Automatic medicinal material dispensing system

Abstract

The utility model discloses an automatic dispensing system for medicinal materials. The system comprises a medicinal material storing and taking cabinet which comprises a plurality of dispensing units, and each dispensing unit is used for storing medicinal materials and outputting the medicinal materials; the dispensing robot comprises a dispensing trolley, and the dispensing trolley is configured to be capable of moving to a target medicine falling position below the medicinal material storing and taking cabinet under the control of a control system; and the control system is connected with the multiple dispensing units and used for controlling the corresponding dispensing units in the multiple dispensing units to enable the medicine contained in the dispensing units to fall into the dispensing trolley running to the target medicine falling position according to the needed weight. The medicinal material dispensing system solves the technical problem that a medicinal material dispensing system in the prior art is low in working efficiency.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of medical apparatus and instruments, and particularly relates to an automatic medicine dispensing system. BACKGROUND

[0002] Traditional Chinese medicine dispensing systems mostly adopt a mode of combining manual sorting with semi-automatic equipment, which has a significant efficiency bottleneck. The existing system architecture usually relies on a vibration discharge mechanism to perform a discharge action, and cooperates with a conveyor belt to complete medicine transfer, and its operation process needs to sequentially complete multiple serial links such as prescription receiving, medicine positioning, vibration discharge, and weighing calibration. Especially when facing the demand of concurrent processing of multiple prescriptions, since the conveyor belt can only sequentially transport medicines to complete prescription dispensing, some prescription dispensing falls behind, thereby affecting the dispensing efficiency of the whole system, and the overall throughput of the system is difficult to break through the single-thread operation mode.

[0003] For the above problems, no effective solution has been proposed so far. SUMMARY

[0004] The utility model embodiment provides a kind of automatic medicine dispensing system of medicine, to at least solve the technical problem of low work efficiency of medicine dispensing system in prior art.

[0005] According to one aspect of the embodiment of the utility model, an automatic medicine dispensing system is provided, comprising: a medicine storage and retrieval cabinet including a plurality of dispensing units, each dispensing unit for storing and outputting the medicine; a dispensing robot including a dispensing trolley configured to move to a target medicine dropping position below the medicine storage and retrieval cabinet under the control of a control system; and the control system is connected with the plurality of dispensing units respectively, for controlling the corresponding dispensing unit in the plurality of dispensing units to drop the medicine contained therein into the dispensing trolley running to the target medicine dropping position according to the required weight.

[0006] In some embodiments, the medicine storage and retrieval cabinet includes: a plurality of dispensing units for containing different kinds of medicines, wherein each dispensing unit is provided with an independent medicine dropping channel; a main frame including: an upper part for supporting the plurality of dispensing units; and a lower part fixedly connected with the upper part for providing a channel for the dispensing trolley to travel, wherein the dispensing trolley is used to receive the medicine output by the corresponding medicine dropping channel. This embodiment can effectively avoid cross contamination between different medicines by providing an independent medicine dropping channel for each dispensing unit, thereby improving the safety and accuracy of medicine storage and retrieval.

[0007] In some embodiments, the plurality of dispensing units are arranged in at least one level in a top-down manner, the dispensing units in each level are distributed in a matrix manner, and the dispensing channels of the dispensing units corresponding to the top-down positions in different levels are arranged in a staggered manner. By arranging the dispensing channels in a staggered manner, the space utilization is optimized, the mutual interference between the medicinal materials is effectively avoided, the collision of the material flow is reduced, and the accuracy and stability of the dispensing process are further improved.

[0008] In some embodiments, the lower part is provided with at least one dispensing port surrounding structure for surrounding the dispensing port of the dispensing channel of part or all of the plurality of dispensing units. In this embodiment, the dispensing port surrounding structure can effectively prevent the scattering or pollution of the medicinal materials during the storage and access process, ensure that the medicinal materials are in a closed environment during the dispensing process, and thus improve the safety of the medicinal materials.

[0009] In some embodiments, at least one side wall of each dispensing port surrounding structure is provided with a dust removal pipeline for dust cleaning of the medicinal materials falling through the dispensing port in the corresponding dispensing port surrounding structure. In this embodiment, the dust removal pipeline can effectively clean the dust generated when the medicinal materials fall, ensure the hygiene of the medicinal materials, and is particularly suitable for application environments with high requirements for the purity and cleanliness of the medicinal materials.

[0010] In some embodiments, the dispensing channel is an inclined guide groove. The inclined guide groove helps the medicinal materials to flow smoothly from the discharge port into the dispensing channel, reduces the occurrence of material jamming, and ensures that the medicinal materials fall accurately at a stable speed.

[0011] In some embodiments, the discharging machine comprises a primary hopper for accommodating material, and a dispensing mechanism connected with the primary hopper, which comprises a pushing mechanism for pushing the material into the inside of a roller, and the roller for quantitatively outputting the material by rotation of the roller. In some embodiments, the inner wall of the roller is provided with spiral blades integrally formed with the inner wall of the roller. The discharging machine of this embodiment realizes the quantitative and uniform output of the material by combining the pushing mechanism and the roller, solves the problem of material jamming of the discharging machine. In addition, since the inner wall of the roller is integrally formed with the spiral blades, the problem of material jamming in the traditional design is avoided, and the stability and efficiency of the material output are improved.

[0012] In some embodiments, an axial distance is formed between the front end of the pushing mechanism and the feeding port of the roller; or the pushing mechanism comprises a pushing section provided with continuous spiral blades and a buffer section without blades connected in sequence along the axial direction, and the pushing section is located away from the feeding port of the roller.

[0013] Through the above structure, after the material is separated from the pushing mechanism or the pushing section, the material is extruded to the drum inlet, and since there is no rigid structure between the pushing mechanism and the drum inlet, the extrusion jamming problem caused by the direct docking of the pushing mechanism or the pushing section with the drum is avoided.

[0014] In some embodiments, the continuous spiral blade in the drum is connected to the inner wall of the drum without a gap through integral molding. In this embodiment, the continuous spiral blade in the drum is connected to the inner wall of the drum without a gap through integral molding, avoiding the connection gap and material jamming problem existing in the traditional structure.

[0015] In some embodiments, the pushing mechanism and the drum are a split structure, and the pushing mechanism and the drum are driven asynchronously by a single motor through different reduction ratios, or are driven asynchronously or synchronously by two independent motors. In this embodiment, the pushing mechanism and the drum adopt a split structure and are driven asynchronously or synchronously by a single motor or two independent motors, which can flexibly adjust the running speed and working state of the pushing mechanism and the drum as needed. This structure improves the adjustability and adaptability of the system, better meets the processing needs of different materials, simplifies the structure of the driving system, and improves the overall reliability and efficiency.

