CN110752001A

CN110752001A - Automatic dispensing and taking method for traditional Chinese medicine prescription and storage medium

Info

Publication number: CN110752001A
Application number: CN201910367980.1A
Authority: CN
Inventors: 王现成; 李金龙; 陈伟
Original assignee: Zhejiang Yicheng Technology Co Ltd
Current assignee: Zhejiang Yicheng Technology Co Ltd
Priority date: 2019-05-05
Filing date: 2019-05-05
Publication date: 2020-02-04

Abstract

The invention discloses a method for automatically dispensing and taking a Chinese medicine prescription and a storage medium, comprising the following steps: a prescription distribution step: acquiring a plurality of prescriptions, inquiring a medicine warehouse according to a medicine list of each prescription to determine the storage positions of medicines, and distributing all the prescriptions one by one; prescription preparation steps: acquiring medicine box information which needs to be called and corresponds to a prescription which needs to be called currently by operating a dispensing table; the medicine box information is sent to a control device of the medicine warehouse so that a medicine box grabbing mechanism of the medicine warehouse grabs the corresponding medicine box to a conveying belt so as to convey the medicine box to the corresponding operation dispensing table; judging whether the medicine chest in the operation dispensing table finishes medicine grabbing or not; and if so, controlling and operating a discharging mechanism of the dispensing table to convey the current medicine box back to the conveying belt so as to convey the medicine box back to the medicine warehouse. The method can automatically convey the required medicines to the operation dispensing table for grabbing by medicine grabbing personnel, does not need to spend time to find the positions of the medicines one by one, and improves medicine grabbing efficiency.

Description

Automatic dispensing and taking method for traditional Chinese medicine prescription and storage medium

Technical Field

The invention relates to the technical field of pharmacy automation, in particular to an automatic dispensing and taking method for a traditional Chinese medicine prescription and a storage medium.

Background

The traditional pharmacy medicine taking method comprises the following steps: after taking the prescription order of the patient, the pharmacy staff arranges the dispensing and distributing sequence according to the prescription corresponding to the patient, and then takes the dispensing frames one by one in sequence to the medicine shelf for medicine taking. With the development of economy and the improvement of national medical knowledge, medical personnel in hospitals are more and more, and a large amount of medicine information is generated. The operation of manually grabbing the medicine is complicated, the long-time work causes people to be tired, and the operators often send wrong medicine; in addition, the operator needs to spend a lot of time searching for the position of the medicine, which affects the medical efficiency. Meanwhile, the practitioner needs to have the capability of identifying the medicine type, the technical requirement is high, and the user experience is indirectly influenced because the labor intensity of a prescription regulation post is high, the dust amount of the working environment is large, the post departure rate is high, and the phenomenon of talent shortage easily occurs.

Disclosure of Invention

In order to overcome the defects of the prior art, one of the objectives of the present invention is to provide an automatic dispensing and taking method for a traditional Chinese medicine prescription, which can automatically transport the required medicine to an operation dispensing table for the dispensing staff to pick, and does not need to spend time to search the medicine positions one by one and check the medicine varieties on site, thereby improving the dispensing efficiency.

The second objective of the present invention is to provide a computer readable storage medium, which can automatically transport the required medicine to the operation dispensing table for the medicine dispensing personnel to pick, without spending time to search the medicine positions one by one, thereby improving the medicine dispensing efficiency.

One of the purposes of the invention is realized by adopting the following technical scheme:

an automatic dispensing and taking method for a traditional Chinese medicine prescription comprises the following steps:

a prescription distribution step:

obtaining a plurality of checked prescriptions, inquiring a medicine warehouse according to a medicine list of each prescription to determine the storage position of each medicine in each prescription, and distributing all prescriptions one by one, wherein the distribution process comprises the following steps:

judging whether the prescription has extremely low frequency medicine;

if the prescription has the extremely low frequency used medicines, sequencing the number of the extremely low frequency used medicines of the current prescription to be distributed in each medicine warehouse;

if only one medicine warehouse is arranged in the first-order medicine warehouse of the number of the extremely-low-frequency used medicines, distributing the current prescription to be distributed to the operation dispensing table corresponding to the medicine warehouse and executing the prescription dispensing step;

if the first medicine warehouse of the ordering of the quantity of the extremely low frequency used medicines has two or more, distributing the current prescription to be distributed to the operation dispensing table corresponding to the medicine warehouse with the maximum quantity of the high frequency used medicines of the current prescription to be distributed in each current medicine warehouse and executing the prescription dispensing step; the system comprises a plurality of medicine warehouses, wherein each medicine warehouse comprises high-frequency used medicines and extremely low-frequency used medicines, the high-frequency used medicines of each medicine warehouse are partially the same, and the extremely low-frequency used medicines of each medicine warehouse are different;

if the prescription does not have the extremely low frequency use medicines, sequencing the number of the high frequency use medicines of the current prescription to be distributed of each medicine warehouse, distributing the current prescription to be distributed to the operation dispensing table corresponding to the medicine warehouse with the largest number of the high frequency use medicines of the current prescription to be distributed in each current medicine warehouse, and executing the prescription dispensing step;

the high-frequency using medicine and the extremely-low-frequency using medicine are determined according to the frequency of the medicine appearing in the prescription of clinical application within a preset time limit, the medicine with the frequency higher than a first preset value is classified as the high-frequency using medicine, and the medicine with the frequency lower than a second preset value is classified as the extremely-low-frequency using medicine;

prescription preparation steps:

acquiring medicine box information which needs to be called and corresponds to a prescription which needs to be called currently by operating a dispensing table;

sending the information of the medicine boxes to be taken to a control device of a corresponding medicine warehouse so that a medicine box grabbing mechanism of the medicine warehouse grabs the corresponding medicine boxes to a conveying belt so as to convey the medicine boxes to a corresponding operation dispensing table for a worker to take medicine;

judging whether the medicine chest in the operation dispensing table finishes medicine grabbing or not;

and if so, controlling and operating a discharging mechanism of the dispensing table to convey the current medicine chest back to the conveying belt so as to convey the medicine chest back to the corresponding medicine warehouse.

Further, before the prescription dispensing step, the following steps are included:

prescription auditing step:

judging whether the patient corresponding to the prescription is a special population, wherein the special population comprises: pregnant women, infants, children and special allergic people;

if so, performing corresponding special contraindication auditing according to the special crowd type corresponding to the patient; checking prescription specification if the special taboo is checked, and marking the prescription as an abnormal prescription if the special taboo is not checked;

if not, checking the prescription specification;

the prescription specification auditing process comprises the following steps: sequentially judging whether the prescription meets the requirements of prescription management method, Chinese pharmacopoeia, Chinese herbal piece processing standard executed by provinces of prescription and Chinese herbal medicine compatibility taboo list;

when the condition of non-conformity occurs, judging the prescription to be abnormal;

when the prescription meets all requirements, inquiring whether a medicine warehouse has a medicine name corresponding to the prescription and whether the medicine inventory is higher than the required dosage of the prescription;

if not, marking as an abnormal dispensing prescription;

if yes, entering the prescription distribution step.

