A traditional Chinese medicine pharmacy medicine material automatic taking and placing system

Abstract

This utility model discloses an automatic medicine retrieval and placement system for a traditional Chinese medicine pharmacy, including a clamping module and a conveying module. The clamping module positions and clamps medicine boxes from designated compartments in a medicine cabinet and places them on the conveying module. The conveying module includes a loading / unloading conveyor line, an outbound conveyor line, and an inbound conveyor line. The loading / unloading conveyor line is located on one side of the medicine cabinet and is used to receive medicine boxes removed from the medicine cabinet by the clamping module and send them to the outbound conveyor line, as well as to transport medicine boxes from the inbound conveyor line to the clamping module. The outbound and inbound conveyor lines are located at opposite ends of the loading / unloading conveyor line, forming a circular conveyor line. This creates a bidirectional loop path for the outbound and inbound processes of the medicine boxes, avoiding wasted path space caused by empty returns. The parallel layout of the outbound and inbound conveyor lines allows replenishment and medicine retrieval operations to be performed simultaneously, significantly improving the pharmacy's medicine dispensing efficiency.

Description

Technical Field

[0001] This utility model relates to the field of medical equipment technology, and in particular to an automatic system for picking up and placing medicinal materials in a traditional Chinese medicine pharmacy. Background Technology

[0002] With the development of automated management technology in traditional Chinese medicine (TCM) pharmacies, intelligent pharmacy management systems have emerged to achieve automated storage, retrieval, and distribution of TCM herbs. This type of technology integrates and controls the storage, retrieval, weighing, and conveying processes of TCM herbs by introducing automated equipment such as sensors, controllers, and actuators, thereby improving the efficiency and accuracy of pharmacy operations. Among these, the automated herb retrieval and conveying module, as a key component of the system, directly impacts the level of intelligence in the entire TCM processing flow through its structural configuration and operational mode.

[0003] Utility model patent application number 202110037783.0 discloses an automatic medicinal material grasping system and method, including a Chinese medicine cabinet. A grasping mechanism is installed on one side of the cabinet, which contains multiple Chinese medicine boxes. The grasping mechanism is used to grasp the materials inside the boxes. A magnet is installed behind each box. A fixing frame is installed on the other side of the cabinet, comprising several columns. An electromagnet is connected to each column via a third moving mechanism, which drives the electromagnet to move along the column. The electromagnet is located on one side of the magnet and is compatible with it. A controller is also included, and the grasping mechanism, the third moving mechanism, and the electromagnets are connected to the controller. This utility model achieves automatic grasping and weighing of medicinal materials by cooperating with the grasping mechanism and the automatically opening and closing Chinese medicine cabinet.

[0004] However, in the aforementioned technical solutions, the medicine boxes operate primarily in situ, with the gripping structure processing each box sequentially in a "fixed-point" manner. While this fixed-point gripping structure enables automatic gripping and weighing, the lack of an efficient material transfer structure means that when handling multiple medicine boxes, the gripping mechanism must frequently move to each box's location and complete the gripping and weighing process in place. This makes parallel task processing difficult, resulting in long operation paths and low gripping efficiency. For medicine boxes with special structures or those prone to sticking, traditional systems are prone to jamming and accumulation during discharging and dropping, affecting continuous operation. Furthermore, existing systems often cannot automatically return the medicine boxes to their original positions, requiring manual intervention and reducing the overall level of automation. Utility Model Content

[0005] Therefore, it is necessary to provide an automatic medicine dispensing system and method for Chinese medicine pharmacies to address the aforementioned problem of low dispensing efficiency.

[0006] This application provides an automatic medicine picking and placing system for a traditional Chinese medicine pharmacy, including a clamping module and a conveying module. The clamping module positions and clamps a traditional Chinese medicine box in a designated compartment of a medicine cabinet and places it on the conveying module. The conveying module includes a loading and unloading conveyor line, an outbound conveyor line, and an inbound conveyor line.

[0007] The loading and unloading conveyor line is set on one side of the medicine cabinet to receive the Chinese medicine boxes taken from the medicine cabinet by the clamping module and send them to the outbound conveyor line, as well as to transport the Chinese medicine boxes sent from the inbound conveyor line to the clamping module.

[0008] The outbound conveyor line and the inbound conveyor line are respectively located at both ends of the loading and unloading conveyor line and are connected to the loading and unloading conveyor line. The loading and unloading conveyor line, the outbound conveyor line and the inbound conveyor line together form a ring conveyor line.

[0009] Optionally, the gripping module includes a gantry frame, a gripping device mounted on the gantry frame, and a gripping drive assembly. The gripping device is equipped with an electromagnet and a cylinder.

[0010] Driven by the gripping drive assembly, the gripping device moves along the horizontal and vertical directions of the gantry frame to the Chinese medicine box in the designated compartment of the medicine cabinet. At this time, the cylinder drives the electromagnet to move closer to or away from the medicine cabinet. When the cylinder reaches the extension limit, the electromagnet is energized to attract the Chinese medicine box with the iron sheet embedded in it. After attraction, the cylinder retracts to its original position to drive the Chinese medicine box away from the medicine cabinet.

[0011] Driven by the gripping drive assembly, the gripping device with the Chinese medicine box moves to the loading and unloading conveyor line. At this time, the electromagnet is de-energized to release the Chinese medicine box onto the loading and unloading conveyor line.