[0016] In some embodiments, the pushing mechanism is a hard screw, and the blade of the hard screw is a rigid structure; or the pushing mechanism is a soft screw including a screw and a flexible blade, wherein the flexible blade is spirally arranged on the screw and can elastically deform to release the jamming when the material is jammed. In this embodiment, the pushing mechanism can select a hard screw or a soft screw according to the material characteristics. The hard screw adopts a rigid blade structure to provide stable material pushing force and ensure uniform material output. The soft screw can automatically release the jamming through the elastic deformation of the flexible blade when the material is jammed, effectively avoiding equipment damage and improving the adaptability and reliability of the system, so that the pushing mechanism can meet the processing needs of different materials and improve the stability and working efficiency of the equipment.

[0017] In some embodiments, the pushing mechanism and the drum are an integral structure, and the pushing mechanism and the drum are synchronously driven by a single motor. This integrated structure effectively reduces mechanical connections and transmission components, improves the stability and reliability of the discharging machine. At the same time, through synchronous driving, the pushing mechanism and the drum can work coordinately, improving the precision and efficiency of material output and reducing energy consumption and maintenance cost.

[0018] In some embodiments, the pushing mechanism is a hard screw fixedly connected with the inner wall of the roller to form the integrated structure; or the pushing mechanism is a soft screw including a screw and a flexible blade, the screw is fixedly connected with the inner wall of the roller to form the integrated structure, and the flexible blade is spirally arranged on the screw and can elastically deform to remove the blockage when the material is blocked. In this embodiment, the pushing mechanism and the roller form an integrated structure through the hard screw or the soft screw, ensuring the compactness and stability of the overall system. The hard screw is fixedly connected with the inner wall of the roller to provide powerful and stable material pushing; and the soft screw can automatically elastically deform to remove the blockage and prevent equipment damage through the flexible blade when the material is blocked.

[0019] In some embodiments, the discharging machine further comprises an isolation assembly installed in the primary bin for supporting the material in the primary bin and conveying the material in the primary bin to the pushing mechanism through the discharge port of the primary bin. In this embodiment, the isolation assembly effectively supports the material in the primary bin and ensures the material to be conveyed to the pushing mechanism. In addition, this structure avoids the accumulation or caking of the material in the bin, improving the flowability and conveying efficiency of the material.

[0020] In some embodiments, the isolation assembly includes at least two isolation shafts arranged in parallel along the length direction or the width direction of the primary bin, and can rotate in opposite directions or oscillate under the driving of the driving motor to convey the material in the upper layer of the primary bin to the pushing mechanism. In some embodiments, the isolation assembly includes at least two blocking shafts arranged in parallel along the width direction of the primary bin, and can rotate or oscillate within a preset angle range under the driving of the driving motor, wherein a plurality of bridge breaking rods are arranged on each blocking shaft for supporting the material in the primary bin and breaking the bridge formed when the material falls to the pushing mechanism.

[0021] In some embodiments, the isolation assembly includes a blocking long shaft arranged above the pushing mechanism along the length direction of the primary bin, and can rotate or oscillate within a certain angle range under the driving of the driving motor, wherein a plurality of bridge breaking rods are arranged on the blocking long shaft for supporting the material in the primary bin and breaking the bridge formed when the material falls to the pushing mechanism.

[0022] In some embodiments, the isolation assembly includes an arc-shaped isolation plate, the arc surface of the arc-shaped isolation plate extends towards the direction of the pushing mechanism to guide the material to flow to the pushing mechanism, and the edge of the arc-shaped isolation plate is provided with a plurality of through holes to adjust the flow of the material.

[0023] In this embodiment, the isolation assembly can effectively transport the material on the upper layer of the primary material bin to the pushing mechanism while supporting the material, thereby improving the stability and efficiency of material transportation.

[0024] In some embodiments, the discharging machine further comprises a weighing assembly arranged below the discharging port of the roller, comprising: a weighing hopper for receiving the material output by the roller; a weighing sensor for detecting the weight of the material in the weighing hopper; wherein the lower part of the weighing hopper is provided with a discharge plate, the discharge plate is connected with a discharge plate motor through a rotating shaft, and can rotate along the rotating shaft under the drive of the discharge plate motor to form an adjustable discharge port. In this embodiment, the weighing assembly is provided to enable the discharging machine to monitor the output weight of the material in real time, thereby improving the accuracy of material management.

[0025] In some embodiments, the discharging machine further comprises a secondary material bin which is detachably mounted on the primary material bin, wherein the secondary material bin comprises: a detachable bin body for storing the standby material; a bin bottom plate hinged to the bin body through a rotating shaft, the bin bottom plate can be extracted and rotated by a preset angle around the rotating shaft and then buckled on the secondary material bin to supplement the primary material bin. In this embodiment, the detachable secondary material bin makes the material supplementing more flexible and convenient. Through the rotatable bin bottom plate, the primary material bin can be quickly docked during the material supplementing process to ensure smooth inflow of the material. This structure not only simplifies the material supplementing operation, but also improves the operation efficiency, reduces the downtime, enhances the automation and adaptability of the discharging machine.

[0026] In some embodiments, the dispensing robot comprises: a dispensing trolley for carrying and conveying medicinal materials; a track device comprising: at least one guide rail assembly for carrying and guiding the dispensing trolley; and a track changing mechanism for enabling the dispensing trolley to adjust the front and back relative positions with other dispensing trolleys on the at least one guide rail assembly. In the present application, through the provision of the track changing mechanism, dynamic path planning and position adjustment of multiple dispensing trolleys can be realized, the scheduling congestion problem caused by a single track can be avoided, and the overall operation efficiency of the medicinal material dispensing system can be significantly improved.

[0027] In some embodiments, the at least one guide rail assembly includes a main guide rail line and an overtaking guide rail line; the rail changing mechanism is arranged on the main guide rail line and the overtaking guide rail line, and includes a horizontal moving assembly and a short guide rail assembly fixed on the horizontal moving assembly, wherein the horizontal moving assembly is configured to be able to horizontally move between the main guide rail line and the overtaking guide rail line, and to align at least one short guide rail on the short guide rail assembly with the main guide rail line and / or the overtaking guide rail line. In the embodiments of the present application, through the double-rail design of the main guide rail line and the overtaking guide rail line and the dynamic alignment function of the short guide rail assembly, flexible overtaking and rail changing of the trolley can be realized without interrupting the operation, and the transmission delay caused by waiting can be greatly reduced.

[0028] In some embodiments, the cargo platform is used to carry the medicinal materials; the base is used to support the cargo platform; a plurality of support guide wheel groups are divided into two groups of support guide wheel groups, which are symmetrically arranged on the two sides below the base, wherein the support guide wheel group on one side is fixedly connected to one side below the base, and the support guide wheel group on the other side is detachably connected to the other side below the base; and the driving assembly is used to drive the dispensing trolley to move on the at least one guide rail assembly. In the embodiments of the present application, the symmetrically detachable support guide wheel group design not only ensures the stability of the trolley structure, but also facilitates quick disassembly and replacement during maintenance, and at the same time meets the compatibility requirements of different guide rail specifications.