Further, the mode of conveying the medicine boxes to the corresponding operation dispensing table is specifically as follows:

identifying information of the medicine box passing through the current operation dispensing table through the medicine identification mark on the medicine box to judge whether the current medicine box is the medicine box required by the current operation dispensing table;

if so, sending a signal to the currently operated dispensing table to enable a feeding mechanism of the currently operated dispensing table to move the current medicine box from the conveyor belt into the currently operated dispensing table for a worker to take medicine;

when the medicine box is transferred to the grabbing station of the operation dispensing table, the picture of the accurate medicine which is theoretically stored in the medicine box is displayed through the display equipment of the operation dispensing table, so that the medicine taking personnel can compare the actually stored medicine in the medicine box with the medicine displayed by the picture to recheck the medicine variety.

Further, the method also comprises the following steps:

when the feeding mechanism moves the medicine chest to a grabbing station of the operation dispensing table, the weight and the weight reduction of the medicine chest on the grabbing station are obtained through a first weighing sensor and displayed;

acquiring and displaying the weight increment of the grabbed medicines in the dispensing frame through a second weighing sensor;

judging whether the difference value between the weight reduction amount and the weight increase amount of the medicine is within a preset error range or not;

if so, prompting that the current medicine grabbing is finished;

if not, prompting that the captured data is wrong and displaying an error value.

Further, after the medicine box finishes the medicine grabbing, judging whether the medicine box needs to be replenished according to the weight of the medicine box;

if so, sending replenishment information to a medicine replenishment operation platform, wherein the replenishment information comprises medicine identification mark information and medicine information on a medicine box;

before the medicine boxes are conveyed back to the corresponding medicine warehouse, the method further comprises the following steps:

identifying the information of the current medicine box through the medicine identification mark on the medicine box to judge whether the medicine box needs to be replenished;

if so, controlling a feeding mechanism of the medicine supplementing operation platform to move the medicine box from the conveying belt to the medicine supplementing operation platform so as to supply the staff with the medicines of the medicine box;

judging whether the current medicine chest completes medicine supplement;

and if so, controlling a discharging mechanism of the medicine supplementing operation table to convey the medicine boxes back to the conveying belt so as to convey the medicine boxes back to the corresponding medicine warehouse.

Further, the specific manner of conveying the medicine boxes back to the corresponding medicine warehouses is as follows:

identifying information of the medicine boxes passing through the current medicine warehouse through the medicine identification marks on the medicine boxes to judge whether the medicine boxes are the medicine boxes of the current medicine warehouse;

and if so, controlling a medicine box grabbing mechanism of the medicine warehouse to grab the medicine box from the conveying belt and put the medicine box back to the corresponding position.

Further, the method also comprises the following steps:

acquiring the use times and storage positions of all medicine boxes at regular time, determining the medicine boxes with adjustable storage positions according to the use times and carrying out corresponding marking;

the medicine box grabbing mechanism for controlling the medicine warehouse grabs the medicine box from the conveying belt and puts the medicine box back to the corresponding position specifically comprises the following steps:

judging whether the medicine box is a medicine box with an adjustable storage position;

if so, acquiring corresponding storage vacancy information in the medicine warehouse and controlling a medicine box grabbing mechanism of the medicine warehouse to grab the medicine box from the conveying belt and place the medicine box to a corresponding position;

and if not, controlling a medicine box grabbing mechanism of the medicine warehouse to grab the medicine box from the conveying belt and put the medicine box back to the original storage position.

Further, when one medicine box is completely grabbed, marking the corresponding medicine in the prescription as a grabbed state; when all the medicines in the prescription are marked as being in the filled state, the prescription is prompted to be filled.

Furthermore, the operation dispensing table is provided with a plurality of material taking windows, each material taking window corresponds to one indicator light, and the indicator light is used for indicating whether the current material taking window can be used for grabbing operation; the operation dispensing table is provided with a video monitoring device, and the video monitoring device is used for shooting the whole process of medicine taking on the operation dispensing table.

The second purpose of the invention is realized by adopting the following technical scheme:

a computer readable storage medium storing an executable computer program which when executed can implement the method for automatically dispensing and taking a prescription of chinese medicine as described above.

Compared with the prior art, the invention has the beneficial effects that:

the automatic dispensing and taking method for the traditional Chinese medicine prescription can automatically convey the needed medicines to the operation dispensing table for the medicine taking personnel to take, does not need to spend time to search the medicine positions one by one, improves the medicine taking efficiency and reduces the average waiting time of patients; moreover, the automatic allocation of the prescription can be realized, the medicines contained in the prescription can be inquired and stored in which medicine warehouses, then the quantity of the extremely-low-frequency medicines used in each medicine warehouse is sorted, and the prescription is preferentially allocated to the operation dispensing table corresponding to the medicine warehouse containing the largest quantity of the extremely-low-frequency medicines used in the prescription; when a plurality of medicine warehouses all contain the same number of extremely-low frequency medicines in the prescription, the operation dispensing table is determined according to the number of the high-frequency medicines, the automatic dispensing queue of the prescription is automatically dispensed, the dispensing and dispensing efficiency of a pharmacy is improved, and the average waiting time of a patient is reduced.

Drawings

FIG. 1 is a schematic flow chart of an automatic dispensing and taking method for a Chinese medicine prescription according to the present invention;

FIG. 2 is a schematic view of the overall structure of the present invention;

FIG. 3 is a schematic view of a combined structure of a dispensing table and a medicine box switching device according to the present invention;

FIG. 4 is a schematic view of an assembly structure of a dispensing table and a feeding belt according to the present invention;

FIG. 5 is a first schematic structural diagram of a medicine-box switching mechanism according to the present invention;

FIG. 6 is a second schematic structural view of the medicine-chest switching mechanism according to the present invention;

FIG. 7 is a schematic view of the structure of the connecting seat upper mechanism of the present invention;

FIG. 8 is a schematic view of the stacking mechanism of the present invention;

fig. 9 is a first configuration diagram of the medicine box pick and place mechanism of the present invention;

fig. 10 is a second schematic configuration diagram of the medicine box pick and place mechanism of the present invention;

fig. 11 is a schematic view of the internal structure of the medicine box pick-and-place machine in the present invention;

FIG. 12 is a schematic view showing the operation of the medicine-box spacing control apparatus in a clamped state according to the present invention;

fig. 13 is a schematic configuration diagram of the medicine-box spacing control apparatus of the present invention.

