Integrated traditional chinese medicine dispensary unmanned automatic medicine dispensing device

Abstract

The utility model provides an integration traditional chinese medicinal shop unmanned automatic medicine taking-out device belongs to intelligent unmanned medicine taking-out device technical field, include: medicine bin support, the top of medicine bin support is equipped with a plurality of medicine bin, the below of medicine bin is equipped with the tray, the tray is freely movable to the below of any one medicine bin, the tray is freely movable to the below of any one medicine bin, the packaging machine receives the medicine taking-out dish of mechanical arm and carries out packaging, the packaging machine and medicine bin support between be equipped with mechanical arm, controller is connected with packaging machine and mechanical arm. The utility model realizes the full automatic closed loop from prescription input to medicine packaging, promotes the efficiency, high accuracy takes the mechanism of real -time regulation: adopts high accuracy weighing sensor and PWM rudder machine 5 below leak control to combine, establishes the weight ratio comparison closed loop and realizes the stepless regulation of leak medicine opening and closing, can adjust the opening size according to the granularity characteristic of medicinal material, avoids the leakage or blockage.

Description

Technical Field

[0001] This utility model relates to the technical field of intelligent unmanned medicine dispensing devices, specifically to an integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies. Background Technology

[0002] With the rapid development of the healthcare industry, people have higher demands for the efficiency and accuracy of drug delivery and pickup processes. In traditional pharmacies, the drug pickup process typically relies on manual operations, including drug storage, dispensing, and retrieval. While these traditional methods are effective in some cases, the complexity of manual intervention and operation often leads to problems such as inaccurate drug management, incorrect drug pickup, excessively long waiting times, and high labor costs. Furthermore, the pharmacy environment presents challenges such as insufficiently intelligent drug storage and a wide variety of drugs that are frequently changed. All these issues make it difficult for traditional pharmacies to meet the efficiency and service quality requirements of modern healthcare environments.

[0003] Existing automated dispensing and retrieval systems for traditional Chinese medicine generally suffer from the following defects:

[0004] (1) Fragmented system links and lack of full-process coordinated control: In the existing technology, most automatic Chinese medicine dispensing and retrieval systems can only achieve automation at the retrieval end. Key links such as picking up, weighing and dispensing medicinal materials still rely on manual operation, which cannot form a complete closed loop of "prescription input - medicine output". This leads to frequent misalignment of the cycle and information delay in the medicine transmission and sorting links, which limits the overall efficiency of the system and fails to achieve true full-process automated control.

[0005] (2) The accuracy of the amount of medicinal materials is insufficient and does not meet the dispensing standards: The existing technology is not suitable for the precise dispensing of Chinese medicine. Some devices use time-based vibration feeding or mechanical gripping. The weighing module responds slowly or is even missing. Moreover, the calibration is difficult. The error of the amount of a single medicinal material can reach ±2g, which far exceeds the standard requirement of ±5% in the "Chinese Medicine Dispensing Procedure". It is difficult to ensure the accuracy of Chinese medicine prescriptions and the stability of efficacy.

[0006] (3) Poor adaptability of the dispensing port, making it difficult to accommodate multiple types of medicinal materials: In the existing technology, the dispensing port of some devices is designed with a fixed size, which cannot flexibly adjust the opening size according to the particle size characteristics of the medicinal materials. For fine granular medicinal materials, it is easy to cause problems such as feeding too fast and excessive leakage. For clumps or larger granules of medicinal materials, it is easy to cause blockage and poor dispensing. This not only affects the dispensing efficiency, but also further aggravates the deviation in the measurement accuracy, and cannot meet the diverse formulation needs.

[0007] (4) Structural design defects, prominent risks of cross-contamination and mismatch: Some existing equipment adopts the medicine dispensing mode of "single medicine dispensing tray corresponding to multiple medicine leakage ports", which lacks an independent isolation and protection structure. During continuous dispensing, the residue of the previous medicine is easy to adhere to the inner wall of the tray 18 or the edge of the medicine leakage port, which leads to the mixing of non-target components into the subsequent medicines, and at the same time increases the risk of cross-contamination between medicines, which may reduce the overall quality of the formula.

[0008] (5) Lack of drug quantity early warning mechanism, with potential for supply interruption: Some devices in the existing technology are not equipped with drug quantity monitoring and early warning functions, and cannot provide real-time feedback on the drug storage status in the drug storage 3. When the drug quantity is lower than the safety threshold, the operator cannot be reminded to replenish in time, which may easily lead to drug supply interruption during the dispensing process, interruption of the dispensing process, prolong of patient waiting time, and may also cause dosage errors or operational chaos due to emergency drug replenishment, affecting the stable operation of the system.