[0012] Optionally, the gantry includes a pair of vertical rails, a crossbeam and a horizontal rail disposed between the vertical rails, the horizontal rail being slidably connected to the vertical rails, and the gripping device being slidably connected to the horizontal rail;

[0013] The gripping drive assembly includes a vertical drive servo motor, a vertical belt, and a first pulley seat mounted on the vertical rail. One end of the vertical belt is sleeved on the output shaft of the vertical drive servo motor, and the other end is sleeved on the first pulley seat. The pulley seat is mounted on the crossbeam. A first belt buckle is provided on the horizontal rail to connect the vertical belt. The vertical drive servo motor drives the vertical belt to rotate, thereby causing the horizontal rail to move along the direction of the vertical rail.

[0014] The gripping drive assembly further includes a horizontal drive servo motor, a horizontal belt, and a second pulley seat. The horizontal drive servo motor and the second pulley seat are respectively disposed at both ends of the horizontal linear rail. One end of the horizontal belt is sleeved on the output shaft of the horizontal drive servo motor, and the other end is sleeved on the second pulley seat. The gripping device is provided with a second belt buckle to connect the horizontal belt. The horizontal drive servo motor drives the horizontal belt to rotate, thereby driving the gripping device to move along the direction of the horizontal linear rail.

[0015] Optionally, the inbound conveyor line includes a first turning conveyor and a second turning conveyor, as well as a first straight conveyor disposed between the first turning conveyor and the second turning conveyor.

[0016] The outbound conveyor line includes a third turning conveyor and a fourth turning conveyor, as well as a second straight conveyor disposed between the third turning conveyor and the fourth turning conveyor;

[0017] The loading and unloading conveyor line includes a third linear conveyor device disposed between the first turning conveyor device and the fourth turning conveyor device, and corresponding to the medicine cabinet.

[0018] The conveying module also includes a pick-and-place unit disposed between the second turning conveyor and the third turning conveyor. The pick-and-place unit includes a non-powered conveying platform and a medicine-grabbing and weighing workbench. The non-powered conveying platform has non-powered conveyor belts at both ends and several rollers between the non-powered conveyor belts. The medicine-grabbing and weighing workbench is arranged corresponding to the rollers so that pharmacists can pick up and place Chinese medicine boxes from the conveying module.

[0019] Optionally, the conveying module further includes a laser ranging device, which is mounted on the fourth turning conveyor and faces the loading and unloading docking unit. The laser ranging device is used to obtain the movement speed of the Chinese medicine box on the fourth turning conveyor and the loading and unloading docking unit, thereby adjusting the clamping module to the same movement speed as the Chinese medicine box to clamp the Chinese medicine box.

[0020] Optionally, it also includes a scanning and identification module, which includes an outbound scanning device installed on the third turning conveyor, an inbound scanning device installed on the first turning conveyor, and a gripping scanning device installed on the gripping device.

[0021] Optionally, the first linear conveyor, the second linear conveyor, and the third linear conveyor are linear conveyor belts. The linear conveyor belt includes a first frame, a first belt, a support assembly and a first drive assembly mounted on the frame, and the first belt is wound around the support assembly and the first drive assembly.

[0022] The support assembly includes support rollers disposed at both ends of the frame and a support plate disposed between the support rollers. The first drive assembly includes a first drive motor, a drive roller, and a tension roller. The drive roller is connected to the first drive motor by a belt.

[0023] Optionally, the first turning conveyor, the second turning conveyor, the third turning conveyor, and the fourth turning conveyor are turning conveyor belts, and the turning conveyor belt includes a second frame, a second belt, and a second drive assembly disposed on the second frame;

[0024] The second drive assembly includes a second drive motor and several tapered rollers, which are arranged at an angle to each other and are mounted on the second frame. The second drive assembly is connected to a gear chain of one of the tapered rollers, and the second belt is sleeved on the tapered roller.

[0025] Compared with the prior art, the technical solution provided in this application has the following advantages:

[0026] The aforementioned automated herbal medicine retrieval system for traditional Chinese medicine pharmacies features a closed-loop conveyor system consisting of loading / unloading conveyors, an outbound conveyor, and an inbound conveyor. This creates a bidirectional circulation path for the outbound and inbound processes of herbal medicine boxes, avoiding the waste of resources caused by empty return trips compared to traditional unidirectional conveying methods, thus improving overall conveying efficiency by approximately 40%. The parallel layout of the outbound and inbound conveyor lines allows for simultaneous replenishment and medicine retrieval operations, significantly increasing the system's overall throughput compared to traditional time-sharing operations.

[0027] Furthermore, the modular structure of the circular conveyor line allows for multi-speed coordinated control via a programmable controller. When dealing with sudden surges in prescriptions, the system can dynamically adjust the operating speed of each conveyor segment to achieve balanced flow. Through a combination of optimized spatial layout and intelligent control strategies, this system reduces the response time for medicine storage and retrieval operations by 65%, significantly improving the pharmacy's dispensing efficiency.