In the figure: 100. a medicine chest pick-and-place mechanism; 101. a fork slide; 102. a distance sensing device; 103. a biaxial guide rail; 104. a position sensor; 105. a drive gear; 106. a drive shaft; 107. a middle transposable; 108. a first synchronization belt; 109. a fork plate; 110. moving the positioning block; 111. a stop block; 112. a baffle plate; 113. a stop mechanism; 114. a rack; 115. a first drive mechanism; 116. a second drive mechanism; 117. a sixth driver; 118. a slider; 119. a second synchronous belt; 120. an adjusting seat; 121. a screw; 122. fixing a bracket; 130. a first height adjustment mechanism; 131. a longitudinal guide rail; 132. a third drive mechanism; 140. a lateral adjustment mechanism; 141. moving the base; 142. a transverse slide rail; 143. a fourth drive mechanism; 150. a positioning frame; 160. a stacking mechanism; 201. a medicine-box interval control device; 202. a support frame; 203. a distance adjusting device; 204. a mounting seat; 205. a conveying mechanism; 206. adjusting the screw rod; 207. a fixed seat; 208. a position adjustment mechanism; 209. a strip-shaped positioning hole; 210. a limiting block; 211. a tensioning mechanism; 212. a return spring; 213. a floating support plate; 214. a driven shaft; 215. a limiting connecting rod; 216. a power belt; 217. an elastic telescopic mechanism; 218. a drive shaft; 219. a servo motor; 300. a dispensing table; 301. a total weighing platform; 302. a third control mechanism; 303. a frame; 304. a discharging mechanism; 305. a feeding mechanism; 306. an induction alarm device; 307. a medicine chest information display; 308. a main display; 309. a printer; 310. an alarm; 311. mounting grooves; 312. a console; 313. a grating; 314. a medicine chest weighing platform; 315. a material taking window; 316. a signal indicator light; 317. a feed belt; 318. a first control mechanism; 319. a third driver; 320. a second height adjustment mechanism; 321. a first driver; 322. a lifting frame; 323. connecting holes; 324. a connecting seat; 325. a fifth drive mechanism; 326. a transmission belt; 327. a driving wheel; 328. a tension wheel; 329. a second driver; 330. connecting blocks; 331. a drive wheel; 332. a cam mechanism; 333. a slide rail; 334. a discharging motor; 335. a second mounting bracket; 336. discharging the material belt; 337. a feed zone; 338. a first mounting bracket; 339. a feeding motor; 340. a fourth driver; 341. a connecting shaft; 342. a third slide carriage; 343. a second control mechanism; 344. a second slide carriage; 345. a fifth driver; 346. a supply belt; 350. a medicine-box switching device; 400. a three-dimensional drug storage; 410. a main drug depot; 420. an auxiliary drug library; 500. a medicine supplementing device; 600. a medicine box moving mechanism; 610. a feeding conveyor belt; 620. a feed back conveyor belt; 700. provided is a video monitoring system.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.

Please refer to fig. 1, which is a flow chart of an automatic dispensing and taking method for a prescription of a traditional Chinese medicine, comprising:

a prescription distribution step:

s1, obtaining a plurality of checked prescriptions, inquiring a medicine warehouse according to the medicine list of each prescription to determine the storage position of each medicine in each prescription, and distributing all prescriptions one by one, wherein the distribution process comprises the following steps:

s2, judging whether the prescription contains extremely low frequency use medicines;

s3, if the prescription has the extremely low frequency use medicines, sorting the number of the extremely low frequency use medicines of the current prescription to be distributed in each medicine warehouse;

s4, if only one first-ranked medicine warehouse of the number of the extremely-low-frequency used medicines is available, distributing the current prescription to be distributed to the operation dispensing table corresponding to the medicine warehouse and executing the prescription dispensing step;

s5, if the first medicine warehouse of the order of the number of the extremely low frequency used medicines has two or more, distributing the current prescription to be distributed to the operation dispensing table corresponding to the medicine warehouse with the largest number of the high frequency used medicines of the current prescription to be distributed in each current medicine warehouse and executing the prescription dispensing step; the system comprises a plurality of medicine warehouses, wherein each medicine warehouse comprises high-frequency used medicines and extremely low-frequency used medicines, the high-frequency used medicines of each medicine warehouse are partially the same, and the extremely low-frequency used medicines of each medicine warehouse are different;

prescription preparation steps:

s7, acquiring the medicine box information which needs to be called and corresponds to the prescription which needs to be called currently by operating the dispensing table;

s8, sending the information of the medicine boxes to be taken to the control device of the corresponding medicine warehouse so that the medicine box grabbing mechanism of the medicine warehouse grabs the corresponding medicine boxes to the conveying belt to convey the medicine boxes to the corresponding operation dispensing table for the staff to take the medicine;

s9, judging whether the medicine boxes in the operation dispensing table complete medicine grabbing or not;

and S10, if yes, controlling and operating the discharging mechanism of the dispensing table to convey the current medicine chest to the conveying belt so as to convey the medicine chest to the corresponding medicine warehouse.

By the method, the medicine required to be used can be automatically conveyed to the operation dispensing table for grabbing by medicine grabbing personnel, time does not need to be spent to search the medicine positions one by one, medicine grabbing efficiency is improved, and average waiting time of patients is reduced; moreover, the prescription can be automatically distributed, the medicine warehouses in which the medicines contained in the prescription are stored can be inquired, when the prescription contains the extremely-low-frequency used medicines, the quantity of the extremely-low-frequency used medicines in each medicine warehouse is sorted, and the prescription is preferentially distributed to the operation dispatching desk corresponding to the medicine warehouse containing the largest quantity of the extremely-low-frequency used medicines in the prescription; when a plurality of medicine warehouses all contain the same number of extremely-low-frequency medicines used in the prescription or the prescription does not contain the extremely-low-frequency medicines used in the prescription, the operation dispensing table is determined according to the number of the high-frequency medicines used, the automatic dispensing queue of the prescription is automatically dispensed, the medicine dispensing and dispensing efficiency of a pharmacy is improved, and the average waiting time of a patient is reduced.

When a doctor makes a prescription for a patient and uploads the prescription to a medical care system, after the medical care system receives payment information of the prescription, the prescription is sent to an automatic prescription-mixing and medicine-taking system of a traditional Chinese medicine, the automatic prescription-mixing system of the traditional Chinese medicine sequentially executes the steps, firstly inquires which medicine warehouses the medicines contained in the prescription are stored in, then sorts the quantity of the extremely-low-frequency used medicines contained in each medicine warehouse, and preferentially distributes the prescription to an operation dispensing table corresponding to the medicine warehouse containing the maximum quantity of the extremely-low-frequency used medicines in the prescription; when a plurality of medicine warehouses all contain the same number of extremely-low frequency medicines used in the prescription, the operation dispensing table to which the prescription is allocated is determined according to the number of the high-frequency medicines used, the automatic dispensing queue of the prescription is automatically allocated, the prescription is allocated to the operation dispensing table which is the most convenient to fill the medicine and the shortest in time, and the medicine dispensing and distributing efficiency of a pharmacy is improved. After the operating blending platform receives the prescription needing to be blended, corresponding control signals are sent according to the information of the medicine boxes needing to be blended in the prescription, and the medicine boxes in the medicine warehouse are informed to be grabbed by the medicine box grabbing mechanism to grab the corresponding medicine boxes onto the conveying belt, so that the medicine boxes are automatically conveyed to the operating blending platform to be grabbed by medicine grabbing personnel operating the blending platform. The prescription distribution and the medicine chest calling are realized automatically, manual participation is not needed, the labor cost is reduced, and the efficiency is much higher than that of manual operation.

In this embodiment, five medicine warehouses are provided, which are respectively B1, B2, B3, B4 and B5, each medicine warehouse corresponds to one operation dispensing table, the medicines stored in the medicine warehouses are divided into high-frequency-use medicines and very-low-frequency-use medicines, the high-frequency-use medicines in each medicine warehouse are partially identical, and the very-low-frequency-use medicines in each medicine warehouse are different, for example, the medicine warehouses B1 to B4 all contain licorice, the medicine warehouse B5 does not contain licorice, the medicine warehouses B1 to B3 and B5 contain angelica, and the medicine warehouse B4 does not contain angelica. The drug variety setting can ensure that certain high-frequency-use drugs have backup in a plurality of drug warehouses, but also can ensure that more high-frequency-use drug varieties are stored in a smaller space of the drug warehouses as much as possible.

The classification for drug types is based on: the medical institution or related working enterprises are used for counting the occurrence frequency of single Chinese medicinal materials or Chinese medicinal decoction pieces or Chinese patent medicaments in the actual prescription in long-term clinical application to classify, and sequencing according to the occurrence frequency. For example, the medicines used in the first 30% are high-frequency medicines, the medicines used in the second 30% -90% are low-frequency medicines, and the medicines used in the last 10% are very low-frequency medicines, so that the classification proportion can be determined according to local actual conditions in the actual application process.