[0009] (6) Complex user interaction design and poor adaptability for elderly patients: Some existing systems have cumbersome operation interfaces that require manual input of commands or operation of multi-level menus, without fully considering the usage habits of elderly users. The lack of age-friendly and simplified design makes it difficult for elderly patients to operate independently, which does not meet the actual needs of the service recipients of traditional Chinese medicine pharmacies and affects the inclusiveness of the service. Utility Model Content

[0010] The purpose of this utility model is to provide an integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies, so as to solve at least one of the technical problems existing in the background art.

[0011] To achieve the above objectives, the present invention adopts the following technical solution:

[0012] This utility model provides an integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies, comprising:

[0013] A medicine storage rack, wherein the top of the medicine storage rack is provided with multiple medicine storage compartments;

[0014] Below the medicine compartment is a tray 18, which can be moved freely below the medicine compartment and can be moved below any medicine compartment.

[0015] A packaging machine that receives a medicine dispensing dish from a robotic arm and packages it.

[0016] The robotic arm is provided between the packaging machine and the drug container support;

[0017] The controller is connected to the packaging machine and the robotic arm.

[0018] Furthermore, the medicine container support includes support legs and a support plate disposed on the top of the support legs; the support plate is provided with a plurality of medicine container placement holes, the top edge of the medicine container is provided with a folded edge, the medicine container is placed in the medicine container placement hole, and the folded edge rests on the edge of the medicine container placement hole.

[0019] Furthermore, the bottom of the medicine compartment is provided with a medicine leakage port, and a servo motor is provided on one side of the medicine leakage port. The servo motor is driven to connect to a baffle that can block the medicine leakage port.

[0020] Furthermore, a first linear stepper motor is provided below the bracket, and a second linear stepper motor is provided on the slider of the first linear stepper motor. The first linear stepper motor and the second linear stepper motor are perpendicular to each other; the tray 18 is provided on the slider of the second linear stepper motor.

[0021] Furthermore, a gravity sensor 10 is provided at the bottom of the tray 18.

[0022] Furthermore, the medicine compartment 3 is equipped with an infrared sensor.

[0023] Furthermore, the bracket is placed on the shock-absorbing pad 8.

[0024] Furthermore, a storage cylinder 13 is provided on one side of the packaging machine, and a medicine dispensing basket 12 is provided below the medicine dispensing dish 11 support frame 1 of the packaging machine.

[0025] The beneficial effects of this utility model are as follows: A fully integrated unmanned control chain: Through the collaborative design of "mini-program—Raspberry Pi—actuator," a fully automated closed loop from prescription input to drug packaging is achieved, improving the overall system efficiency; High-precision weighing and real-time adjustment mechanism: A combination of a high-precision weighing sensor and a PWM servo motor 5 for leakage control is used to establish a weight comparison closed loop and achieve stepless adjustment of the opening and closing of the leakage port, controlling the weighing error within ±0.3g; Adjustable leakage port adaptation design: The opening size can be adjusted according to the particle size characteristics of the medicinal materials, adapting to various types of medicinal materials such as small particles and lumps, avoiding leakage or blockage; Precise isolation structure between tray 18 and the medicine port: Through one-to-one correspondence positioning, automatic docking, and an immediate stop mechanism upon reaching the weighing standard, cross-contamination and mismatch are prevented from the hardware level; Intelligent early warning system for remaining medicinal materials: The infrared sensor and weight sensing module in the medicine compartment 3 are linked, combined with threshold judgment and network push from the main control device, to achieve remaining material monitoring and supply interruption warning; Age-friendly human-machine interaction process: The mini-program adopts "prescription import / AI..." Recommended – “One-click medication retrieval” features a simplified design and supports voice functionality, reducing the operational threshold for elderly users.

[0026] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of the invention. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a three-dimensional structural diagram of the integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies described in this embodiment of the present invention.

[0029] Figure 2 This is a structural diagram of the dispensing mechanism of the integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies described in this embodiment of the utility model.

[0030] Figure 3 This is a bottom view of the leakage module of the integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies described in this embodiment of the utility model.

[0031] Figure 4 This is a front view structural diagram of the leakage module of the integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies described in this embodiment of the utility model.

[0032] Figure 5 This is a flowchart illustrating the workflow of the integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies described in this embodiment of the invention.