[0028] Furthermore, by clamping the medicine box as a whole, the stability of the medicine box during movement can be ensured, avoiding the risk of the medicine box tilting, shaking or falling, thereby ensuring the safety of the medicine inside the box. It is particularly suitable for storage containers that carry liquid, granules or powdered medicines, and is well adapted to some special-shaped and easily sticky Chinese medicinal materials. Attached Figure Description

[0029] Figure 1 This is an overall structural diagram of an automatic medicine dispensing system for traditional Chinese medicine pharmacies provided in an embodiment of this application;

[0030] Figure 2This is a top view of the overall structure of an automatic medicine retrieval and placement system for a traditional Chinese medicine pharmacy provided in an embodiment of this application;

[0031] Figure 3 This is a front view of the gripping module of an automatic medicine picking and placing system for traditional Chinese medicine pharmacies provided in an embodiment of this application;

[0032] Figure 4 A partial view of the gripping module of an automatic medicine handling system for traditional Chinese medicine pharmacies provided in an embodiment of this application;

[0033] Figure 5 A schematic diagram of the scanning and identification module of an automatic medicine retrieval system for Chinese medicine pharmacies provided in an embodiment of this application;

[0034] Figure 6 This is a schematic diagram of a linear conveyor belt structure for an automatic picking and placing system for medicinal materials in a traditional Chinese medicine pharmacy, provided in an embodiment of this application.

[0035] Figure 7 A side view of a linear conveyor belt in an automatic picking and placing system for Chinese medicine materials in a pharmacy, provided in an embodiment of this application;

[0036] Figure 8 This is a schematic diagram of the turning conveyor belt structure of an automatic medicine picking and placing system for a traditional Chinese medicine pharmacy provided in an embodiment of this application.

[0037] Explanation of reference numerals in the attached figures:

[0038] 100. Gripping module; 110. Gantry frame; 111. Vertical linear rail; 112. Crossbeam; 113. Horizontal linear rail; 114. First belt buckle; 120. Gripping device; 121. Electromagnet; 122. Cylinder; 130. Gripping drive assembly; 131. Vertical drive servo motor; 132. Vertical belt; 133. First pulley seat; 134. Horizontal drive servo motor; 135. Horizontal belt; 136. Second pulley seat; 137. Second belt buckle; 200. Conveying module; 210. Loading and unloading conveyor line; 220. Outbound conveyor line; 221. Third turning conveyor device; 222. Fourth turning conveyor device; 223. Second linear conveyor device; 230. Inbound conveyor line; 231. First turning conveyor device; 232. Second turning conveyor device; 233. First linear conveyor device 240. Feeding device; 241. Picking and placing unit; 242. Non-powered conveyor platform; 243. Medicine dispensing and weighing workbench; 244. Non-powered conveyor belt; 245. Roller; 250. Laser rangefinder; 300. Medicine cabinet; 310. Traditional Chinese medicine box; 400. Scanning and recognition module; 410. Outbound scanning device; 420. Inbound scanning device; 430. Grabbing and scanning device; 500. Linear conveyor belt; 510. First frame; 520. First belt; 530. Support assembly; 531. Support roller; 532. Support plate; 540. First drive assembly; 541. First drive motor; 542. Drive roller; 543. Tensioning roller; 600. Turning conveyor belt; 610. Second frame; 620. Second belt; 630. Second drive assembly; 631. Second drive motor; 632. Conical roller. Detailed Implementation

[0039] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0040] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0042] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0043] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0044] See Figure 1 and Figure 2An embodiment of this utility model provides an automatic medicine picking and placing system for a traditional Chinese medicine pharmacy, including a clamping module 100 and a conveying module 200. The clamping module 100 positions and clamps the medicine box 310 in a designated compartment of the medicine cabinet 300 and places it on the conveying module 200. The conveying module 200 includes a loading and unloading conveyor line 210, an outbound conveyor line 220 and an inbound conveyor line 230.

[0045] The loading and unloading conveyor line 210 is set on one side of the medicine cabinet 300 to receive the Chinese medicine box 310 taken from the medicine cabinet 300 by the clamping module 100 and send it to the outbound conveyor line 220, and to transport the Chinese medicine box 310 sent from the inbound conveyor line 230 to the clamping module 100.

[0046] Outbound conveyor line 220 and inbound conveyor line 230 are respectively set at both ends of loading and unloading conveyor line 210 and connected to loading and unloading conveyor line 210. Loading and unloading conveyor line 210, outbound conveyor line 220 and inbound conveyor line 230 together form a ring conveyor line.

[0047] In this embodiment, the circular conveyor line is composed of a closed-loop connection of the loading / unloading conveyor line 210, the outbound conveyor line 220, and the inbound conveyor line 230. This creates a bidirectional circular path for the outbound and inbound processes of the medicine boxes 310. Compared to the traditional unidirectional conveying mode, this avoids the waste of path caused by empty return, and improves the overall conveying efficiency by approximately 40%. The parallel layout design of the outbound and inbound conveyor lines 230 allows replenishment and medicine retrieval operations to be carried out simultaneously, significantly improving the overall system throughput compared to traditional time-sharing operations.

[0048] Furthermore, the modular structure of the circular conveyor line allows for multi-speed coordinated control via a programmable controller. When dealing with sudden surges in prescriptions, the system can dynamically adjust the operating speed of each conveyor segment to achieve balanced flow. Through a combination of optimized spatial layout and intelligent control strategies, this system reduces the response time for medicine storage and retrieval operations by 65%, significantly improving the pharmacy's dispensing efficiency.

[0049] Furthermore, the gripping device used in the gripping module 100 in this embodiment can perform a complete gripping operation on the Chinese medicine box 310, that is, it can grip and remove the entire Chinese medicine box 310 from the medicine cabinet 300 without interrupting the structure of the Chinese medicine box 310 or damaging its closed state. Compared with the open-type material handling, sliding material dispensing, or partially open gripping methods in the prior art, this complete gripping method has higher stability and adaptability.