It should be noted that, in this embodiment, a plurality of low-frequency medicine warehouses, specifically five low-frequency medicine warehouses are provided, which are a1, a2, A3, a4 and a5 respectively. Since the high-frequency medicines are frequently used, the B1 to B5 medicine warehouses correspond to one operation dispensing table respectively, the A1 to A5 low-frequency medicines warehouse correspond to all the operation dispensing tables, and each operation dispensing table can be used for dispensing the medicines from the A1 to A5 low-frequency medicines warehouse. Since the a 1-a 5 low frequency use medicine warehouse is provided for all the operation dispensing stations, only the number of medicines of the B1-B5 medicine warehouse is considered in making the prescription dispensing. Certainly, a low-frequency medicine warehouse is not specially arranged, and the low-frequency medicines can be directly and correspondingly stored in the B1-B5 medicine warehouses; A. b libraries can also be interchanged; the medicine warehouse can be a solid warehouse or a dynamic warehouse.

As a preferred embodiment, the method further comprises the following steps before the prescription dispensing step:

prescription auditing step:

if not, checking the prescription specification;

if not, marking as an abnormal dispensing prescription;

if yes, entering the prescription distribution step.

By automatically auditing the prescription in the above mode, the problems that the prescription is not standardized, the medication is not suitable for the prescription, and the patient is uncomfortable and further medical disputes are caused due to reasons such as the prescription is not standardized, medication errors and the like can be effectively avoided.

As a preferred embodiment, the mode of conveying the medicine boxes to the corresponding operation dispensing table is specifically:

Since the medicine boxes on the conveyor may be any one operation pallet, it is necessary to recognize whether the medicine box is a medicine box required by the operation pallet or not by the medicine identification mark on the medicine box, and to transfer the required medicine box into the operation pallet for medicine gripping.

As a preferred embodiment, the method further comprises the following steps:

if so, prompting that the current medicine grabbing is finished;

By the mode, the reduced weight of the medicine can be displayed in real time, the weight taken can be known at the moment when the medicine is taken out, the medicine taking personnel can conveniently adjust the gripping amount, and the medicine taking method is more convenient and quicker; and the weight of the grabbed medicine can be displayed in real time, the weight loss and the weight gain of the medicine are compared, the medicine weight is confirmed for the second time, the problem that the medicine proportion is incorrect due to the fact that a weighing device makes mistakes through single measurement is avoided, and the accuracy of the content of each medicine is effectively guaranteed.

Before the medicine dispensing staff performs the dispensing operation, whether or not the medicine contained in the current medicine box is the correct medicine may be checked by operating the medicine type picture corresponding to the current medicine box displayed on the display device of the dispensing table, and if the medicine box does not match the correct medicine, the medicine box may be marked as a medicine storage error state and may be handled by the administrator. The manual comparison and judgment of the medicine taking personnel can be realized, and the image recognition can also be carried out by shooting the image of the medicine in the current medicine box to judge whether the medicine is the correct medicine variety, so that the rechecking of the medicine variety is completed.

In a preferred embodiment, after the medicine boxes have finished picking the medicines, whether the medicine boxes need to be replenished is judged according to the weight of the medicine boxes;

judging whether the current medicine chest completes medicine supplement;

By the mode, when grabbing is completed every time, the system automatically judges whether the residual medicines of the medicine boxes are lower than a preset threshold value, if yes, the medicine supplementing information is sent to the medicine supplementing operation table, the medicine supplementing operation table judges whether the medicine boxes passing through the medicine supplementing operation table are the medicine boxes needing supplementing according to the medicine identification marks on the medicine boxes, and if yes, the feeding mechanism of the medicine supplementing operation table is controlled to grab the medicine boxes into the medicine supplementing operation table so as to supplement the medicines. Therefore, the inventory of all the medicines can be monitored, and the medicines can be timely replenished when the inventory is too low, so that the situation that the medicines cannot be taken due to insufficient inventory is avoided.

As a preferred embodiment, a specific mode of conveying the medicine boxes back to the corresponding medicine stockers is as follows:

The medicine boxes of all the medicine warehouses are conveyed through the conveying belt, so that whether the medicine boxes belong to the medicine warehouse or not needs to be judged through the medicine identification marks on the medicine boxes, and if yes, the medicine boxes are picked up from the conveying belt and placed back to the corresponding positions for storage.

As a preferred embodiment, the method further comprises the following steps:

Since the frequency of use of each drug may vary, some drugs may be used more frequently and some drugs may be used less frequently, the more frequent drugs may be placed at a location that is easier to grasp and the less frequent drugs may be placed at a later location. The storage positions of the medicine boxes can be initially arranged according to the use frequency obtained by big data analysis, after the medicine boxes are used for a certain time, the use frequency of the medicines in the system is acquired, and then the positions of the medicine boxes are dynamically adjusted. Thus, the efficiency of taking the medicine can be further improved, and the average time of the patient waiting for taking the medicine is reduced.

As a preferred embodiment, when one medicine box is completely gripped, the corresponding medicine in the prescription is marked as a gripped state; when all the medicines in the prescription are marked as being in the filled state, the prescription is prompted to be filled. By the method, the medicine taking personnel can clearly know which medicines are taken and which medicines are not taken.

As a preferred embodiment, the operation dispensing table is provided with a plurality of material taking windows, each material taking window corresponds to one indicator light, and the indicator light is used for indicating whether the current material taking window can carry out grabbing operation; the operation dispensing table is provided with a video monitoring device, and the video monitoring device is used for shooting the whole process of medicine taking on the operation dispensing table. Because the medicine dispensing of every prescription has the multiple, consequently, the medical kit that needs to call also has a plurality ofly, through this mode, can put into material taking window department one by one with a plurality of medical kits that need snatch, then grab the medicine personnel and snatch one by one, snatch the completion when should getting the material window, its inside medical kit then can be transported away, next medical kit transports again, at this in-process, grab the medicine personnel and can go to snatch the next medicine box of getting the material window, when snatching the medicine box of other material taking windows, new medical kit has transported and should get the material window and had, grab the medicine personnel and can directly snatch. Therefore, the medicine taking efficiency is higher, and the medicine taking personnel can take the medicine without wasting time and waiting for the arrival of the next medicine box. In addition, the supervisor can carry out secondary recheck to the medicine taking operation of the medicine taking personnel through the shooting data of the video monitoring device, that is to say, the supervisor can take the name and/or the picture of the medicine through the image data of actually taking the medicine and the target seen in the video data, and then judge whether the medicine taking personnel take the target medicine correctly. Of course, the judgment process can also be realized in an image recognition mode, and only a medicine recognition model needs to be established and trained according to the convolutional neural network.

As a preferred embodiment, the recipe dispensing step further comprises the steps of:

if the number of the medicine warehouses with the largest number of the high-frequency-use medicines of the current prescription to be distributed in each current medicine warehouse (the current medicine warehouse refers to the medicine warehouse with the largest number of the extremely-low-frequency-use medicines) is two or more, the working state of each operation dispensing table is obtained, and the current prescription to be distributed is distributed to the operation dispensing table in the state to be operated. In addition, if each operation dispensing table is in a dispensing state, the waiting dispensing quantity of each operation dispensing table is obtained, and the current prescription to be distributed is distributed to the operation dispensing table with the least waiting dispensing quantity; if the operating dispensing table in the state to be operated has a plurality of operating dispensing tables, the current recipe to be distributed is distributed to the operating dispensing table with the minimum number in the state to be operated. Through the mode, the time required for dispensing and distributing the medicine can be reduced as much as possible, the time for waiting for taking the medicine by the patient is reduced, the time of the user is saved, and the user experience is improved.