[0033] The components include: 1. Support frame; 2. Robotic arm; 3. Medicine compartment; 4. Medicine compartment bracket; 5. Servo motor; 6. Support leg; 7. Main control box; 8. Anti-vibration pad; 9. First linear stepper motor; 10. Gravity sensor; 11. Medicine dispensing dish; 12. Medicine dispensing basket; 13. Storage cylinder; 14. Automatic packaging machine; 15. Control knob; 16. Second linear stepper motor; 17. Baffle; 18. Tray; 19. Infrared sensor. Detailed Implementation

[0034] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0035] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0036] It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as here.

[0037] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the word “comprising” as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, and / or groups thereof.

[0038] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. Furthermore, the described specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0039] In the description of this specification, 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 two or more, unless otherwise explicitly specified.

[0040] In the description of this specification, the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this technology and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this technology.

[0041] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection or setting, a detachable connection or setting, or an integral connection or setting. Those skilled in the art can understand the specific meaning of these terms in this art according to the specific circumstances.

[0042] To facilitate understanding of this utility model, the following description, in conjunction with the accompanying drawings, provides further explanation of specific embodiments. These specific embodiments do not constitute a limitation on the embodiments of this utility model.

[0043] Those skilled in the art should understand that the accompanying drawings are merely schematic diagrams of embodiments, and the components in the drawings are not necessarily essential for implementing this utility model.

[0044] The purpose of this utility model in providing an integrated automatic dispensing and dispensing system for traditional Chinese medicine is:

[0045] (1) Achieve integrated unmanned allocation throughout the entire process and break down the barriers between links: Through the unified control link of “mini-program - Raspberry Pi - actuator”, the entire process of “prescription input - medicinal material feeding - weighing feedback - dispensing output - drug packaging” is covered, eliminating manual intervention and forming a fully automatic closed-loop control, solving the problems of system link fragmentation and low efficiency, and greatly improving the overall operating efficiency.

[0046] (2) Significantly improves the accuracy of medicinal material taking and meets industry standard requirements: The dual guarantee scheme of "high-precision weighing sensor + PWM servo motor 5-down leakage control" is adopted to establish a real-time weight comparison closed loop. The amount is precisely controlled by stepless adjustment of the opening and closing of the leakage port, and the error of taking a single medicinal material is controlled within ±0.3g, which is far superior to the standard of "Chinese medicine dispensing procedure", ensuring medication safety and efficacy.

[0047] (3) Optimize the adaptability of the medicine leakage port and be compatible with multiple types of medicinal materials: The innovative "adjustable medicine leakage port" design can be adopted. During the initial setting, the size of the opening can be precisely adjusted according to the particle size characteristics of the medicinal materials. For fine granular medicinal materials, the opening is reduced to avoid excessive leakage, and for large or clumped medicinal materials, the opening is enlarged to prevent blockage. This achieves efficient adaptation of different types of medicinal materials and improves the stability of dosage and the smoothness of dispensing.

[0048] (4) Optimize structural design to avoid cross-contamination and mismatch risks: Through the precise positioning, one-to-one correspondence and automatic docking mechanism between the tray 18 and the medicine port, combined with the immediate shutdown design after the weighing reaches the standard, the effective isolation of medicinal materials is achieved from the hardware level, preventing non-target medicinal materials from mixing in, reducing the risk of cross-contamination and mismatch, and ensuring the quality of the formula.

[0049] (5) Establish an intelligent early warning mechanism to avoid the risk of supply shortage of medicinal materials: Install infrared sensors and weight sensing modules in medicine warehouse 3 to collect and transmit the remaining data of medicinal materials to the main control device in real time; the main control device judges the inventory status by preset threshold. When the medicinal materials are lower than the safety line, it will immediately trigger an audible and visual alarm and push the early warning information to the background management system and operator terminal through the network function, so as to realize the closed-loop management of remaining quantity monitoring, intelligent early warning and information linkage, and ensure the continuous and stable allocation process.

[0050] (6) Simplify the human-computer interaction process and adapt to the needs of elderly users: The operation interface of the mini program is optimized with age-friendliness as the core. The simplified process of "prescription import / AI recommendation - one-click medicine retrieval" is adopted, with clear icons and large font design, and voice input and voice navigation functions are supported. The medicine retrieval process can be completed by scanning the code. At the same time, the medication guidance voice broadcast is provided, which greatly reduces the operation threshold for elderly users and improves the convenience and inclusiveness of the service.