[0050] On the one hand, by clamping the medicine box 310 as a whole, the system ensures the stability of the box during movement, avoiding the risk of tilting, shaking, or falling, thus guaranteeing the safety of the medicinal materials inside. This is particularly suitable for storage containers containing liquid, granular, or powdered medicinal materials. On the other hand, the system also has greater adaptability, especially demonstrating strong handling capabilities for some uniquely shaped or easily sticky medicinal materials. The overall clamping method facilitates the complete removal of the medicine box from the medicine cabinet 300, allowing for weighing, identification, or manual selection of medicines in a separate operating area. This not only avoids the space constraints associated with direct operation within the medicine cabinet 300 but also significantly improves the accuracy of dosage control.

[0051] Therefore, the automatic medicinal material picking and placing system provided in this embodiment can not only improve the efficiency of Chinese medicine picking and reduce manual intervention, but also improve the accuracy and stability of medicinal material picking and placing. In particular, it shows higher adaptability and reliability in complex medicinal material environments, meeting the needs of modern Chinese medicine pharmacies for efficient, accurate and intelligent medicinal material management.

[0052] See Figure 3 In one embodiment, the gripping module 100 includes a gantry frame 110, a gripping device 120 disposed on the gantry frame 110, and a gripping drive assembly 130. The gripping device 120 is equipped with an electromagnet 121 and a cylinder 122.

[0053] Driven by the gripping drive assembly 130, the gripping device 120 moves along the horizontal and vertical directions of the gantry frame 110 to the Chinese medicine box 310 in the designated compartment of the medicine cabinet 300. At this time, the driving electromagnet 121 of the cylinder 122 approaches or moves away from the medicine cabinet 300. When the cylinder 122 reaches the extension limit, the electromagnet 121 is energized to attract the Chinese medicine box 310 with iron pieces embedded in it. After attraction, the cylinder 122 retracts to its original position to drive the Chinese medicine box 310 away from the medicine cabinet 300.

[0054] Driven by the gripping drive assembly 130, the gripping device 120 with the Chinese medicine box 310 moves to the loading and unloading conveyor line 210. At this time, the electromagnet 121 is de-energized to release the Chinese medicine box 310 onto the loading and unloading conveyor line 210.

[0055] In this embodiment, the gripping drive assembly 130 drives the gripping device 120 to move along the horizontal and vertical directions of the gantry frame 110. Precise positioning within the vertical two-dimensional space is achieved through servo control, reducing the time wasted on manual searching of compartments. When the gripping device 120 moves to the target compartment, the cylinder 122 drives the electromagnet 121 to extend towards the medicine cabinet 300. After the cylinder 122 reaches its extension limit, the electromagnet 121 is energized, using magnetic force to attract the medicine box 310 embedded with iron pieces. Subsequently, the cylinder 122 retracts, causing the medicine box 310 to detach from the medicine cabinet 300. During this process, the electromagnet 121 remains energized to ensure adsorption stability. When the gripping device 120, carrying the medicine box 310, moves to the designated position on the loading / unloading conveyor line 210, the electromagnet 121 immediately de-energizes, releasing the medicine box 310. Through the rigid linkage mechanism between the cylinder 122 and the electromagnet 121, the positioning deviation or slippage problems caused by mechanical contact in traditional grippers are avoided.

[0056] See Figure 3 and Figure 4 In one embodiment, the gantry 110 includes a pair of vertical rails 111, a crossbeam 112 and a horizontal rail 113 disposed between the vertical rails 111, the horizontal rail 113 being slidably connected to the vertical rails 111, and the gripping device 120 being slidably connected to the horizontal rail 113.

[0057] The gripping drive assembly 130 includes a vertical drive servo motor 131, a vertical belt 132, and a first belt 520 pulley seat 133 mounted on a vertical linear rail 111. One end of the vertical belt 132 is sleeved on the output shaft of the vertical drive servo motor 131, and the other end is sleeved on the first belt 520 pulley seat 133. The pulley seat is mounted on a crossbeam 112. A first belt 520 buckle 114 is provided on a horizontal linear rail 113 to connect the vertical belt 132. The vertical drive servo motor 131 drives the vertical belt 132 to rotate, thereby causing the horizontal linear rail 113 to move along the direction of the vertical linear rail 111.

[0058] The gripping drive assembly 130 also includes a horizontal drive servo motor 134, a horizontal belt 135, and a second belt 620 wheel seat 136. The horizontal drive servo motor 134 and the second belt 620 wheel seat 136 are respectively disposed at both ends of the horizontal linear rail 113. One end of the horizontal belt 135 is sleeved on the output shaft of the horizontal drive servo motor 134, and the other end is sleeved on the second belt 620 wheel seat 136. The gripping device 120 is provided with a second belt 620 buckle 137 to connect the horizontal belt 135. The horizontal drive servo motor 134 drives the horizontal belt 135 to rotate so as to drive the gripping device 120 to move along the horizontal linear rail 113.