[0029] In some embodiments, each support guide wheel group includes: a support seat; a support wheel fixedly connected to the front surface of the support seat and used to support the dispensing trolley; an auxiliary wheel fixedly connected to the lower part of the side surface of the support seat and used to assist in supporting the dispensing trolley; a plurality of guide wheels respectively fixedly connected to the upper end surface and the lower end surface of the support seat and used to guide the dispensing trolley to move along the at least one guide rail assembly; and a balance wheel fixedly connected to the upper part of the side surface of the support seat and used to balance the dispensing trolley to enable it to move smoothly. In the embodiments of the present application, the four-layer wheel system structure (support wheel, auxiliary wheel, guide wheel, and balance wheel) forms a three-dimensional constraint, effectively inhibits lateral shaking and longitudinal deviation of the trolley during operation, and ensures high stability of the medicinal material transportation process.

[0030] In some embodiments, the driving assembly comprises: a motor and a speed reducer, wherein the motor is configured to provide a driving force, and the speed reducer is configured to adjust the driving force; a first bevel gear mounted on an output shaft of the speed reducer and configured to transmit the driving force from the speed reducer to a transmission shaft; a second bevel gear engaged with the first bevel gear and mounted on an upper end of the transmission shaft, and configured to transmit the driving force to the transmission shaft; the transmission shaft having a lower end fixedly connected to a driving wheel through a tension sleeve, and configured to transmit the driving force to the driving wheel; and the driving wheel configured to drive the dispensing trolley to move along the at least one guide rail assembly under the driving force. In the embodiments of the present application, the bevel gear transmission combined with the driving scheme of the tension sleeve can not only realize efficient transmission of vertical direction power, but also compensate for assembly errors through tension adjustment, thereby improving the reliability and service life of the transmission system.

[0031] In some embodiments, each guide rail assembly comprises: a guide rail having a cross-section in the shape of an I-beam; and a rack mounted on an inner side of the guide rail in the shape of the I-beam, wherein the driving wheel is configured to rotate under the driving force and continuously mesh with the rack to move. In the embodiments of the present application, the I-beam guide rail and the rack meshing driving mode form a double positioning mechanism, which not only limits the lateral displacement through the guide rail structure, but also eliminates the risk of slipping through the rack transmission, thereby realizing millimeter-level precision positioning control.

[0032] In some embodiments, the cargo carrying platform comprises: a medicine basket configured to carry the medicinal materials; a cargo carrying platform body having a recessed sunken structure on the top, wherein the sunken structure is configured to place the medicine basket; and a sensor disposed on the sunken structure and configured to detect whether the medicine basket is placed on the sunken structure. In the embodiments of the present application, the sunken cargo carrying platform cooperates with the contact sensor to accurately detect the loading state of the medicine basket and prevent displacement of the medicine basket during transportation, while reducing the overall cargo carrying gravity center to improve the safety of movement.

[0033] In some embodiments, the track device further comprises a track turning mechanism disposed at a turning position of the at least one guide rail assembly and configured to adjust the moving direction of the dispensing trolley at the turning position. In the embodiments of the present application, the setting of the turning track turning mechanism breaks through the layout limitation of the traditional straight track, supports multi-directional path expansion, and enables the system to adapt to the layout of the ring-shaped or zigzag-shaped track under complex site conditions.

[0034] In some embodiments, the rotating mechanism comprises: a slewing base arranged at the corner position; a slewing table rotatably mounted on the slewing base; and a linear guide rail assembly arranged on the slewing table and used for changing the direction of the guide rail at the corner position when the slewing table rotates by a preset angle. In the embodiments of the present application, the slewing rotating mechanism automatically switches the direction of the guide rail through mechanical linkage, without the need for additional rotating motors, thereby simplifying the control logic and reducing the failure rate of the equipment. In addition, the rotating mechanism can also be powered, such as a pneumatic swing cylinder or an electric slewing table.

[0035] In some embodiments, the control system is further configured to determine a running track of the dispensing trolley on the main guide rail line according to a medicinal material type required by a prescription; and when the dispensing trolley runs to the target medicinal material dropping position under the dispensing unit corresponding to the medicinal material type along the running track, control the corresponding dispensing unit to drop medicinal materials contained therein into the dispensing trolley according to the required weight.

[0036] In some embodiments, the pushing mechanism comprises a blade segment provided with blades and a transition segment not provided with blades, wherein the transition segment is close to the feeding port of the roller, and the length of the transition segment is less than the length of the blade segment; and / or the gapless connection between the continuous spiral blades in the roller and the inner wall of the roller is achieved through integral molding.

[0037] The embodiments of the present application solve the technical problem of low work efficiency of the medicinal material dispensing system in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0038] The drawings accompanying the specification of the present application form a part thereof, serve to provide further understanding of the present application, and together with the specification explain the present application, and do not constitute an improper limitation to the present application. In the drawings:

[0039] Figure 1 is an architectural diagram of the automatic medicinal material dispensing system according to the embodiments of the present application;

[0040] Figure 2 is a perspective view of the medicinal material access cabinet according to the embodiments of the present application;

[0041] Figure 3 in (a) is a sectional view of the medicinal material access cabinet according to the embodiments of the present application, and (b) is a front view of the medicinal material access cabinet;

[0042] Figure 4 is a perspective view of the upper mounting part of the medicinal material access cabinet according to the embodiments of the present application;

[0043] Figure 5Fig. 1 is a perspective view of a dispensing machine according to an embodiment of the present application, Fig. 2 is a right side view of the dispensing machine of Fig. 1,

[0044] Figure 6 Fig. 3 is a front view of the dispensing machine of Fig. 1,

[0045] Figure 7 Fig. 4 is a side view of a primary hopper according to an embodiment of the present application,

[0046] Figure 8 Fig. 5 is a structure of a dispensing mechanism according to an embodiment of the present application, Figure 1 ;

[0047] Figure 9 Fig. 6 is a structure of a dispensing mechanism according to an embodiment of the present application, Figure 2 ;

[0048] Figure 10 Fig. 7 is a structure of a dispensing mechanism according to an embodiment of the present application, Figure 3 ;

[0049] Figure 11 Fig. 8 is a structure of a dispensing mechanism according to an embodiment of the present application, Figure 4 ;

[0050] Figure 12 Fig. 9 is a perspective view of a weighing assembly according to an embodiment of the present application,

[0051] Figure 13 Fig. 10 is a perspective view of a dispensing machine with an isolation assembly according to an embodiment of the present application,

