 2553, so that the third camera 2553 can be controlled to capture the lower surface of the boxed medicine.

[0048] Then, the suction nozzle 2521 can be controlled to rotate along its vertical axis. At this time, the first camera 2551 can be controlled to capture the top surface of the boxed medicine, and the second camera 2552 can be controlled to capture the four sides of the boxed medicine, thereby meeting the hospital's management requirements.

[0049] In this embodiment, as Figure 4 and Figure 2C As shown, the top of the medicine loading tank 21 is provided with a notch 213 that penetrates the bottom plate of the medicine loading tank 21; the front end of the conveyor belt 254 is provided with a second detector 256, which can detect whether there is boxed medicine at the top of the medicine loading tank 21 located directly in front.

[0050] Here, the second detector 256 can be a laser detector, which emits a laser beam into the notch 213. Understandably, when there is a boxed medicine on top of the medicine tray 21, the medicine can reflect the laser beam, allowing the laser detector to determine the distance A between itself and the medicine. When there is no boxed medicine on top of the medicine tray 21, the laser beam may not be reflected back to the laser detector. Even if an object in front of the medicine tray 21 reflects the laser beam, the laser detector can still determine the distance B between itself and that object, but A ≠ B. Therefore, this distance can be used to determine whether there is a boxed medicine on top of the medicine tray 21. The notch 213 serves both for accurate laser positioning and to prevent the risk of thin medicine boxes slipping out.

[0051] When the second detector 256 detects that there is a boxed medicine on the top of the medicine trough 21 located directly in front, the boxed medicine grabbing device 25 can be controlled to grab the boxed medicine from the top of the medicine trough 21.

[0052] In this embodiment, as Figure 4 As shown, the boxed medicine gripping device 25 also includes: a plurality of lights 257, each light 257 illuminating the suction device 252.

[0053] Embodiment 2 of this utility model provides a medicine storage room, which includes the medicine feeding machine described in Embodiment 1.

[0054] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0055] The detailed descriptions listed above are merely specific descriptions of feasible implementations of this utility model, and are not intended to limit the scope of protection of this utility model. All equivalent implementations or modifications made without departing from the spirit of this utility model should be included within the scope of protection of this utility model.

Claims

1. A medicine applying machine characterized by comprising: The body part is provided with a plurality of vertically extending medicine feeding grooves (21) with openings facing forward, the top of the medicine feeding groove (21) extending upward to the top of the body part; a push plate (211) is arranged in the medicine feeding groove (21); A first driving device (22) is further arranged in the body part, which can drive any push plate (211) to move along the medicine feeding groove (21) and move to the top of the medicine feeding groove (21); A box medicine grabbing device (25) is arranged at the rear side of the medicine feeding groove (21), which can grab the box medicine from the top end of any medicine feeding groove (21).

2. The medicine feeding machine according to claim 1, wherein In the medicine feeding groove (21), the top is inclined backward relative to the bottom; the push plate (211) is perpendicular to the left and right inner sides of the medicine feeding groove (21).

3. The medicine feeding machine according to claim 1, wherein In the push plate (211), the front end is higher than the rear end.

4. The medicine feeding machine according to claim 1, wherein The number of the medicine feeding grooves (21) is multiple, each medicine feeding groove (21) extending upward from the bottom of the body part to the top of the medicine feeding groove (21), all the medicine feeding grooves (21) being arranged in parallel and in a row along the left and right directions; The bottom surface of the medicine feeding groove (21) is provided with a waist hole (212) extending through the bottom surface of the medicine feeding groove (21), the extension direction of the waist hole (212) being consistent with the extension direction of the medicine feeding groove (21) and extending from the bottom to the top of the medicine feeding groove (21); Each push plate (211) is fixedly connected with a connecting block (214), the push plate (211) extending through the waist hole (212) in the medicine feeding groove (21); the first driving device (22) can drive the connecting block (214) in any medicine feeding groove (21) to move along the waist hole (212).

5. The medicine feeding machine according to claim 4, wherein The first driving device (22) comprises an upper slide rail (221A), a lower slide rail (221B) and a vertical slide rail (222), the upper slide rail (221A) being located directly above the lower slide rail (221B), both the upper and lower slide rails extending along the left and right directions, the upper slide rail (221A) and the lower slide rail (221B) extending from the leftmost medicine feeding groove (21) to the rightmost medicine feeding groove (21), the vertical slide rail (222) being capable of sliding along the upper and lower slide rails, the vertical slide rail (222) extending from the bottom end of all the medicine feeding grooves (21) to the top end. ​ A slider (2221) is arranged on the vertical slide rail (222) and can slide along the vertical slide rail (222), a vertical plate (2222) is arranged on the slider (2221), a protrusion (2223) extending forward is arranged on the front surface of the vertical plate (2222), and the vertical plate (2222) can move in the front-back direction relative to the slider (2221); The rear surface of each connecting block (214) is provided with a recess (2141), and the protrusion (2223) can be inserted into the recess (2141) in the upper medicine groove (21) located directly in front.

6. The medicine loading machine according to claim 5, characterized in that A first detector (2226) is arranged on the slider (2221) and can detect whether the box medicine is stacked on the push plate (211) in the upper medicine groove (21) located directly in front.

7. The medicine loading machine according to claim 5, characterized in that The box medicine grabbing device (25) comprises a base (251), a suction device (252) and a support (253); The base (251) is fixedly arranged on the top of the vertical slide rail (222), the bottom of the support (253) is in sliding connection with the base (251) and can move in the front-back direction relative to the base (251); The suction device (252) is arranged on the top of the support (253) and can move in the up-down direction relative to the support (253); The bottom of the suction device (252) is provided with a suction nozzle (2521) with the front end of the suction nozzle (2521) downward, and the suction nozzle (2521) can suck the box medicine on the top of the upper medicine groove (21) located directly in front.

8. The medicine loading machine according to claim 7, characterized in that The box medicine grabbing device (25) comprises a conveying belt (254) located below the suction device (252) and extending in the front-back direction, and the box medicine sucked by the suction device (252) can be placed on the front end of the conveying belt (254).

9. The medicine loading machine according to claim 8, characterized in that The box medicine grabbing device (25) comprises a first camera (2551), a second camera (2552) and a third camera (2553); The first camera (2551) is fixed to the suction device (252) and faces the suction nozzle (2521); The second camera (2552) is located directly behind the suction device (252) and faces the suction device (252), and the suction nozzle (2521) can rotate along the vertical axis thereof; The third camera (2553) is located on the front end of the conveying belt (254) and faces upward.

10. The medicine loading machine according to claim 9, characterized in that The top of the upper medicine groove (21) is provided with a notch (213) penetrating the bottom plate of the upper medicine groove (21). The front end of the conveyor belt (254) is provided with a second detector (256) capable of detecting whether there is a box of medicine in the top of the upper medicine slot (21) located directly in front.

11. The medicine feeding machine according to claim 7, characterized in that, The box of medicine grabbing device (25) further comprises a plurality of lamps (257), each lamp (257) illuminating the suction device (252).

12. A medicine store, characterized in that, It comprises the medicine feeding machine according to any one of claims 1-11.

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