[0059] Furthermore, in this embodiment, the gantry frame 110 includes a pair of vertical rails 111, a crossbeam 112 disposed between the vertical rails 111, and a horizontal rail 113 disposed on the crossbeam 112. The horizontal rail 113 is slidably connected to the vertical rails 111, and the gripping device 120 is slidably connected to the horizontal rail 113, forming a gripping structure that can move along two axes in both the vertical and horizontal directions. This structural design allows the gripping device 120 to cover a larger area of ​​the medicine cabinet 300, significantly improving the system's adaptability and coverage efficiency for multiple rows and columns of medicine cabinets 300.

[0060] The gripping drive assembly 130 includes a vertical drive servo motor 131, a vertical belt 132, and a first belt 520 wheel seat 133. The vertical belt 132 is connected to a first belt 520 buckle 114 set on a horizontal rail 113. Driven by the vertical drive servo motor 131, the vertical belt 132 rotates, thereby driving the horizontal rail 113 to move smoothly up and down along the vertical rail 111. This structure gives the vertical movement the advantages of fast response, accurate positioning, and stable operation, which is conducive to the rapid acquisition of medicine boxes 310 in compartments of different heights.

[0061] Meanwhile, the gripping drive assembly 130 also includes a horizontal drive servo motor 134, a horizontal belt 135, and a second belt 620 pulley seat 136. The gripping device 120 is connected to the horizontal belt 135 via a buckle 137 on the second belt 620. The rotation of the horizontal drive servo motor 134 can drive the gripping device 120 to move smoothly along the horizontal rail 113. Due to the use of a servo motor combined with belt drive, it has good acceleration and deceleration control capabilities and repeatability positioning accuracy, which can significantly improve the lateral response efficiency and operational stability of the gripping device 120.

[0062] Through the coordinated action of two sets of drive structures in the vertical and horizontal directions, the gripping device 120 can quickly locate and accurately reach any specified position of the medicine box in three-dimensional space, significantly shortening the single operation cycle of the gripping module 100 and thus improving the efficiency of medicine gripping. In addition, the belt drive method operates smoothly, with low noise and simple maintenance, which is conducive to the long-term high-frequency stable operation of the system and reduces the failure rate and maintenance costs.

[0063] In summary, this gripping module, through the combination of a gantry 110 structure and dual servo motor drive, balances gripping range, positioning accuracy, and operating efficiency, further optimizing the system's mechanical performance and automation level. It is particularly suitable for scenarios such as traditional Chinese medicine pharmacies where material acquisition efficiency and reliability are highly demanding.

[0064] See Figure 2In one embodiment, the warehouse conveyor line 230 includes a first turning conveyor 231 and a second turning conveyor 232, and a first straight conveyor 233 disposed between the first turning conveyor 231 and the second turning conveyor 232.

[0065] The outbound conveyor line 220 includes a third turning conveyor 221 and a fourth turning conveyor 222, as well as a second straight conveyor 223 disposed between the third turning conveyor 221 and the fourth turning conveyor 222;

[0066] The loading and unloading conveyor line 210 includes a third linear conveyor device disposed between the first turning conveyor device 231 and the fourth turning conveyor device 222, and corresponding to the medicine cabinet 300.

[0067] The conveying module 200 also includes a pick-and-place unit 240 disposed between the second turning conveyor 232 and the third turning conveyor 221. The pick-and-place unit 240 includes a non-powered conveying platform 241 and a medicine-grabbing and weighing workbench 242. The two ends of the non-powered conveying platform 241 are provided with non-powered conveyor belts 243, and a plurality of rollers 244 are provided between the non-powered conveyor belts 243. The medicine-grabbing and weighing workbench 242 is correspondingly arranged with the rollers 244 so that pharmacists can pick up and place Chinese medicine boxes 310 from the conveying module 200.

[0068] In this embodiment, to further optimize the flow path of the Chinese medicine box 310 in the system and improve conveying efficiency and operational convenience, the inbound conveyor line 230 includes a first turning conveyor 231, a second turning conveyor 232, and a first straight conveyor 233 disposed between them; the outbound conveyor line 220 includes a third turning conveyor 221, a fourth turning conveyor 222, and a second straight conveyor 223 disposed between them; the loading and unloading conveyor line 210 includes a third straight conveyor disposed between the first turning conveyor 231 and the fourth turning conveyor 222, and corresponding to the medicine cabinet 300. Through this layout, the inbound, outbound, and loading / unloading paths are rationally divided and form a continuous closed-loop conveying channel in space, effectively avoiding cross-interference and path conflicts during the transportation of the Chinese medicine box 310, thereby improving conveying efficiency and system stability.

[0069] Furthermore, the conveying module 200 also includes a pick-and-place unit 240 disposed between the second turning conveyor 232 and the third turning conveyor 221. The non-powered conveying platform 241, through the combination of rollers 244 and a non-powered conveyor belt 243, automatically slows the medicine box 310 to a stationary state when it enters the dispensing and weighing workbench 242. This structure allows pharmacists to directly pick up, place, verify, or weigh the medicine box 310 in the middle of the conveying path, avoiding the traditional manual operation path where pharmacists repeatedly travel between the medicine cabinet 300 and the workbench, thus effectively shortening the manual operation journey and improving dispensing efficiency.

[0070] By arranging the third linear conveyor directly opposite the medicine cabinet 300 and linking it directly with the loading and unloading process, the gripping module 100 can quickly place the Chinese medicine box 310 on the conveyor line to start the transmission after completing the gripping action, reducing the ineffective waiting time. The spatial separation design of the inbound loop and the outbound loop, combined with the 90-degree turning function of the turning conveyor, enables the replenished Chinese medicine box 310 and the Chinese medicine box 310 waiting to be shipped to form a counterclockwise unidirectional flow in the ring network, avoiding the risk of cross-contamination and helping to improve the cycle efficiency of the whole machine.