[0052] Figure 14 Fig. 11 is a structure of an isolation assembly according to an embodiment of the present application, Figure 1 ;

[0053] Figure 15 Fig. 12 is a perspective view of a dispensing machine with another isolation assembly according to an embodiment of the present application,

[0054] Figure 16 Fig. 13 is a perspective view of a dispensing machine with yet another isolation assembly according to an embodiment of the present application,

[0055] Figure 17 Fig. 14 is a perspective view of a dispensing machine with an isolation assembly in the form of an arc-shaped isolation plate according to an embodiment of the present application,

[0056] Figure 18 Fig. 15 is a structure of an arc-shaped isolation plate according to an embodiment of the present application,

[0057] Figure 19 Fig. 16 is a perspective view of a dispensing machine with a secondary hopper according to an embodiment of the present application,

[0058] Figure 20 is a structural diagram of a dispensing robot according to an embodiment of the present application;

[0059] Figure 21 is a perspective structural diagram of a dispensing trolley according to an embodiment of the present application;

[0060] Figure 22 is a perspective structural diagram of a cargo platform according to an embodiment of the present application;

[0061] Figure 23 is a front view of a support and guide wheel assembly according to an embodiment of the present application;

[0062] Figure 24 is a structural diagram of a drive assembly according to an embodiment of the present application;

[0063] Figure 25 is a structural diagram of a guide rail assembly according to an embodiment of the present application;

[0064] Figure 26 is a structural diagram of a rail changing mechanism according to an embodiment of the present application;

[0065] Figure 27 is a structural diagram of a rail switching mechanism according to an embodiment of the present application;

[0066] Figure 28 is a combined layout diagram of a medicinal material storage and retrieval cabinet according to an embodiment of the present application;

[0067] Among the above drawings, the following reference signs are included:

[0068] 10, medicine storage cabinet; 12, dispensing robot; 14, control system; 101, main body frame; 102, dispensing unit; 103, dust removal pipeline; 104, medicine dropping port surrounding structure; 105, medicine dropping channel; 201, primary hopper; 202, dispensing mechanism; 203, weighing assembly; 204, isolation assembly; 205, secondary hopper; 2021, screw driving motor; 2022, hard screw; 2023, roller; 2024, roller driving motor; 2025, driving gear; 2026, soft screw; 2027, flexible blade; 2028, hard screw and roller integrated structure; 2029, screw and roller integration; 2031, unloading plate motor; 2032, rotating shaft; 2033, weighing hopper; 2034, unloading plate; 2035, weighing sensor; 2041, driving motor; 2042, isolation assembly engaging gear; 2043, isolation shaft; 2044, isolation plate; 2045, blocking shaft; 2046, bridge breaking rod; 2047, blocking long shaft; 2048, arc-shaped isolation plate; 2051, hopper body; 2052, hopper bottom plate; 2053, hopper rotating shaft; 301, dispensing trolley; 302, guide rail assembly; 303, rail changing mechanism; 304, rail rotating mechanism; 3011, base; 3012, vertical support; 3013, quick-release support; 3014, support guide wheel set; 3015, driving assembly; 3016, cargo carrying platform; 30141, support seat; 30142, support wheel; 30143, auxiliary wheel; 30144, guide wheel; 30145, balancing wheel; 30151, motor; 30152, speed reducer; 30153, support; 30154, bevel gear one; 30155, bevel gear two; 30156, transmission shaft; 30157, bearing seat; 30158, tensioning sleeve; 30159, driving wheel; 30161, sinking structure; 30162, non-detection sensor; 3021, main guide rail line; 3022, overtaking guide rail line; 3023, guide rail; 3024, guide rail base; 3025, rack; 3031, lower base; 3032, horizontal moving assembly; 3033, short guide rail assembly; 3041, swivel base; 3042, swivel table; 3043, linear guide rail assembly; 305, medicine basket. DETAILED DESCRIPTION

[0069] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0070] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0071] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples are not intended to limit the scope of the present application unless otherwise specifically stated. It is to be understood that the actual dimensions of the various parts shown in the drawings are not necessarily to scale as the dimensions are merely intended to facilitate description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered as if the techniques, methods, and apparatus were discussed in detail herein. In all examples shown and discussed herein, any specific values are to be interpreted as merely illustrative and not limiting. Other examples of the example embodiments can have different values. It is noted that like numbers and letters refer to like elements throughout the several views of the drawings and, as such, no further discussion with regard thereto is deemed necessary.

[0072] The present application provides an automatic medicine dispensing system, as shown in Figure 1 The system includes a medicine access cabinet 10, a dispensing robot 12, and a control system 14.

[0073] The medicine access cabinet will be described in detail below.

[0074] The existing medicine access cabinet is composed of multiple dispensing units installed obliquely, each dispensing unit is provided with a medicine adding port at the rear and a medicine dropping port at the lower front, multiple dispensing units share one medicine dropping channel, and the medicine dropping channel is uniformly conveyed to a medicine receiving frame through a conveying line or other equipment below. Since multiple dispensing units share one medicine dropping channel in the existing design, once there is residual medicine in the channel, it is easy to cause cross contamination between different dispensing prescriptions, thereby causing medical safety hazards.

[0075] The present application provides a medicine access cabinet, as shown in Figures 2 to 4 The medicine access cabinet includes a main frame 101 and multiple dispensing units 102.

[0076] The main frame 101 is hollow inside and includes an upper part and a lower part. The upper part is used to install and fix the dispensing units 102. The dispensing units 102 are distributed in multiple layers from top to bottom in the upper part, with each layer consisting of two rows facing each other and multiple columns from left to right. The lower part is located below the upper part and is fixedly connected to it, providing a passage for the dispensing trolley to travel. The dispensing trolley is used to receive the medicine output from the dispensing channel 105 of the corresponding dispensing unit 102. The lower part is provided with at least one dispensing port enclosure structure 104 to enclose the dispensing port of part or all of the dispensing channels 105 of the dispensing units 102. At least one side wall of each dispensing port enclosure structure 104 is provided with a dust removal pipe 103 for cleaning dust from the medicine falling from the dispensing port in the corresponding dispensing port enclosure structure 104.

[0077] The dispensing unit in the medicinal herb storage cabinet will be described in detail below. The dispensing unit includes a dispensing machine and a dispensing channel.

[0078] Existing discharge methods for material discharge machines include staggered tooth and brush discharge, vibration discharge, and single screw discharge. These methods generally suffer from problems such as material jamming, poor accuracy, low efficiency, and high cost. For example, when the external screw rotates, it needs to have a certain gap with the hopper wall, which leads to a significant risk of material jamming at the outlet.