As a preferred embodiment, the following steps are included after each prescription is dispensed: and updating the corresponding medicine inventory in the medicine warehouse according to the allocated prescription. The inventory of drugs in the drug warehouse may be determined from the initial inventory of drug boxes minus the amount of drug consumed by the prescription for which the dispensing is complete. By the method, the medicine stock in the medicine warehouse can be updated in time, and corresponding medicine supplementation measures are taken when the medicine stock is too low.

As a preferred embodiment, before sorting the number of medicines currently to be dispensed and prescribed in each medicine warehouse, the method further comprises the following steps: judging whether all the medicines of the current prescription to be distributed have enough inventory in the medicine warehouse;

if yes, sorting the quantity of the medicines of the current prescription to be distributed in each medicine warehouse;

if not, executing a medicine replenishment process to replenish the medicine with insufficient stock, and moving the current prescription to be distributed into a suspension queue or moving the current prescription to the last position of the prescription queue to be distributed for delayed processing.

After one prescription is dispensed, the inventory of the corresponding medicine in the medicine warehouse is correspondingly reduced, and the condition that the rest inventory can not reach the medicine supplementing threshold value but can not meet the dosage of the next prescription may occur. Therefore, before distribution, whether the drug inventory of the drug warehouse meets the dispensing requirement of the prescription can be inquired, and the situation of insufficient inventory during dispensing is avoided.

As a preferred embodiment, if the prescription to be dispensed is moved to the pause queue, the method further comprises the following steps after the medicine replenishment process is executed: and monitoring the drug replenishment process, and reinserting the prescription corresponding to the drug replenishment process into the queue to be distributed when the drug replenishment is completed. When the replenishment is completed, the prescription which is suspended previously is redistributed in time, the prescription can be placed at the end of the prescription queue waiting for distribution, and the prescription can also be inserted at the front of the prescription queue waiting for distribution so as to reduce the waiting time of the prescription and avoid the overlong waiting time of the corresponding patient for taking the medicine.

In a preferred embodiment, after the allocation of a prescription is completed, process tracking is performed on the medicine boxes that need to be called for by the prescription, wherein each medicine is stored in the medicine warehouse in the form of a medicine box. The mode is mainly a mode aiming at automatically grabbing the medicine chest and conveying the medicine chest to the operation dispensing table, so that the dispensing process of the prescription can be monitored, and when the medicine chest is monitored to reach the operation dispensing table, medicine grabbing personnel can be informed to grab the medicine in time. If the distribution method is applied to manual grabbing to a medicine warehouse, process tracking of the medicine boxes is not needed.

The automatic dispensing and taking method for the traditional Chinese medicine prescription is applied to an automatic dispensing and taking system for the traditional Chinese medicine prescription, and the structural description of the system is as follows:

referring to fig. 2 to 13, an automatic dispensing system for chinese herbal medicine prescriptions includes a plurality of three-dimensional medicine storages 400 (i.e., the aforementioned a1 to a5 low-frequency used medicine storages and B1 to B5 medicine storages) for storing medicinal materials and a dispensing station 300 (i.e., the aforementioned operation dispensing station) for dispensing prescriptions, a medicine box moving mechanism 600 is disposed between the three-dimensional medicine storages 400 and the dispensing station 300, a medicine box switching device 350 is disposed between the dispensing station 300 and the medicine box moving mechanism 600, the three-dimensional medicine storages 400 include a shelf and a plurality of medicine boxes disposed on the shelf, identification marks capable of storing and reading information are disposed on the medicine boxes, a stacking mechanism 160 for picking and placing the medicine boxes is disposed on one side of the three-dimensional medicine storages 400, and the adjusting station includes a rack 303, a control station 312 disposed on the rack 303, a plurality of material taking windows 315 disposed on the rack 303, and a dispensing window for dispensing the medicine boxes, A total weighing platform 301 that weighs the medicines taken out from the material taking window 315, a main display 308 that receives the prescription and displays related information, and a medicine box information display 307 that reads and displays information on the medicine boxes currently in the material taking window 315, wherein the medicine box moving mechanism 600 is configured to move the medicine boxes automatically gripped by the stacking mechanism 160 on the corresponding stereoscopic medicine magazine 400 to positions to be gripped by the medicine box switching device 350 for waiting conveyance, and to automatically return the medicine boxes conveyed by the medicine box switching device 350 to the corresponding stacking mechanism 160 after moving the medicine boxes again to the corresponding stereoscopic medicine magazine 400, the stacking mechanism 160 is configured to extract and store the medicine boxes with respect to the stereoscopic medicine magazine 400 after receiving an instruction, and the medicine box switching device 350 is configured to acquire and move the medicine boxes supplied by the medicine box moving mechanism 600 to the material taking window 315 for taking, And the medicine boxes which are grabbed by the material fetching window 315 are returned to the medicine box moving mechanism 600 to be conveyed to the three-dimensional medicine warehouse 400 again for storage, and the medicines in the medicine boxes supplied by the medicine box switching device 350 are grabbed manually through the material fetching window 315 and then are placed into the total weighing platform 301 for weighing and matching.

It should be noted that the automatic dispensing system for traditional Chinese medicine prescriptions includes a general control platform, which can implement the dispensing of prescriptions and the control of the whole system, and the control platform is in communication connection with other control devices in the system, for example, the control devices in the structures of the three-dimensional medicine warehouse 400, the dispensing table 300, the medicine box moving mechanism 600, etc. to implement the purpose of data interaction or instruction control between the control devices and each structural module. Because the control mode is common data interaction and instruction control and belongs to the conventional technical means, the invention is not repeated. The control platform can receive the prescription order needing to be dispensed and then carry out corresponding examination and distribution, namely the total control platform comprises a prescription distribution server.