[0071] See Figure 2 and Figure 4 In one embodiment, the conveying module 200 further includes a laser rangefinder 250, which is mounted on the fourth turning conveyor 222 and faces the loading and unloading docking unit. The laser rangefinder 250 is used to obtain the movement speed of the Chinese medicine box 310 on the fourth turning conveyor 222 and the loading and unloading docking unit, thereby adjusting the clamping module 100 to the same movement speed as the Chinese medicine box 310 to clamp the Chinese medicine box 310.

[0072] Furthermore, in this embodiment, the conveying module 200 also includes a laser rangefinder 250, which is mounted on the fourth turning conveyor 222 and arranged towards the loading / unloading docking unit. The laser rangefinder 250 is used to detect the movement speed of the medicine box 310 on the fourth turning conveyor 222 and the loading / unloading docking unit in real time, and feeds back the detection results to the control system of the gripping module 100. Based on this speed information, the gripping module 100 can adjust the operating parameters of the gripping drive component 130 to make the gripping device 120 run at a speed matching that of the medicine box 310, thereby achieving stable gripping of the medicine box 310 in a dynamic state.

[0073] This structural design breaks through the reliance of traditional gripping methods on the static state of the medicine box 310, and can adapt to the gripping needs of the medicine box 310 in motion along the conveying path, significantly expanding the application scenarios of the system and improving the flexibility and timeliness of the gripping action. At the same time, the speed synchronization control between the gripping module 100 and the conveying module effectively avoids problems such as gripping failure or medicine box tipping caused by speed mismatch, improving the success rate and stability of the gripping action.

[0074] Furthermore, the laser rangefinder 250 features non-contact operation, fast response, and high precision, enabling high-precision detection of the speed of the medicine box 310 without interrupting the delivery process, ensuring real-time system response and accurate control. Combined with the dual servo motor control mechanism in the gripping module, it achieves fine-tuned coordination of motion path and speed, allowing the gripping device to precisely engage with the moving target medicine box 310, thereby reducing waiting time and improving the overall machine cycle time.

[0075] See Figure 5 In one embodiment, the device further includes a scanning and identification module 400, which includes an outbound scanning device 410 disposed on the third turning conveyor 221, an inbound scanning device 420 disposed on the first turning conveyor 231, and a gripping scanning device 430 disposed on the gripping device 120.

[0076] Furthermore, this embodiment also includes a scanning and identification module 400, which includes an outbound scanning device 410 installed on the third turning conveyor 221, an inbound scanning device 420 installed on the first turning conveyor 231, and a gripping scanning device 430 installed on the gripping device 120. By deploying these three sets of scanning devices at different conveying nodes and gripping stages, identification and information tracking of the entire process of the Chinese medicine box 310's outbound, inbound, and gripping processes are achieved, ensuring that the entire circulation process of the Chinese medicine box 310 is identifiable, traceable, and verifiable.

[0077] Specifically, the outbound scanning device 410 can read the label information of the Chinese medicine box 310 when it is about to be issued, thereby verifying whether the Chinese medicine box 310 is the target medicine specified by the current instruction, avoiding errors or mis-issuance; the inbound scanning device 420 verifies the information of the Chinese medicine box 310 before it is returned to the system, ensuring that the medicine can be accurately recorded and placed in the correct location, supporting automatic updates of the inventory management system. The gripping scanning device 430 is installed on the gripping device, which reads the information of the target Chinese medicine box 310 in real time before performing the gripping operation. It can not only verify the correctness of the gripped object, but also automatically trigger an alarm or cancel the action when the scanned information is inconsistent with the task instruction, enhancing operational safety.

[0078] The three components form a closed-loop identification system that effectively prevents problems caused by human or system errors, such as misplacing, incorrect placement, or duplicate dispensing of medicines, significantly improving the system's reliability and intelligence. Simultaneously, the data acquired by the scanning and identification module 400 can be linked with hospital information systems or pharmacy management platforms, supporting real-time synchronization of medicine entry and exit information and dynamic inventory management, providing a data foundation for intelligent management of traditional Chinese medicine pharmacies.

[0079] In summary, the inclusion of the scanning and recognition module 400 not only enhances the system's information controllability and traceability during the circulation of the traditional Chinese medicine box 310, but also helps to improve the automatic verification capability and task execution accuracy during operation.

[0080] See Figure 6 and Figure 7 In one embodiment, the first linear conveyor 233, the second linear conveyor 223 and the third linear conveyor are linear conveyor belts 500. The linear conveyor belt 500 includes a first frame 510, a first belt 520 and a support assembly 530 and a first drive assembly 540 disposed on the frame. The first belt 520 is wound around the support assembly 530 and the first drive assembly 540.

[0081] The support assembly 530 includes support rollers 531 disposed at both ends of the frame and support plates 532 disposed between the support rollers 531. The first drive assembly 540 includes a first drive motor 541, a drive roller 542 and a tension roller 543. The drive roller 542 is belt-connected to the first drive motor 541.

[0082] In this embodiment, by uniformly adopting this standardized and modular linear conveyor belt 500 structure for multiple linear conveyor devices, the performance consistency and interchangeability of each conveying path can be achieved, facilitating system integration and future expansion; at the same time, it provides a basis for precise control of the overall conveying rhythm, further improving the automation level of system operation and overall grasping efficiency.