[0051] like Figures 1 to 4 As shown in this embodiment, an integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies is provided. With automation and precision as its core design concepts, the overall architecture consists of a software interaction layer and a hardware execution layer working together, while also being equipped with a stable physical support structure. The software interaction layer, i.e., the mini-program terminal, serves as the core user interaction entry point, supporting two modes for initiating medicinal material requests. The hardware execution layer includes a main control module, a medicine leakage module, a transportation module, a weighing module, and a medicine packaging module. The main control module is the system's "central brain," responsible for receiving, parsing, and issuing instructions, as well as processing feedback data. The medicine leakage module is equipped with a servo motor 5 as a "precision valve" for medicine output, and is located within each medicine compartment 3. All modules are equipped with infrared sensors, which are linked in real time with the main control module to achieve dynamic monitoring of the remaining amount of medicinal materials and low inventory warning function. The transportation module is powered by a stepper motor and serves as the "transportation hub". The weighing module integrates a gravity sensor 10 as a "precision monitor". The medicine packaging module consists of a robotic arm 2 and an automatic sealing machine. The robotic arm 2 is responsible for the transfer of medicinal materials, and the automatic sealing machine is equipped with a disposable medicine bowl automatic replenishment device to complete the packaging and output of medicinal materials. In terms of physical support, the bottom of the device is laid with anti-vibration pads 8 to buffer the vibration during operation. The main frame is built with angle steel brackets, which have both high strength and lightweight characteristics, providing a stable installation foundation for each module.

[0052] Specifically, the integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies described in this embodiment includes: a medicine storage support 4, with multiple medicine storage compartments 3 on the top of the support 4; a tray 18 below each medicine storage compartment 3, the tray 18 being freely movable below each medicine storage compartment 3; a packaging machine, which receives and packages medicine dispensing dishes 11 from a robotic arm 2; the robotic arm 2 is located between the packaging machine and the medicine storage support 4; and a controller connected to the packaging machine and the robotic arm 2.

[0053] The medicine container support 4 includes support legs 6 and a support plate located on top of the support legs 6. The support plate has multiple medicine container 3 placement holes. The top edge of each medicine container 3 has a folded edge, and the medicine container 3 is placed within the medicine container 3 placement hole, with the folded edge resting on the edge of the placement hole. The bottom of each medicine container 3 has a leakage port. A servo motor 5 is located on one side of the leakage port, and a control knob 15 is located on the other side. The servo motor 5 drives a baffle that can block the leakage port. A first linear stepper motor 9 is located below the support. A second linear stepper motor 16 is mounted on the slider of the first linear stepper motor, and the first linear stepper motor 9 and the second linear stepper motor 16 are perpendicular. A tray 18 is located on the slider of the second linear stepper motor. A gravity sensor 10 is located at the bottom of the tray 18. An infrared sensor is located inside each medicine container 3. The support is placed on a shock-absorbing pad 8. A storage cylinder 13 is provided on one side of the packaging machine, and a medicine dispensing basket 12 is provided below the medicine dispensing dish 11 support frame 1 of the packaging machine.

[0054] The system operates following a closed-loop process of "user initiation - command transmission - precise execution - encapsulation and output - reset and medication retrieval". First, the user initiates a medication request via a mini-program. They can manually select the type and weight of medication based on a doctor's prescription, or describe their symptoms and upload vital signs such as a photo of their tongue. The AI ​​diagnostic model automatically generates a suitable medication plan. Next, the mini-program precisely transmits the confirmed medication request to the main control module via Bluetooth. The main control module parses the command, generates execution logic, and then initiates the precise medication retrieval process: first, the main control module sends the start / stop coordinates of the target medicine bin 3 to the transportation module, which is then driven by a stepper motor. The dynamic weighing module (including gravity sensor 10) and the medicine container are precisely moved to the area directly below the corresponding medicine compartment 3. Then, the main control module sends an initial opening and closing command of the servo motor 5 to the medicine leakage module according to the required weight. At the same time, the gravity sensor 10 collects the weight of the medicine in real time and feeds it back to the main control module. The main control module compares the actual weight with the target weight and dynamically fine-tunes the opening and closing angle of the servo motor 5. When the actual weight is close to the target weight, the opening and closing angle is reduced to reduce the leakage speed until the weight is accurately matched, and the single medicine is collected. Then, the above transportation positioning, dynamic leakage and accuracy calibration process is repeated until all the required medicines are weighed and collected.