[0079] To address the aforementioned problems, this utility model provides a discharge machine, such as... Figures 5 to 19 As shown, the feeding mechanism (e.g., screw) of this discharge machine does not have blades on the screw between its front end and the drum, or there is an axial gap between the front end of the screw and the drum. Thus, there is no rigid structure between the front end of the screw and the drum, forming a buffer zone, and the material in the screw pushes the material at the front end into the drum. Furthermore, the helical blades inside the drum are integral with the drum, without gaps. This structure solves the problem of material jamming in existing discharge machines.

[0080] like Figure 5 As shown, the discharging machine mainly includes a primary hopper 201, a dispensing mechanism 202, a weighing component 203, an isolation component 204, and a secondary hopper 205. The dispensing mechanism 202 includes a pushing mechanism and a roller. The discharging machine uses a screw or other pushing mechanism to transport materials, such as medicinal herbs, into the inside of the roller, and the rotation of the roller achieves quantitative output of the material. When the material accuracy requirement is not high, direct roller discharging can be performed; when the accuracy requirement is high, it can be used in conjunction with the weighing hopper of the weighing component 203 to achieve precise quantitative discharging.

[0081] Primary silo 201 Figure 6The main purpose of the shown is to store or buffer materials, in addition, also play a conveying material screw support the weight of the material, so that the majority of the weight of the material on the side wall of the first bin. The screw is directly above the direction of rotation of the screw is also covered by the first bin, so you can reduce the resistance of the material to the screw, improve the discharge accuracy, so as to reduce the driving force of the screw. For low density of light material, not too much support for the material, then you can use no need to cover the screw bin, such as Figure 7 The two structures have no obvious use limit, according to different working conditions, requirements, etc. can be used. Through the above structure, the existing regulating unit can solve the problem of card material, poor precision, low efficiency and high cost. The bin can be a whole bin, or two separate bins, for example, in addition to the first bin, also can include two bin 205, two bin 205 is to facilitate the material or facilitate automatic feeding.

[0082] The regulating mechanism includes a push mechanism and a drum, the push mechanism can be a screw, of course, can also be other push structure, the drum is the spiral blade and the outer wall of the drum together. The shape of the drum can be cylindrical, conical, or other as long as the output material of the middle of the shape. The drum can be placed horizontally with the screw, can also change the way, for example, inclined or vertical placement, or the drum into a drum bin integral manner.

[0083] To solve the problem of card material, poor precision, low efficiency and high cost, according to different materials, the drum and screw can adopt different forms, for example, the present application provides the following four structures.

[0084] Form one: hard screw and drum combination, the two are split structure, with different speed.

[0085] For example, Figure 8As shown, the hard screw 2022 is driven by the screw driving motor 2021 to deliver the material to the mouth position of the roller 2023 (i.e. the roller feeding position). At the mouth position, the front end of the hard screw 2022 is not connected with the roller, and the material at the mouth position is delivered to the inside of the roller in the form of material pushing. The roller driving motor 2024 drives the roller 2023 through the driving gear 2025, and the rotation of the roller 2023 quantitatively outputs the material. In this embodiment, the hard screw and the roller are driven asynchronously by two motors, so that the rotation speeds of the two are different. In other embodiments, one motor can be used to achieve power transmission and speed difference between the roller and the screw through different reduction arms. For some materials that may accumulate at the mouth of the roller, the roller is driven asynchronously with the screw, so that the rotation speed of the roller is greater than that of the screw. In this way, the material can be quickly delivered, thereby reducing the accumulation of the material. Of course, in other embodiments, the same motor can be used for synchronous driving, so that the rotation speeds of the two are the same.

[0086] Form two: soft screw combined with roller, which are separate structures and have different rotation speeds.

[0087] Considering that some materials may be stuck between the hard screw and the bin, the hard screw is replaced by a soft screw in this embodiment, as shown in Figure 9 The soft screw 2026 includes a screw and a flexible blade 2027 spirally arranged on the screw. When encountering material jam, the flexible blade 2027 will automatically deform to automatically remove the jam fault, so that it can continue to rotate. The driving form in this embodiment can be the same as that in form one, which will not be described here.

[0088] Form three: hard screw and roller are integrally formed and have the same rotation speed.

[0089] As shown in Figure 10 The blade of the hard screw or other means is connected with the inside of the roller to form a hard screw-roller integrated structure 2028 as a regulating mechanism. Under the action of the screw driving motor 2021, it rotates at a constant speed. This kind of hard screw-roller integrated structure 2028 only needs one driving force, the driving structure is simple, the integrated design and installation are more convenient, and the cost is reduced.

[0090] Form four: soft screw and roller are integrally formed and have the same rotation speed.

[0091] As shown in Figure 11As shown, the pushing mechanism is composed of a screw roller integration 2029 and a flexible blade 2027, wherein the screw roller integration 2029 is a screw roller and a roller fixed together through a fixing member. When the flexible blade 2027 encounters materials with blockage, the soft blade will be forced to deform, avoiding the materials from being stuck, and improving the stability of the device.

[0092] In the embodiment of the present application, the roller and the screw are combined to discharge materials, the screw conveys materials, and the roller quantitatively discharges materials, thereby solving the problem of material blockage. In other embodiments, in addition to the screw mode, the material conveying of the pushing mechanism can also be in other forms such as vibration and silo inclination, as long as the materials are conveyed into the roller, the purpose of discharging can be achieved.

[0093] As shown in the figure, Figure 12 The weighing assembly includes a weighing hopper 2033 and a weighing sensor 2035, wherein the side bottom of the weighing hopper 2033 is provided with a discharge plate 2034, which is rotatably connected with the body of the weighing hopper 2033 through a rotating shaft 2032. The weighing assembly is used in cooperation with the quantitative discharge under the condition that the material precision and efficiency are required to be high. When the discharge precision requirement is low, the screw roller quantitative discharge can be directly used without setting the weighing assembly. The use of the weighing assembly can improve the dispensing efficiency. When the instruction is received, the materials can be first conveyed into the weighing hopper, thereby saving the discharging time.

[0094] The materials are output from the screw and the roller into the weighing hopper 2033, the weight is accurately controlled by the weighing sensor 2035, and the weight is fed back to the control system in real time. When the real-time weight reaches the required weight of the prescription, the discharge plate 2034 is driven to rotate along the rotating shaft 2032 under the driving of the discharge plate motor 2031 (controlled by the control system), an opening is formed between the discharge plate 2034 and the body of the weighing hopper 2033, and the materials can fall into the medicine frame of the dispensing trolley below through the opening.