[0083] The support assembly 530 consists of support rollers 531 set at both ends of the frame and support plates 532 set between them. The support rollers 531 provide good guidance and rolling support during belt operation, reducing belt running resistance and wear. At the same time, the support plates 532 provide sufficient bearing surface, ensuring that the Chinese medicine box 310 is stable in posture, has little tilt and low vibration during the conveying process, and is especially suitable for the safe conveying of Chinese medicine boxes 310 containing fine particles.

[0084] The first drive assembly 540 includes a first drive motor 541, a drive roller 542, and a tension roller 543. The drive roller 542 is connected to the first drive motor 541 via a belt, thereby driving the conveyor belt. The tension roller 543 effectively adjusts the belt tension, preventing belt slippage or deviation, and improving the stability and lifespan of the transmission system. This structure not only provides continuous and uniform conveying power but also facilitates later debugging and maintenance, reducing equipment operation and maintenance costs.

[0085] See Figure 8 In one embodiment, the first turning conveyor 231, the second turning conveyor 232, the third turning conveyor 221 and the fourth turning conveyor 222 are turning conveyor belts 600. The turning conveyor belt 600 includes a second frame 610, a second belt 620 and a second drive assembly 630 disposed on the second frame 610.

[0086] The second drive assembly 630 includes a second drive motor 631 and a plurality of tapered rollers 632. The plurality of tapered rollers 632 are arranged at an angle to each other and are mounted on the second frame 610. The second drive assembly 630 is connected to one of the tapered rollers 632 by a gear chain, and the second belt 620 is fitted on the tapered roller 632.

[0087] Furthermore, in this embodiment, by uniformly adopting the structure of a turning conveyor belt 600 for multiple turning conveyor devices, the system can achieve a smooth and continuous conveying process on the turning path, avoiding the medicine box from tipping over, deviating or getting stuck during the turning process, and ensuring the stability and safety of the flow of the Chinese medicine box 310 in complex paths.

[0088] The second drive assembly 630 includes a second drive motor 631 and several tapered rollers 632. The tapered rollers 632 are arranged at an angle and evenly distributed on the second frame 610, forming an arc-shaped conveying path. A second belt 620 is fitted onto the tapered rollers 632 to form a transmission structure that can operate stably along the arc path. By connecting the second drive motor 631 to one of the tapered rollers 632 via a gear chain, the entire second belt 620 can be driven to run along the arc path, achieving an organic combination of drive and path control.

[0089] The turning conveyor belt 600 structure, based on the inclined arrangement of tapered rollers 632, allows the second belt 620 to smoothly adapt to the turning direction during operation, avoiding the slippage or deformation problems of traditional flat belts at corner sections, thus improving operational stability and belt life. Simultaneously, this structure eliminates the need for transition rails or multi-segment mechanism splicing, enabling compact turning within limited space, effectively saving system footprint, improving overall wiring flexibility and system integration, and also facilitating the synchronization of operation rhythm between the gripping module 100 and the pick-and-place unit 240, further enhancing system operating efficiency and automation level.

[0090] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0091] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. An automatic medicine retrieval and placement system for a traditional Chinese medicine pharmacy, comprising a clamping module (100) and a conveying module (200), wherein the clamping module (100) positions and clamps a traditional Chinese medicine box (310) in a designated compartment of a medicine cabinet (300) and places it on the conveying module (200), characterized in that, The conveying module (200) includes a loading and unloading conveyor line (210), an outbound conveyor line (220), and an inbound conveyor line (230); The loading and unloading conveyor line (210) is set on one side of the medicine cabinet (300) to receive the Chinese medicine box (310) taken from the medicine cabinet (300) by the clamping module (100) and send it to the outbound conveyor line (220), and to transport the Chinese medicine box (310) sent by the inbound conveyor line (230) to the clamping module (100); The outbound conveyor line (220) and the inbound conveyor line (230) are respectively located at both ends of the loading and unloading conveyor line (210) and connected to the loading and unloading conveyor line (210). The loading and unloading conveyor line (210), the outbound conveyor line (220) and the inbound conveyor line (230) together form a ring conveyor line.

2. The automatic dispensing and placing system for medicinal materials in a traditional Chinese medicine pharmacy according to claim 1, characterized in that, The gripping module (100) includes a gantry (110), a gripping device (120) mounted on the gantry (110), and a gripping drive assembly (130). The gripping device (120) is equipped with an electromagnet (121) and a cylinder (122). Driven by the gripping drive assembly (130), the gripping device (120) moves along the horizontal and vertical directions of the gantry frame (110) to the Chinese medicine box (310) in the designated compartment of the medicine cabinet (300). At this time, the cylinder (122) drives the electromagnet (121) to approach or move away from the medicine cabinet (300). When the cylinder (122) reaches the extension limit, the electromagnet (121) is energized to attract the Chinese medicine box (310) with iron pieces embedded in it. After attraction, the cylinder (122) retracts to its original position to drive the Chinese medicine box (310) away from the medicine cabinet (300). Driven by the gripping drive assembly (130), the gripping device (120) with the Chinese medicine box (310) moves to the loading and unloading conveyor line (210). At this time, the electromagnet (121) is de-energized to release the Chinese medicine box (310) onto the loading and unloading conveyor line (210).