[0055] After the medication dispensing process is completed, the main control module sends a work instruction to the medication packaging module: the robotic arm 2 precisely grabs the medicine container that has been transported back to its initial position by the motor, and pours the prepared medicine into the disposable medicine bowl that has been automatically replenished in the automatic sealing machine at a uniform speed; after the weight detection unit of the automatic sealing machine senses the weight of the medicine in the medicine bowl, it immediately starts the sealing program and completes the sealing process through heat sealing or film coating; after sealing is completed, the discharge mechanism of the automatic sealing machine automatically pushes out the packaged medicine bowl. At this time, the support frame 1 of the disposable medicine bowl opens simultaneously, and the medicine bowl falls into the user medicine basket 12 below under the action of gravity. The user can then take out the medicine basket 12 containing the packaged medicine bowl, and the entire medication dispensing process is completed in a closed loop.

[0056] The medication dispensing device described in this embodiment can use a WeChat mini-program as the core software interaction carrier to provide users with a convenient and efficient ordering experience. This mini-program is independently developed based on the WeChat developer platform and integrates a wealth of practical functional modules, covering user login, historical record query, medical order import, AI consultation, one-click association with nearby medication dispensing systems, and self-ordering, comprehensively meeting the needs of users in different scenarios. In terms of data communication and command transmission, the mini-program establishes a stable connection with the Raspberry Pi main control module of the medication dispensing system via Bluetooth protocol. This allows the user's confirmed medication requirements to be accurately sent to the main control module, providing the command basis for the subsequent medication dispensing process. The AI ​​consultation function is implemented through a specific technical path—the mini-program accesses an AI robot deployed on the COZE platform via API interface. This robot has been trained based on a large amount of clinical diagnosis and treatment data and authoritative materials such as the "Pharmacopoeia of the People's Republic of China". It can provide professional medication advice based on the user's input of symptoms and supports one-click import of AI-recommended medication plans into the medication shopping cart, greatly simplifying the user's ordering operation. The prescription import function further improves the convenience and accuracy of medication. Users can directly upload prescription files and import them with one click. The system will automatically match the corresponding medicines according to the prescription, allowing users to complete the order with one click, effectively avoiding manual operation errors and saving operation time.

[0057] The hardware execution layer mainly includes the main control module, the drug leakage module, the transportation module, and the weighing module.

[0058] The main control module, serving as the "central core" of the entire intelligent unmanned traditional Chinese medicine pharmacy dispensing system, is integrated and housed within a dedicated main control box 7. This design not only provides physical protection for the core components, isolating them from external dust, minor collisions, and other interference, but also optimizes the wiring layout through the box structure, improving the stability of module operation and the convenience of later maintenance. Its core control unit utilizes a Raspberry Pi 4B development board. This high-performance single-board computer is equipped with a quad-core ARM Cortex-A72 processor and 4GB of memory, sufficient to support the system's complex instruction parsing and multi-module collaborative control requirements. Simultaneously, the Raspberry Pi 4B's rich hardware interfaces (including Bluetooth 5.0, USB 3.0 ports, and GPIO pins) enable seamless integration with the Bluetooth communication module of the mini-program, the servo motor 5 drive circuit and infrared sensor of the leak module, the stepper motor controller of the transportation module, and the STM32 serial port of the weighing module, achieving efficient data interaction and precise instruction transmission between multiple devices. In terms of power supply, the main control module adopts a direct plug-in power supply design, providing stable power input through the Raspberry Pi 4B's standard Type-C power interface. This eliminates the need for additional complex power conversion equipment, simplifying the overall circuit structure of the system while ensuring the stability and continuity of power supply. This prevents power fluctuations from affecting the core control functions, ensuring the continuity of instruction transmission and execution throughout the entire drug dispensing process, and laying a solid foundation for the reliable operation of the system.

[0059] The medicine leakage module, as the core execution unit for the system to achieve precise control of the amount of medicinal materials, uses the SG90 servo motor 5 as the driving core. This micro servo motor 5, with its small size, fast response and stable torque, can accurately execute the action commands issued by the main control module. The Raspberry Pi outputs PWM (pulse width modulation) signals through the GPIO interface to steplessly adjust the rotation angle of the servo motor 5, thereby driving the opening and closing of the medicine leakage valve, realizing fine control of the falling speed and flow rate of the medicinal materials. Meanwhile, the module's medicine compartment 3 is equipped with an infrared diffuse reflection sensor. This sensor is connected to the Raspberry Pi of the main control module via an I2C bus, which can monitor the remaining amount of medicine in the medicine compartment 3 in real time. When the amount is lower than a preset threshold, it immediately sends a low-volume signal to the main control module, triggering a background notification to ensure timely replenishment of medicine. The medicine leakage port adopts a nested double-layer baffle adjustable mechanical structure. The outer layer is a fixed ring, and the inner layer is a rotating adjustment ring with a fan-shaped notch. By controlling the rotation angle of the inner ring, the overlapping area of ​​the notch is changed, thereby adjusting the size of the medicine leakage port. For fine granular medicine, the opening is reduced to accurately control the amount, while for large or clumped medicine, the opening is enlarged to avoid blockage, adapting to the leakage needs of medicines with different particle sizes.