[0095] The dispensing unit in the embodiment of the present application further includes an isolation assembly 204, as shown in the figure, Figures 13 to 17As shown, the isolation assembly 204 can adopt various structures. In order to smoothly convey the material from the screw into the roller, so that the material is continuously and uniformly discharged, ensuring the accuracy, the embodiment of the application sets an isolation assembly 204 above the screw, i.e. in the first bin, which divides the first bin into upper and lower layers. The setting of the isolation assembly can reduce the resistance of the material to the screw on the one hand, and on the other hand, since the material will form a bridge in the first bin, the isolation assembly can destroy the bridge, so that the material falls uniformly on the screw below. Considering the actual effect and cost reasons, different materials need different types of isolation assemblies 204, and the power source can be a separate power drive, or a power drive can be used on the discharge machine through a transmission structure. In addition, the rotation mode of the isolation assembly 204 can also be relative to the inside rotation, relative to the outside rotation, or swing within a certain preset angle according to different materials. In this way, the orderly conveying of the material can be realized.

[0096] Mode one: as shown in Figure 13 and 14 , the isolation assembly 204 is installed on the first bin 201, the drive motor 2041 drives the isolation assembly mesh gear 2042 to rotate, the isolation shaft 2043 is installed with the isolation plate 2044, under the drive of the drive motor 2041, the two isolation shafts move in opposite directions, conveying the material falling on the isolation assembly 204 to the screw below, the rotation speed of the isolation assembly 204 is proportional to the material output by the screw below.

[0097] Mode two: as shown in Figure 15 , the isolation assembly 204 is installed in the width direction of the first bin 201, the drive motor 2041 drives the isolation assembly mesh gear 2042 to rotate, the blocking shaft 2045 is installed with the bridge breaking rod 2046, the blocking shaft 2045 rotates under the drive of the drive motor 2041, since the blocking shaft 2045 is installed just above the screw, it plays a supporting role to the material, thereby reducing the pressure of the material to the screw. The material will form a bridge during free falling, after the bridge is formed, the material cannot fall, and by rotating the isolation assembly 204, the bridge can be broken, so that the material falls.

[0098] Mode three: as shown in Figure 16As shown, the isolation assembly is installed in the length direction of the first material bin 201, and a blocking long shaft 2047 is directly driven by a driving motor 2041, and a bridge breaking rod 2046 is installed on the blocking long shaft 2047. The blocking long shaft 2047 rotates under the driving of the driving motor 2041, and is just installed above the screw rod to support the material and reduce the pressure of the material on the screw rod. The material will bridge in the process of free falling, and the material cannot fall after the bridge is formed. The rotation of the isolation assembly 204 can break the bridge to make the material fall. In this embodiment, the blocking long shaft 2047 is installed in the length direction of the first material bin, which is relatively installed in the width direction of the first material bin, and has the advantages of convenient power installation and space saving.

[0099] Mode four: as shown in Figure 17 and 18 shown, the isolation assembly is an arc-shaped isolation plate 2048, and a gap or a through hole is formed between the edge of the arc-shaped isolation plate 2048 and the side wall of the first material bin 201. The arc-shaped isolation plate 2048 is installed above the screw rod. This isolation mode is mainly used for materials with good flowability. The material flows along the arc surface to the screw rod below, and the isolation plate supports the weight of the material at the same time to reduce the resistance of the material to the screw rod.

[0100] In some embodiments, the dispensing unit can also include a second material bin 205 as shown in Figure 19 . The second material bin 205 is used to supplement the material of the first material bin 201 online and / or supplement the material in the off-peak period. If there is no second material bin 205, directly supplementing the material of the first material bin 201 when the system is working will spill out of the first material bin 201 or cause cross contamination. However, through the online automatic feeding of the second material bin 205, the above pollution problem can be solved and the operation is convenient. In addition, the number of second material bins is often more, and in the off-peak period, the standby second material bin is filled with material, and when needed, the empty second material bin is taken down, and the second material bin filled with material is installed, which also has the beneficial effect of online feeding.

[0101] Specifically, the second material bin 205 is composed of a bin body 2051, a bin bottom plate 2052 and a bin rotating shaft 2053. The bin bottom plate 2052 is installed at the bottom of the bin body 2051 to block the bin body 2051, so that the material in the bin body 2051 will not leak out. When the bin body 2051 has no material, the second material bin 205 is placed above the first material bin 201, the bin bottom plate 2052 is pulled out, and after being pulled out, the bin bottom plate 2052 rotates around the bin rotating shaft 2053 and is buckled. After the bin bottom plate 2052 is pulled out, an opening is formed at the bottom of the bin body 2051, and the material falls from the second material bin 205 into the first material bin 201 below to realize feeding. This feeding method is simple and easy to operate, and the material will not be scattered outside to cause cross contamination during the feeding process.

[0102] The dispensing robot will be described in detail below.

[0103] When the existing ground track trolley is used to take medicine, two parallel guide rails are usually adopted, and the trolley chassis is composed of four groups of left and right guide and walking wheels. The trolley mainly walks on the two guide rails through the driving of the motor. The installation of the two guide rails needs to adjust the parallelism, flatness and center distance of each other, and the factory ground needs to design a pre-buried installation base every certain distance. In addition, the trolley body structure is complex, inconvenient to maintain, and once the trolley fails, it cannot be quickly moved off the track, affecting the operation of the whole system. The trolley walking exists the problem of slipping, the positioning accuracy is poor, the guide rail installation process is complex, and the construction cost is high.

[0104] The embodiment of the present application provides a dispensing robot for grabbing and carrying medicinal materials such as traditional Chinese medicine decoction pieces.

[0105] As shown in Figures 20 to 27 , the dispensing robot comprises a dispensing trolley 301 and a track device, wherein the track device comprises at least one guide rail assembly 302, a rail changing mechanism 303 and a rail turning mechanism 304, wherein the guide rail assembly is used for carrying and walking guiding of the dispensing trolley. The dispensing trolley is slidingly connected to the main guide rail line for material carrying and conveying. The rail changing mechanism can be distributed between the two parallel guide rails for switching the trolley between the parallel guide rail assemblies. The rail turning mechanism is distributed at the intersection of the two vertical guide rails for enabling the trolley to travel in the reverse direction between the vertical guide rails.

[0106] As shown in Figures 21 to 23 , the dispensing trolley 301 comprises a base 3011, a vertical support 3012, a quick-release support 3013, a support and guide wheel set 3014, a driving assembly 3015 and a cargo carrying platform 3016. The support and guide wheel set 3014 is installed on the lower surface of the base 3011 through the vertical support 3012 and the quick-release support 3013, the driving assembly 3015 is located on the upper surface of the base 3011, and the cargo carrying platform is located above the base 3011.