3. The automatic dispensing and placing system for medicinal materials in a traditional Chinese medicine pharmacy according to claim 2, characterized in that, The gantry (110) includes a pair of vertical rails (111), a crossbeam (112) and a horizontal rail (113) disposed between the vertical rails (111), the horizontal rail (113) being slidably connected to the vertical rails (111), and the gripping device (120) being slidably connected to the horizontal rail (113). The gripping drive assembly (130) includes a vertical drive servo motor (131), a vertical belt (132), and a first belt (520) pulley seat (133) mounted on the vertical rail (111). One end of the vertical belt (132) is sleeved on the output shaft of the vertical drive servo motor (131), and the other end is sleeved on the first belt (520) pulley seat (133). The pulley seat is mounted on the crossbeam (112). The horizontal rail (113) is provided with a first belt (520) buckle (114) to connect the vertical belt (132). The vertical drive servo motor (131) drives the vertical belt (132) to rotate so as to drive the horizontal rail (113) to move along the direction of the vertical rail (111). The gripping drive assembly (130) further includes a horizontal drive servo motor (134), a horizontal belt (135), and a second belt (620) pulley seat (136). The horizontal drive servo motor (134) and the second belt (620) pulley seat (136) are respectively disposed at both ends of the horizontal linear rail (113). One end of the horizontal belt (135) is sleeved on the output shaft of the horizontal drive servo motor (134), and the other end is sleeved on the second belt (620) pulley seat (136). The gripping device (120) is provided with a second belt (620) buckle (137) to connect the horizontal belt (135). The horizontal drive servo motor (134) drives the horizontal belt (135) to rotate so as to drive the gripping device (120) to move along the direction of the horizontal linear rail (113).

4. The automatic dispensing and placing system for medicinal materials in a traditional Chinese medicine pharmacy according to claim 3, characterized in that, The warehouse conveyor line (230) includes a first turning conveyor (231) and a second turning conveyor (232), and a first straight conveyor (233) disposed between the first turning conveyor (231) and the second turning conveyor (232); The outbound conveyor line (220) includes a third turning conveyor (221) and a fourth turning conveyor (222), as well as a second straight conveyor (223) disposed between the third turning conveyor (221) and the fourth turning conveyor (222); The loading and unloading conveyor line (210) includes a third straight conveyor device disposed between the first turning conveyor device (231) and the fourth turning conveyor device (222) and corresponding to the medicine cabinet (300); The conveying module (200) further includes a pick-and-place unit (240) disposed between the second turning conveyor (232) and the third turning conveyor (221). The pick-and-place unit (240) includes a non-powered conveying platform (241) and a medicine-grabbing and weighing workbench (242). The non-powered conveying platform (241) has non-powered conveyor belts (243) at both ends, and a plurality of rollers (244) are disposed between the non-powered conveyor belts (243). The medicine-grabbing and weighing workbench (242) is disposed in correspondence with the rollers (244) so ​​that pharmacists can pick up and place Chinese medicine boxes (310) from the conveying module (200).

5. The automatic dispensing and placing system for medicinal materials in a traditional Chinese medicine pharmacy according to claim 4, characterized in that, The conveying module (200) also includes a laser rangefinder (250), which is mounted on the fourth turning conveyor (222) and faces the loading and unloading docking unit. The laser rangefinder (250) is used to obtain the movement speed of the Chinese medicine box (310) on the fourth turning conveyor (222) and the loading and unloading docking unit, thereby adjusting the clamping module (100) to the same movement speed as the Chinese medicine box (310) to clamp the Chinese medicine box (310).

6. The automatic dispensing and placing system for medicinal materials in a traditional Chinese medicine pharmacy according to claim 4, characterized in that, It also includes a scanning and identification module (400), which includes an outbound scanning device (410) installed on the third turning conveyor (221), an inbound scanning device (420) installed on the first turning conveyor (231), and a gripping scanning device (430) installed on the gripping device (120).

7. The automatic dispensing and placing system for medicinal materials in a traditional Chinese medicine pharmacy according to claim 4, characterized in that, The first linear conveyor (233), the second linear conveyor (223), and the third linear conveyor are linear conveyor belts (500). The linear conveyor belt (500) includes a first frame (510), a first belt (520), a support assembly (530) and a first drive assembly (540) disposed on the frame. The first belt (520) is wound around the support assembly (530) and the first drive assembly (540). The support assembly (530) includes support rollers (531) disposed at both ends of the frame and support plates (532) disposed between the support rollers (531). The first drive assembly (540) includes a first drive motor (541), a drive roller (542) and a tension roller (543). The drive roller (542) is belt-connected to the first drive motor (541).

8. The automatic dispensing and placing system for medicinal materials in a traditional Chinese medicine pharmacy according to claim 4, characterized in that, The first turning conveyor (231), the second turning conveyor (232), the third turning conveyor (221) and the fourth turning conveyor (222) are turning conveyor belts (600), and the turning conveyor belt (600) includes a second frame (610), a second belt (620), and a second drive assembly (630) disposed on the second frame (610); The second drive assembly (630) includes a second drive motor (631) and a plurality of tapered rollers (632). The plurality of tapered rollers (632) are arranged at an angle to each other and are mounted on the second frame (610). The second drive assembly (630) is connected to one of the tapered rollers (632) by a gear chain, and the second belt (620) is fitted on the tapered roller (632).

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