[0060] To ensure the stability of servo motor 5 during high-frequency, long-cycle operation, the module integrates a dedicated servo motor 5 voltage regulator board, which is built into the main control box 7. This voltage regulator board filters and stabilizes the input voltage, effectively suppressing voltage fluctuations and electromagnetic interference in the circuit, and preventing problems such as servo motor 5 jamming and angle deviation caused by unstable power supply. This combination of "precise drive + stable power supply + intelligent monitoring + adaptive adjustment" design enables the leakage module to quickly respond to the dynamic adjustment commands of the main control module based on weighing feedback, adapt to multiple types of medicinal materials and provide real-time warnings of remaining amount, maintain consistent action and smooth leakage during long-term operation, and provide reliable hardware support for the accurate control of single-herb weighing, ensuring that the deviation between the final dispensing weight and the user's requirements is controlled within a very small range.

[0061] The transportation module, as the core of the system for precise distribution of medicinal materials, adopts a combination architecture of "stepper motor + precision guide rail". It is equipped with a stepper motor with guide rail as the power source, and works with HST2830B stepper motor driver to form a high-efficiency drive unit. The HST2830B driver acts as the intermediate hub between the motor and the main control module. It can convert the control signal output by Raspberry Pi into a current drive signal that matches the stepper motor. Through microstepping control technology, it can achieve fine adjustment of the motor rotation angle, ensuring that the displacement accuracy of the transportation component can reach the millimeter level.

[0062] The module's mechanical structure design employs a cross-shaped guide rail system. Two mutually perpendicular precision guide rails form a coordinate-type moving frame, while the gravity sensor 10 and the medicine container are integrated and fixed at the intersection of the cross-shaped guide rails, forming a carrier unit that can move bidirectionally along the X and Y axes. This structural design allows the carrier unit to achieve full coverage of the entire plane of the medicine container 3 array. When the main control module issues a coordinate command for the target medicine container 3, the stepper motor, under the control of the driver, drives the carrier unit to slide smoothly along the guide rails and accurately stop directly below the corresponding medicine container 3, providing a stable spatial positioning basis for subsequent leakage and weighing processes.

[0063] In addition, the rigid structure and smooth sliding characteristics of the guide rail not only ensure the stability of the carrying unit during movement (avoiding spillage of medicinal materials or weighing errors), but also reduce mechanical wear and improve the long-term operational reliability of the module, making the entire transportation process both efficient and accurate, and becoming a key link connecting the storage and weighing of medicines in medicine compartment 3.

[0064] The weighing module, as the core detection unit ensuring the accuracy of dispensing, uses an HX711 gravity sensor 10 to build the measurement foundation. This sensor has an ultra-high precision measurement capability of 0.01g, which can sensitively capture subtle weight changes during the falling of the herbs, providing raw data support for accurate dispensing. Considering the system's high real-time requirements—when the servo motor 5 controls the leakage of herbs, there is a certain physical delay in the falling of the herbs. If the weight data feedback is not timely, it is easy to cause the final dispensing weight to exceed the error range. Therefore, the module integrates an STM32 microcontroller as a data processing intermediate layer. With its high-speed computing power, the STM32 microcontroller can quickly read the real-time data from the HX711 sensor and perform preliminary filtering, effectively improving the data update frequency. At the same time, it establishes a data link with the Raspberry Pi of the main control module through a high-speed serial communication protocol, transmitting the processed weight information to the main control unit with a millisecond-level response speed.

[0065] This architecture design, which combines "high-precision sensors + high-speed processing chips + real-time communication," forms a dynamic closed-loop feedback mechanism: when the servo motor 5 of the leakage module performs the opening and closing action, the weighing module can continuously and quickly transfer the weight of the medicinal materials in the medicine container to the Raspberry Pi, allowing the main control module to dynamically adjust the opening and closing angle of the servo motor 5 based on real-time data. Even when there is a delay in the falling of the medicinal materials, the leakage amount can be predicted and controlled in advance by accurately sensing the trend of weight change, ultimately strictly controlling the dispensing error of a single medicinal material to within 0.3g, providing a key guarantee for the overall dispensing accuracy of the system.