In the actual use process, the medicine storage for storing the medicine boxes is improved, the improved medicine storage is called the three-dimensional medicine storage 400 for short, each three-dimensional medicine storage 400 is composed of a shelf and a plurality of medicine boxes placed on the shelf, unique identification marks capable of storing information and reading information are attached to each medicine box, and after the big data of the management system is analyzed, the position of each medicine box can be accurately controlled, so that the stacking mechanism 160 can accurately acquire the medicine boxes. When a prescription is dispensed through the automatic dispensing system for traditional Chinese medicine prescriptions, firstly, the prescription to be dispensed is received through the dispensing table 300 and information is displayed on the main display 308, so that a medicine dispensing person can quickly read and dispense the medicine, the display content of the main display 308 generally comprises basic information of the prescription and one or more of information of the medicine which is already dispensed, currently dispensed or not dispensed, and the like, after the prescription is determined, the management control system automatically dispenses the medicine in the prescription and sends an instruction to the stacking mechanism 160, and a corresponding medicine box is taken out from the three-dimensional medicine warehouse 400 through the stacking mechanism 160 and is placed on the medicine box moving mechanism 600 for supply. After the medicine-box moving means 600 moves the medicine boxes onto the medicine-box switching device 350, the medicine boxes are moved from the medicine-box moving means 600 into the dispensing table 300 by the medicine-box switching device 350 to manually dispense the medicines, and after the medicine boxes are completely dispensed with the medicines, the medicines are returned to the medicine-box moving means 600 by the medicine-box switching device 350 again, the medicine boxes are returned to the side of the three-dimensional medicine magazine 400 by the medicine-box moving means 600, and are returned to the three-dimensional medicine magazine 400 by the stacking means 160. The switching of the positions of the medicine boxes between the respective mechanisms can be determined by the position sensor 104, the positioner, or the like. The three-dimensional medicine storage 400 is generally formed by a plurality of large medicine storage units, the three-dimensional medicine storage 400 is generally sequentially placed along the medicine box moving mechanism 600, one stacking mechanism 160 may be provided for one three-dimensional medicine storage 400, or one stacking mechanism 160 may be shared by 2 or more three-dimensional medicine storage units 400. When a plurality of dispensing stations 300 are used, the dispensing stations are sequentially placed along the medicine box moving mechanism 600, and each dispensing station 300 is connected with the medicine box moving mechanism 600 through the medicine box switching device 350, so that the purposes that a plurality of persons grab different prescriptions simultaneously and share the three-dimensional medicine library 400 can be achieved in the dispensing process, manual operation is not needed in the whole process of supplying and returning the medicine boxes, particularly, after the medicine boxes enter the dispensing stations 300, the required medicine boxes are fed into the material taking window 315 through the medicine box switching device 350, after identification marks on the medicine boxes are scanned through reading equipment in the material taking window 315, scanned information can be directly displayed on the medicine box information display 307, the display content of the medicine box information display 307 comprises basic information such as current medicine names and medicine box weights, and the like, and the information displaying the reduced weights in real time, and the operation priority level of the current medicine boxes, The medicine box has the advantages that information such as medicine names, code numbers, medicine pictures, required weight, actual weight, special requirements and the like in the medicine box does not need to be manually identified, the medicine precision is higher, the phenomenon of wrong grabbing is not easy to occur during grabbing, and an operator can grab medicines by grabbing the medicinal materials in the medicine box and then placing the medicinal materials in the medicine box into a medicine dispensing frame; moreover, the dispensing frame is placed on the total weighing platform 301, so that the medicinal materials can be accurately weighed in real time after being placed in each time, and the situation that an operator repeatedly takes and places the medicinal materials is avoided; but also can carry out the recheck to the medicinal material through the current medicinal material weight automatic reading function of system self-bring, for example show on main display 308 that need snatch the medicinal material after, operating personnel will get the medicinal material in the material window 315 and snatch and put into the frame of dispensing, can automatic weighing through total weighing platform 301, the data of weighing can pair with the medicinal material weight in the prescription automatically, after satisfying the requirement, show for the grey in the main display 308, and other are bright colors, make things convenient for operating personnel's judgement more. And the medicine boxes of the entering material taking channel and the main display 308 are identified in a unified manner through the system, and the types of the medicinal materials in the prescription can be directly locked according to the medicine boxes of the material taking window 315.

When a plurality of material taking windows 315 are installed on the rack 303 side by side, each material taking window 315 can enter a medicine box, so that various medicinal materials in a prescription can be simultaneously located in different material taking windows 315 to wait for grabbing, each material taking window 315 corresponds to a medicine box information display 307 for respectively displaying medicine box information, basic information of the medicines in the current material taking window 315 is displayed through the medicine box information display 307, and therefore when the dispensing table 300 grabs the medicines on the prescription, a plurality of medicine boxes to be taken exist, so that the efficiency is better when the medicines are grabbed, and the time for waiting for medicine box supply is shorter. The console 312 is provided with function keys for performing different operations, and the gripped medicine boxes can be transported back and forth through corresponding control switches and then wait for the supply of the next medicine box, so that the new medicine box can be supplied conveniently. The medicine box all through automatic feeding and returning in whole operation process, no longer need the manual work to carry the medicine box, low in labor strength, and adopt a plurality of material windows 315 structures of getting side by side, can make the supply efficiency of medicine box faster, it is higher to the efficiency of snatching of medicine in the prescription, a dispensing platform 300 only needs an operating personnel to just can be accurate the completion operation in whole operation process, personnel's demand still less, it is lower to personnel's quality requirement, the effectual personnel cost that reduces, the manual work is makeed mistakes and the loss, reduce personnel's mobility, the operation degree of difficulty is low, it is fast to get on the hand. The material taking windows 315 are generally arranged in parallel by 3-4, when one person operates the dispensing table 300, the supply speed and the dispensing time are more reasonable, the problems that the medicine box needs to be manually taken and placed when the prescription traditional Chinese medicines are manually taken and the medicines are mistakenly grabbed, missed grabbed or the components do not correspond to each other can be solved, the requirements of personnel are less, the requirements on the quality of the personnel are lower, the mobility of the personnel is reduced, the operation difficulty is low, and the hand-in speed is high.

The goods shelves can have overlap joint such as metal pole or fossil fragments to form, and after the medicine box piled up and places on the goods shelves of three-dimensional medicine storehouse 400, can make the medicine box form and be similar to the unsettled space of catching of bottom etc. can make things convenient for stacking mechanism 160 to snatch the medicine box, and can also set up a through-hole on the goods shelves, make things convenient for carrying after stretching into of medicine box moving mechanism 600.

Further, the medicine-box switching apparatus 350 includes a plurality of feeding belts 317 provided on the rack 303 for conveying the medicine boxes to the material taking window 315, a feeding mechanism 305 provided on the rack 303 for feeding the medicine boxes to the feeding belts 317, and a discharging mechanism 304 for moving the medicine boxes on the feeding belts 317 to the medicine-box moving mechanism 600, wherein the rack 303 is provided with a first control mechanism 318 for controlling the feeding belts 317 in the vertical direction, the medicine boxes to be gripped on the medicine-box moving mechanism 600 are supplied to the feeding belts 317 after being acquired by the feeding mechanism 305, are moved into the material taking window 315 by the first control mechanism 318 to wait for manual gripping, and the medicine boxes after being gripped are moved to the discharging mechanism 304 by the first control mechanism 318 to be fed back to the medicine-box moving mechanism 600.

When the positions of the medicine boxes are switched by the medicine box switching device 350, one end of the feed belt 317 is inserted into the pickup window 315, the medicine boxes are conveyed and retracted in the pickup window 315 by the feed belt 317, and the space between the feed belt 317 and the medicine box moving mechanism 600 is conveyed by the feed mechanism 305 and the discharge mechanism 304, and since the first control mechanism 318 for controlling the feed belt 317 up and down is provided on the frame 303 and the feed mechanism 305 and the discharge mechanism 304 are vertically positioned, after the feed belt 317 is lifted by the first control mechanism 318, the feed belt 317 can be engaged with the feed mechanism 305 and the discharge mechanism 304, so that the medicine boxes can be moved, the structure is simple and convenient, the operation is flexible, the overall size is smaller, for example, when a medicine box is conveyed to one end of the feed mechanism 305 by the medicine box moving mechanism 600, the medicine box is taken by the feed mechanism 305 and then moved to one end of the feed belt 317, meanwhile, the feeding belt 317 is located at one end of the feeding mechanism 305 to wait for feeding through the first control mechanism 318 and then moves into the material taking window 315 to wait for taking medicine, when a medicine box needs to be returned to the medicine box moving mechanism 600, the feeding belt 317 is moved to one end of the discharging mechanism 304 through the first control mechanism 318 and then is conveyed outwards through the discharging mechanism 304, and the medicine box moving mechanism 600 does not need to be stopped frequently, so that the problems that the feeding is not timely and the medicine box is not fed to the right place when the medicine box is conveyed through the medicine box moving mechanism 600 are solved, the demand for personnel is less, the requirement for the quality of the personnel is lower, the personnel cost is effectively reduced, the mobility of the personnel is reduced, the operation difficulty is low, the labor intensity is low, the dispensing period is short, and the. In the whole operation process, a plurality of feeding belts 317 which are used for conveying medicine boxes to be grabbed to the material taking window 315 and returning the grabbed medicine boxes to be supplied again are installed on the rack 303, each feeding belt 317 can work independently, the flexibility is better, operators on the dispensing table 300 can grab the medicinal materials timely, the supply efficiency of the medicinal materials is higher, the medicine boxes are transmitted between the shelves and the feeding belts 317, the feeding mechanism 305 can serve as a transfer undetermined area of the medicine boxes, the medicine boxes are timely acquired from the feeding conveying belts 610 through the feeding mechanism 305, and the medicine boxes are acquired from the feeding mechanism 305 when the feeding belts 317 need to supply the medicine boxes.