[0107] The support and guide wheel set 3014 is composed of a support seat 30141, a support wheel 30142, an auxiliary wheel 30143, a guide wheel 30144 and a balance wheel 30145. The support and guide wheel set 3014 supports the dispensing trolley 301 and ensures the sliding of the trolley along the guide rail. The support wheel 30142 is fixedly connected to the front surface of the support seat 30141 and serves as the main support of the trolley. The auxiliary wheel 30143 is fixedly connected to the lower side of the support seat 30141 and serves as the auxiliary support of the trolley. The guide wheel 30144 is fixedly connected to the upper and lower end surfaces of the support seat 30141 and ensures the forward and backward sliding of the dispensing trolley 301. The balance wheel 30145 is fixedly connected to the upper side of the support seat 30141 and ensures the smooth sliding of the trolley.

[0108] The support guide wheel group 3014 can be four, and the two support guide wheel groups 3014 on one side are fixedly connected to the base through a vertical support, and the two support guide wheel groups 3014 on the other side are fixedly connected to the base 3011 through a quick-release support, and the cargo platform 3016 is fixedly connected above the base; the quick-release support of the dispensing trolley is loosened, the support guide wheel group 3014 on one side of the trolley can be quickly removed, and the trolley is convenient to move out of the guide rail assembly 302.

[0109] The drive assembly 3015 is composed of a motor 30151, a speed reducer 30152, a support 30153, a bevel gear one 30154, a bevel gear two 30155, a transmission shaft 30156, a bearing seat 30157, a tensioning sleeve 30158, and a drive wheel 30159; the motor 30151 is connected to the rear end of the speed reducer 30152, the speed reducer 30152 is installed on the support, the support is installed on the upper surface of the base 3011, the bevel gear one 30154 is installed on the front end shaft of the speed reducer 30152, the bevel gear two 30155 is installed on the upper end of the transmission shaft 30156, the transmission shaft 30156 is installed on the bearing seat 30157, the bearing seat 30157 is embeddedly installed on the base 3011, and the drive wheel 30159 is fixed to the lower end of the transmission shaft 30156 through the tensioning sleeve 30158.

[0110] The lower surface of the cargo platform 3016 is a sunken structure 30161 for placing the medicine basket 305, and the lower surface is provided with a non-detection sensor 30162 for judging whether the medicine basket 305 is placed on the cargo platform.

[0111] The guide rail assembly 302 includes a main guide rail line 3021 and an overtaking guide rail line 3022. The main guide rail line 3021 and the overtaking guide rail line 3022 both include a guide rail 3023, a guide rail base 3024, and a rack 3025. The guide rail 3023 can be in an I shape, the guide rail 3023 is installed on the upper surface of the guide rail base 3024, and the rack 3025 is installed on the inner side of the guide rail. The main guide rail line 3021 and the overtaking guide rail line 3022 can be distributed in parallel with each other.

[0112] The rail changing mechanism 303 includes a lower base 3031, a horizontal moving assembly 3032, and a short guide rail assembly 3033, the horizontal moving assembly 3032 is fixedly connected to the lower base 3031, and the short guide rail assembly 3033 is fixed to the horizontal moving assembly 3032.

[0113] The rail turning mechanism 304 includes a rotary base 3041, a rotary table 3042, and a one-letter guide rail assembly 3043, the rotary table 3042 is fixed to the rotary base 3041, the rotary table 3042 can rotate by 360 degrees, and the one-letter guide rail assembly 3043 is fixedly connected above the rotary table 3042.

[0114] In the embodiment of the utility model, only one guide rail is used for support and guide when the trolley is walking, the guide rail is simple to lay, the trolley is driven to walk through the similar gear and rack transmission mode, cooperates servo drive, walking positioning precision is high, the trolley is equipped with quick detach structure, once trolley failure, can remove trolley one side support guide wheel group quickly, trolley removes out guide rail, trolley guide rail is in I -shaped structure, trolley both sides install guide wheel and hold in I -shaped guide rail upper and lower edge, can ensure trolley walking not to overturn, trolley contacts guide rail inner upper and lower surface through support wheel and balance wheel, ensures trolley running smoothly.

[0115] The walking and rail changing principles of the dispensing trolley will be described as follows: the trolley is driven to rotate by a motor, a speed reducer and a driving wheel, and continuously engages with the rack in the guide rail to realize walking; the trolley is ensured to walk along the extension direction of the guide rail by four groups of left and right and front and back guide wheels, the trolley is limited to move in the vertical direction by the support wheel, the auxiliary wheel and the balance wheel to ensure the trolley to walk stably; when the trolley needs to change rail, the trolley first walks to the short guide rail assembly of the rail changing mechanism, the horizontal moving assembly moves the short guide rail assembly to the position aligned with the super trolley guide rail line, and the trolley on the short guide rail assembly is transferred to the super trolley guide rail line; conversely, the trolley can also move from the super trolley guide rail line to the main guide rail line; when the trolley walks to the end of the main guide rail line or the super trolley guide rail line, it needs to be changed to another vertical guide rail, the trolley first walks to the I-shaped guide rail assembly, the rotating table rotates by 90 degrees, the trolley on the I-shaped guide rail assembly also rotates by 90 degrees, and the trolley is transferred from the original walking parallel guide rail line to another guide rail line perpendicular to the original guide rail line to walk in parallel.

[0116] The main deficiency of the existing dispensing system is that the conveying belt needs to sequentially and equally forwardly convey the medicine baskets at fixed time to complete prescription dispensing, and the dispensing efficiency is low, while in the present application, the dispensing trolley can realize overtaking and super trolley, thereby improving the medicine taking efficiency.

[0117] The control system will be described in detail below.

[0118] The control system of the utility model includes dispensing management system, medicine supplement management system, robot driving system and dust removal and safety system.

[0119] The dispensing management system includes a prescription production module, a path planning module, a cooperative control module, and a medicine dispensing control module. The prescription production module is used to receive prescription instructions, analyze the types, quantities and priorities of medicinal materials, generate a dispensing task queue, and dynamically allocate it to an idle dispensing robot. The path planning module is based on the layout of the medicine storage cabinet (for example, the I-shaped, double-row, U-shaped or L-shaped as shown in Figure 28 The path planning module is based on the layout of the medicine storage cabinet (for example, the I-shaped, double-row, U-shaped or L-shaped as shown in

[0120] The cooperative control module monitors the motion state of the plurality of dispensing robots, coordinates switching of the robots between the dispensing main rail line and the overtaking rail line through a reversing mechanism (such as a rail switching device), and avoids path conflicts.

[0121] The medicinal material dispensing control module is used to send a dispensing instruction, control the dispensing unit to accurately dispense medicinal materials according to a prescription dose, and monitor the weight of the medicinal materials in the weighing hopper to trigger the opening and closing actions of the weighing hopper.