[0066] The pharmaceutical packaging module, serving as the terminal execution unit for automated packaging and delivery of medicinal materials, comprises a core architecture consisting of a four-axis robotic arm 2 and an intelligent automatic sealing mechanism. The four-axis robotic arm 2, equipped with MG90S servo motors 5 to drive the joints, possesses multi-degree-of-freedom flexible movement characteristics, enabling precise completion of complex actions such as gripping the medicine container 11 and pouring the medicinal materials. The automatic sealing machine integrates a weight detection sensor, heat sealing components, and a disposable medicine bowl replenishment device, forming a complete closed loop of "gripping-transferring-packaging-output." The robotic arm 2 establishes a communication link with the Raspberry Pi of the main control module via a USB-to-serial port module, receiving action commands in real time. When the medicine container 11 returns to its initial position with the transport module, the robotic arm 2, following a preset trajectory, first positions itself above the medicine container 11 with 0.1mm precision, then stably grips the container using its end effector, and finally, through coordinated joint movement, moves it directly above the medicine bowl of the automatic sealing machine, slowly tilting it to a 60° angle to pour the medicinal materials, ensuring no residue spillage.

[0067] The automatic sealing machine integrates two functions: "intelligent replenishment + precise sealing". Its top is equipped with a stackable medicine bowl storage compartment. When the previous dose of medicine is sealed, a miniature pusher motor automatically pushes the spare bowl to the sealing station, achieving unmanned replenishment. The sealing mechanism uses a combination of a PTC heating element and a silicone pressure head. When the FSR pressure sensor at the bottom detects that the weight of the medicine in the medicine bowl meets the standard, it immediately triggers the heat sealing program (temperature controlled at 120±5℃, sealing edge width 3mm) to ensure a tight seal. After sealing, the conveyor belt pushes the medicine bowl to the discharge port. At this time, the electromagnetic chuck support frame 1 on both sides is de-energized and released, and the medicine bowl slides down the guide ramp into the user's medicine basket 12 below. The entire process response time is controlled within 10 seconds.

[0068] In this embodiment, the servo motor 5 and the gravity sensor 10 work together to form a quantitative medicine dispensing closed-loop control circuit: the gravity sensor 10 collects the weight data of the medicine in the medicine container in real time and feeds it back to the main control module. The main control module dynamically adjusts the opening and closing angle of the servo motor 5 and the medicine leakage speed according to the difference between the actual weight and the target weight, so as to achieve precise quantitative dispensing of medicine and ensure the accuracy of the dispensing weight. A precise positioning system based on a stepper motor and preset coordinates: by preset a unique XY axis coordinate for each type of medicine, the stepper motor, under the command of the main control module, drives the cross rail assembly carrying the gravity sensor 10 and the medicine container according to the preset number of steps, precisely moving it to below the target medicine chamber 3, ensuring the accuracy and stability of the medicine dispensing position. The medicine container 11 and the medicine chamber 3 correspond one-to-one and automatically dock, avoiding cross-contamination and mismatch risks. The mechanical structure (nested baffle) of the adjustable-size medicine leakage port and the adjustment control logic according to the type of medicine. The data transmission architecture of the gravity sensor 10, independently controlled by a microcontroller, utilizes an STM32 microcontroller to independently read the weight data from the HX711 gravity sensor 10. After preliminary filtering, the data is transmitted to the Raspberry Pi main control module via high-speed serial communication, avoiding data transmission delays or interference and improving the reliability and real-time performance of weight data updates, providing data support for precise drug control. The arrangement of infrared sensors and weight sensing modules within the medicine compartment 3, as well as the main control device's processing of remaining data, threshold judgment, and network push system for early warning information, are also included. A mini-program drug dispensing system trained on numerous prescriptions is deployed, empowering the development of traditional Chinese medicine with artificial intelligence.