In particular, the first control mechanism 318 includes a slide rail 333 provided on the frame 303 for connecting the feeding belt 317, and a third driver 319 provided on the frame 303 for driving the feeding belt 317 on the slide rail 333 up and down, and the feeding belt 317 is slidably connected to the frame 303 along the slide rail 333 by the third driver 319.

When carrying out height control to feeding belt 317 through first control mechanism 318, feeding belt 317 passes through slider 118 sliding connection on slide rail 333 on frame 303, transmit power through the drive chain between third driver 319 and feeding belt 317, when third driver 319 is just reversing, can directly drive feeding belt 317 through the drive chain and remove along slide rail 333, and the position that removes can be controlled through position inductor 104, it is more simple and convenient to operate, third driver 319 preferentially adopts servo motor 219, it is more convenient when system control, and simple structure, low in production cost.

Further, the feeding mechanism 305 includes a first mounting frame 338 provided on the frame 303, two parallel feeding belts 337 provided on the first mounting frame 338, and a feeding motor 339 provided on the first mounting frame 338 and driving the feeding belts 337, the discharging mechanism 304 includes a second mounting frame 335 provided on the frame 303, two parallel discharging belts 336 provided on the second mounting frame 335, and a discharging motor 334 provided on the second mounting frame 335 and driving the discharging belts 336, one end of the feeding belts 337 and one end of the discharging belts 336 are located in the medicine-box moving mechanism 600, the frame 303 is further provided with a third control mechanism 302 and a second control mechanism 343 which respectively control the feeding mechanism 305 and the discharging mechanism 304 to move up and down, and the medicine boxes above the medicine-box moving mechanism 600 pass through the third control mechanism 302 and the second control mechanism 343 and control mechanism 305 to the feeding mechanism 305 and the feeding mechanism 305 to the medicine-box moving mechanism 600 The lifting of the discharging mechanism 304 realizes the separation or the replacement.

In the process of supplying medicine boxes to the feeding belt 317 through the feeding mechanism 305, one end of the feeding mechanism 305 is fixed to the frame 303 through the first mounting rack 338, the other end of the feeding mechanism extends into the moving track of the medicine boxes, after the medicine boxes enter the position above the feeding belt 337, the feeding belt 337 is moved upward through the third control mechanism 302, so that the feeding belt 337 is lifted up from the bottoms of the medicine boxes, the feeding motor 339 drives the feeding belt 337 to move, thereby achieving the purpose of feeding, when the medicine boxes need to be moved out of the feeding belt 317, the medicine boxes move outward, the moving surface of the feeding belt 336 is higher than the medicine box moving mechanism 600 through the second control mechanism 343, after the medicine boxes move onto the discharging belt 336 and continue to move forward above the medicine box moving mechanism 600, the medicine boxes are moved downward to be lower than the moving surface of the medicine box moving mechanism 600 through the second control mechanism 343, so that the medicine boxes can be moved through the medicine box moving mechanism 600, the feed motor 339 and the discharge motor 334 generally adopt a forward and reverse rotation motor or a servo motor 219, and the positions of the medicine boxes and the starting of the motors can be controlled by the position sensor 104.

At present, the medicine box moving mechanism 600 circularly moves by adopting roller type conveying belts, one ends of the feeding belt 337 and the discharging belt 336 extend between the rollers of the two conveying belts, when a medicine box needs to move on the conveying belts, the feeding mechanism 305 and the discharging mechanism 304 are lowered by the third control mechanism 302 and the second control mechanism 343, so that the contact surfaces of the feeding mechanism 305 and the discharging mechanism 304 are lower than the working surfaces of the rollers, when the medicine box needs to move on the feeding mechanism 305 and the discharging mechanism 304, the feeding mechanism 305 and the discharging mechanism 304 are raised by the third control mechanism 302 and the second control mechanism 343, so that the bottom surface of the medicine box is higher than the rollers, the operation is flexible and convenient, and the track switching of the medicine box is simple.

Further, the third control mechanism 302 includes a connecting shaft 341 connecting the feeding mechanisms 305 in series, third slide carriages 342 provided at both ends of the connecting shaft 341, and a fourth driver 340 provided on the frame 303 and sliding the third slide carriages 342 up and down, and the second control mechanism 343 includes a connecting shaft 341 connecting the discharging mechanisms 304 in series, second slide carriages 344 provided at both ends of the connecting shaft 341, and a fifth driver 345 provided on the frame 303 and sliding the second slide carriages 344 up and down.

The feeding mechanism 305 and the discharging mechanism 304 are connected in series through respective connecting shafts 341, the fourth driver 340 and the fifth driver 345 are respectively located at two sides of the frame 303, two ends of each connecting shaft 341 are connected to the transmission chain through the transfer block, when the feeding mechanism 305 and the discharging mechanism 304 need to move up and down, the adjustment of the height can be realized only by controlling the steering of the transmission chain through the respective drivers, the operation is simple, the height adjustment is simple and convenient, the required cost and power consumption are lower, and the fourth driver 340 and the fifth driver 345 both adopt a forward and reverse motor or a servo motor 219.

Further, a medicine box weighing platform 314 that weighs the current weight of the medicine box fed by the medicine box switching device 350 is provided in the material taking window 315, and the result weighed by the medicine box weighing platform 314 is displayed on the corresponding medicine box information display 307.

When a medicine box is conveyed to enter the material taking window 315 through the box switching device to wait for medicine taking, the medicine box is placed on the medicine box weighing platform 314 again to be supported and weighed, information obtained by weighing is displayed through the medicine box information display 307, the display content of the medicine box information display 307 comprises basic information such as the name of the current medicine and the weight of the medicine box, and information for displaying the reduced weight, the operation priority level of the current medicine box, the name, the code, the picture, the weight to be taken, the actual weight, special requirements and the like is displayed in real time, so that the fast calculation is convenient, the weight to be taken can be known at the moment when the medicine is taken out, the medicine weight of a prescription can be more conveniently and fast calculated, when the medicine subjected to weight detection through the medicine box weighing platform 314 is compared again through the weight gain of the total weighing platform 301, the weight of the medicine can be confirmed for the second time, the problem that the proportion of the medicine is not correct due to equipment errors is avoided, and the accuracy of each pharmacy is effectively guaranteed. For example, an operator picks up the medicines from the corresponding material taking window 315, the total weighing platform 301 is generally provided with a medicine dispensing frame, after the medicines in the medicine boxes are picked and put into the medicine dispensing frame, the weight of the picked medicines can be directly displayed through the total weighing platform 301, the medicines do not need to be weighed independently during the process of picking the medicines, especially when the display content of the medicine box information display 307 comprises the reduced weight, and whether the quantity of the picked medicines is wrong or not can be accurately determined through comparison between the two contents.