[0122] The medicinal material replenishment management system includes a material shortage monitoring module, a medicinal material replenishment guiding module, a motion control module, and a carrier state detection module. The material shortage monitoring module monitors the inventory of the secondary material bin of the dispensing unit in real time, triggers a material shortage alarm and lights a yellow indicator light when the medicinal material is below a threshold value. The medicinal material replenishment guiding module generates a medicinal material replenishment task instruction, prompts an operator to fill the secondary material bin through a human-machine interface (HMI), quickly disassembles the empty bin assembly through a sliding slot and a locking pin, and installs the full bin secondary material bin. After that, a medicinal material replenishment completion signal is triggered, a green light is lit, and inventory data is updated. The motion control module drives the dispensing trolley to move accurately along the planned path based on the positioning signal of the dispensing trolley, supports speed control and emergency braking. The carrier state detection module is used to monitor the loading state of the medicinal material carrier through a sensor (such as a weight sensor or a visual detection device) to ensure that the medicinal material falls accurately into the specified position.

[0123] The dust removal and safety system includes a dust removal control unit and a fault redundancy module. The dust removal control unit is used to link the dust removal pipeline and start negative pressure dust removal during the dispensing process to prevent dust dispersion. The fault redundancy module automatically clears the dispensing trolley from the work area when a dispensing trolley fails and redistributes tasks to other dispensing trolleys. If the rail or medicine cabinet has a local fault, the layout priority of the medicine cabinet can be dynamically adjusted.

[0124] The dispensing system of the utility model has high efficiency, multiple dispensing trolleys can flexibly walk under the medicinal material access cabinet to complete medicinal material grabbing, the walking path of the dispensing trolley is not fixed, and the dispensing robots can catch up and overtake each other, significantly improving the dispensing efficiency. The system supports overtime dispensing and can automatically complete 100% of the medicinal material dispensing amount. In addition, the dispensing units in the medicinal material access cabinet each have an independent dispensing channel, avoiding the risk of cross contamination. The system also has strong redundancy and can adjust the number of dispensing trolleys according to the peak and low periods of prescriptions. When a dispensing trolley fails, the system can quickly clean the dispensing area and automatically control other dispensing trolleys to execute the prescription dispensing task again.

[0125] For purposes of the description hereinafter, the terms "upper", "lower", "right", "left", "rear", "front", "vertical" and "horizontal" as can be perceived herein relative to the accompanying drawings refer to the orientation of the components being described. However, it is to be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device described herein relative to the other device or structure is inverted, then a spatially relative term such as "above" can be interpreted as meaning "below" or "below" can be interpreted as meaning "above". The device can also be oriented in other ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0126] In addition, it should be pointed out that the use of "first", "second" and the like words to qualify parts, is only for the convenience of distinguishing the corresponding parts, and the above words have no special meaning unless otherwise stated, and therefore cannot be understood as limiting the scope of protection of the present application.

[0127] The preferred embodiments of the present application have been described above with the purpose of enabling not to limit the scope of protection of the present application, but of enabling a person skilled in the art to make various modifications and changes to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A medicinal material automatic dispensing system, characterized in that, The application relates to a dispensing system comprising: a medicine storage cabinet comprising a plurality of dispensing units, each dispensing unit being configured to store medicine and output the medicine; a dispensing robot comprising a dispensing trolley configured to be movable to a target medicine dropping position below the medicine storage cabinet under the control of a control system; the control system being connected with the plurality of dispensing units respectively and being configured to control a corresponding dispensing unit among the plurality of dispensing units to drop the medicine contained in the corresponding dispensing unit into the dispensing trolley running to the target medicine dropping position according to a required weight.

2. The dispensing system of claim 1, wherein, The dispensing robot further comprises a track device, the track device comprising: at least one guide rail assembly for carrying and guiding the dispensing trolley, wherein at least part of the guide rail assemblies of the at least one guide rail assembly are located below the medicine storage cabinet; a track switching mechanism for enabling the dispensing trolley to adjust the front and back relative positions with other dispensing trolleys on the at least one guide rail assembly.

3. The dispensing system according to claim 2, wherein: the at least one guide rail assembly comprises a main guide rail line and an overtaking guide rail line; the track switching mechanism is arranged on the main guide rail line and the overtaking guide rail line and comprises a horizontal moving assembly and a short guide rail assembly fixed on the horizontal moving assembly, wherein the horizontal moving assembly is configured to be horizontally movable between the main guide rail line and the overtaking guide rail line and to enable at least one short guide rail on the short guide rail assembly to be aligned with the main guide rail line and / or the overtaking guide rail line.

4. The dispensing system of claim 3, wherein, The control system is further configured to: determine a running track of the dispensing trolley on the main guide rail line according to a required medicine type of a prescription; control the corresponding dispensing unit to drop the medicine contained in the corresponding dispensing unit into the dispensing trolley according to a required weight when the dispensing trolley runs to the target medicine dropping position below the dispensing unit corresponding to the medicine type along the running track.

5. The dispensing system of claim 4, wherein, The dispensing trolley and another dispensing trolley are combined together, and the combined dispensing trolleys are driven by the power of one of the dispensing trolleys.

6. The dispensing system of claim 1, wherein, Each dispensing unit comprises: a primary hopper for containing the medicine; a dispensing mechanism connected with the primary hopper and comprising: a pushing mechanism for pushing the medicine into a roller; a roller provided with a continuous spiral blade integrated with an inner wall of the roller, the roller being configured to output the medicine according to a required weight through rotation of the roller under the control of the control system.

7. The dispensing system according to claim 6, wherein: the pushing mechanism comprises a blade segment provided with a blade and a transition segment not provided with a blade, wherein the transition segment is close to a feeding port of the roller, and the length of the transition segment is less than the length of the blade segment; and / or the continuous spiral blade in the roller and the inner wall of the roller are connected without clearance through integral molding.

8. The dispensing system according to claim 6 or 7, characterized in that Each dispensing unit further comprises an isolation assembly installed in the primary hopper and configured to support and deliver the medicine in the primary hopper to the pushing mechanism.

9. The dispensing system of claim 6 or 7, wherein, Each of the dispensing units further comprises a weighing assembly arranged below the discharge opening of the roller, comprising: a weighing hopper for receiving the medicinal materials output by the roller; a weighing sensor for detecting the weight of the medicinal materials in the weighing hopper; wherein the side bottom of the weighing hopper is provided with a discharge plate connected with a discharge plate motor through a rotating shaft, and the discharge plate is capable of rotating along the rotating shaft under the drive of the discharge plate motor to form a discharge opening with adjustable opening degree, so that the weighing hopper outputs the medicinal materials therein when the weighing sensor detects that the weight of the medicinal materials reaches a required weight.

10. The dispensing system of claim 6 or 7, wherein, Each of the dispensing units further comprises a secondary hopper detachably mounted on the primary hopper, wherein the secondary hopper comprises a hopper body, and the bottom of the hopper body is provided with a horizontally pullable hopper bottom plate for controlling the opening and closing of the hopper body.

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