[0069] This utility model's integrated unmanned automated medicine dispensing system for traditional Chinese medicine pharmacies achieves significant breakthroughs in the completeness of the automated closed-loop system, dispensing accuracy, scenario adaptability, and user-friendliness. Regarding the automated process, while existing technologies achieve partial automation of "medicinal material release-weighing-dispensing" through the medicine dispensing device and central control module, they do not cover the prescription input front-end and the patient dispensing back-end, still requiring manual intervention for prescription delivery or equipment operation, thus failing to form a fully unmanned closed-loop process. This utility model, however, utilizes a full-link collaboration of "WeChat mini-program - Raspberry Pi main control - hardware execution layer," allowing patients to independently upload medical orders or complete AI consultations to generate prescriptions via the mini-program. Commands are directly connected to the main control module to drive the transportation, leakage, and weighing modules, ultimately automatically resetting to await dispensing. This truly achieves unmanned operation throughout the entire process of "prescription input - medicinal material dispensing - weight verification - patient dispensing," significantly reducing the cost and efficiency losses associated with manual intervention. Regarding the accuracy and adaptability of dispensing, this invention employs a closed-loop control system combining "SG90 servo motor 5PWM stepless control + HX711 gravity sensor 100.01g accuracy measurement + STM32 microcontroller high-speed data feedback," along with dynamic fine-tuning of the dispensing angle using a Raspberry Pi. This system effectively controls the dispensing error of a single herb to within ±0.3g, far exceeding the accuracy levels of existing technologies. The dispensing module utilizes a "nested double-layer baffle structure" (outer fixed ring + inner rotating ring with a fan-shaped notch). By controlling the rotation of the inner ring, the opening size is altered—smaller openings control the amount of fine-grained herbs, while larger openings prevent blockage, perfectly solving the "poor adaptability" problem and achieving "compatibility with multiple types of herbs." Furthermore, this invention adds an infrared sensor and a weight sensing module to the medicine compartment 3, transmitting real-time remaining data to the Raspberry Pi. When the amount falls below a threshold, an alert is sent to the backend and the operator's terminal to prevent supply interruptions, thus establishing an "intelligent early warning mechanism."

[0070] In practical applications, the bracket can be made of other materials, the Raspberry Pi main controller can be other circuit development boards with similar functions to Raspberry Pi, such as Arduino, the HX711 gravity sensor 10 can be replaced with other models of gravity sensor 10, the stepper motor driver, servo motor 5 and microcontroller can also be other models of similar devices; the leakage module controlled by servo motor 5 can be replaced with "DC geared motor + encoder + electromagnetic clutch": the DC geared motor drives the leakage valve to rotate, the encoder provides real-time feedback on the valve rotation angle, and the electromagnetic clutch achieves instant braking of the valve.

[0071] Although the specific embodiments of the present utility model have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present utility model. Those skilled in the art should understand that, based on the technical solutions disclosed in the present utility model, all modifications or variations that can be made by those skilled in the art without creative effort should be included within the scope of protection of the present utility model.

Claims

1. An integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies, characterized in that, include: A medicine storage rack, wherein the top of the medicine storage rack is provided with multiple medicine storage compartments; A tray is provided below the medicine compartment, and the tray can be moved freely below the medicine compartment, and can be moved to the bottom of any medicine compartment; A packaging machine that receives a medicine dispensing dish from a robotic arm and packages it. The robotic arm is provided between the packaging machine and the drug container support; The controller is connected to the packaging machine and the robotic arm.

2. The integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies according to claim 1, characterized in that, The medicine container support includes support legs and a support plate located on top of the support legs; the support plate is provided with multiple medicine container placement holes, the top edge of the medicine container is provided with a folded edge, the medicine container is placed in the medicine container placement hole, and the folded edge rests on the edge of the medicine container placement hole.

3. The integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies according to claim 1, characterized in that, The bottom of the medicine compartment is provided with a medicine leakage port, and a servo motor is provided on one side of the medicine leakage port. The servo motor is driven to connect to a baffle that can block the medicine leakage port.

4. The integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies according to claim 1, characterized in that, A first linear stepper motor is located below the bracket, and a second linear stepper motor is located on the slider of the first linear stepper motor. The first linear stepper motor and the second linear stepper motor are perpendicular to each other. The tray is located on the slider of the second linear stepper motor.

5. The integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies according to claim 4, characterized in that, The bottom of the tray is equipped with a gravity sensor.

6. The integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies according to claim 3, characterized in that, The medicine storage compartment is equipped with an infrared sensor.

7. The integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies according to claim 1, characterized in that, The bracket is placed on the shock-absorbing pad.

8. The integrated unmanned automatic medicine dispensing device for traditional Chinese medicine pharmacies according to claim 1, characterized in that, A storage cylinder is provided on one side of the packaging machine, and a dispensing basket is provided below the dispensing dish support frame of the packaging machine.

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