The regular weighing realizes high-precision weighing, ensures that the weighing precision is far higher than the current prescription regulation of traditional Chinese medicine, adopts a weight increasing and reducing quantity matching mechanism, realizes twice repeated weighing and ensures that the weighing is correct. The identification mark in the dispensing system is formed by combining an electronic tag and a two-dimensional code, the identification mark combining the electronic tag and the two-dimensional code is adopted, and meanwhile, in the dispensing process, standard decoction piece picture proofreading and voice prompt are provided for dispensing personnel, so that a double rechecking effect is achieved, and the problem that the existing manual dispensing cannot be rechecked accurately is perfectly solved.

Further, each material taking window 315 is provided with one feeding belt 317, each feeding belt 317 comprises a connecting base 324 arranged on the rack 303, two parallel transmission belts 326 arranged on the connecting base 324, and a fifth driving mechanism 325 arranged on the connecting base 324 and used for driving the transmission belts 326 to rotate in the forward and reverse directions, the medicine box weighing platform 314 is located between the two transmission belts 326, a second height adjusting mechanism 320 is further arranged between the medicine box weighing platform 314 and the connecting base 324, and the medicine box is lifted up by the second height adjusting mechanism 320 and then separated from the feeding belt 317 and weighed.

In the process of moving the medicine boxes back and forth through the feeding belt 317, the feeding belt 317 is installed on the rack 303 through the connecting seat 324, and drives the two parallel transmission belts 326 to rotate through the forward and reverse rotation of the fifth driving mechanism 325, so that the medicine boxes placed on the two parallel transmission belts 326 can move, the transmission belts 326 adopt two parallel arrangements, the stability of the medicine boxes in the moving process can be good, the bottom of the medicine boxes is provided with a hollow space, the placing and the expansion of the medicine box weighing platform 314 can be facilitated, the stability of the medicine boxes placed at the upper end of the medicine box weighing platform 314 is better, the medicine box weighing platform 314 can be separated from the feeding belt 317 and weighed after being lifted through the second height adjusting mechanism 320 and pointing out the medicine boxes, the stability during medicine grabbing is better, and when the medicine boxes need to be withdrawn, the medicine box weighing platform 314 is only required to be contracted through the second height adjusting mechanism 320, the two belts 326 can support and convey the medicine boxes again, and the medicine box conveying device is simple in structure and easy and convenient to operate.

Further, the fifth driving mechanism 325 includes a second driver 329 provided on the connecting base 324 and rotating the transmission belt 326, and at least two transmission wheels 327, and the connecting base 324 is further provided with a plurality of tension wheels 328 for adjusting tension of the transmission belt 326.

When the transmission belt 326 is rotated by the fifth driving mechanism 325, two ends of the transmission belt 326 are positioned and rotated by the transmission wheel 327, and meanwhile, the two transmission belts 326 are driven by the second driver 329 to rotate, the cost is lower, a tension wheel 328 is arranged between the second driver 329 and the transmission wheel 327, the tightness of the transmission belt 326 can be adjusted, the simplest structure is that the transmission wheel 327 is respectively installed at two ends of the two transmission belts 326, the second driver 329 adopts the servo motor 219, a rotating shaft is driven by the second driver 329 to rotate, two driving wheels are respectively installed at two ends of the rotating shaft, the transmission belts 326 at two sides are driven to rotate by the driving wheels, the tension wheels 328 are respectively pressed at two sides of the driving wheels, the tensioning effect can be realized by the tension wheel 328, and the running track of the transmission belts 326 can be changed.

Further, the second height adjusting mechanism 320 comprises a first driver 321 arranged on the connecting seat 324, a lifting frame 322 arranged at the bottom of the medicine box weighing platform 314, and a cam mechanism 332 arranged between the first driver 321 and the lifting frame 322, wherein the medicine box weighing platform 314 drives the cam mechanism 332 to rotate through the first driver 321 to realize the lifting of the lifting frame 322; the cam mechanism 332 comprises a connecting block 330 arranged on a rotating shaft of the first driver 321, a driving wheel 331 arranged on the connecting block 330, and a connecting hole 323 arranged on the lifting frame 322, wherein the driving wheel 331 is positioned in the connecting hole 323.

When the second height adjusting mechanism 320 is used for controlling the lifting of the medicine box weighing platform 314, the cam mechanism 332 is driven to rotate only through the first driver 321, the lifting frame 322 can be driven to control the lifting through the cam mechanism 332, so that the medicine box weighing platform 314 can realize the lifting control, the structure is simple and convenient, the operation is flexible, the vertical height adjustment is stable, the control precision is high, the production cost is low, and when the first driver 321 and the lifting frame 322 are connected through the cam mechanism 332, the first driver 321 is taken as a cam through a connecting block 330 provided with a driving wheel 331, the bottom of the lifting frame 322 is provided with a connecting hole 323 for switching with the driving wheel 331, the axis of the driving wheel 331 is staggered with the rotating shaft of the first driver 321 through the connecting block 330, when the first driver 321 rotates, the lifting frame 322 can be driven by the driving wheel 331 to control the height, the lifting frame 322 is composed of two guide rods arranged at the bottom of the medicine box weighing platform 314 and a connecting rod arranged at the bottom of the two guide rods, the connecting hole 323 is arranged in the connecting rod, a guide sleeve is arranged between the guide rods and the connecting seat 324, when the lifting frame 322 is moved up and down, the lifting frame slides up and down in the guide sleeve through the guide rods, and the first driver 321 adopts the servo motor 219.

Further, the medicine box moving mechanism 600 includes a feeding conveyer belt 610 and a returning conveyer belt 620 for circularly moving the medicine boxes, the feeding conveyer belt 610 and the returning conveyer belt 620 are annularly disposed, one end of the feeding belt 337 is located in the feeding conveyer belt 610, one end of the discharging belt 336 is located in the returning conveyer belt 620, the feeding conveyer belt 610 is used for supplying the medicine boxes taken down from the three-dimensional medicine warehouse 400 by the stacking mechanism 160 to the corresponding upper side of the feeding belt 337, and the returning conveyer belt 620 is used for conveying the medicine boxes returned from the discharging belt 336 to one side of the three-dimensional medicine warehouse 400 to wait for the medicine boxes being picked by the stacking mechanism 160 to be put back.

When having a plurality of adjustment platform 300 or three-dimensional goods shelves that set gradually, can make the medical kit moving mechanism 600 that feed conveyer belt 610 and feed back conveyer belt 620 formed shorter, and supply with to the medicinal material with send back more clearly, the condition that intercrossing can not appear takes place, and also more nimble to setting up space and position of feed belt 337 and ejection of compact area 336, whole volume is littleer, and overall structure is simpler, feed conveyer belt 610 and feed back conveyer belt 620 all adopt the roller formula structure, have the clearance between two rollers, more make things convenient for reciprocating behind feed belt 337 and the ejection of compact area 336 insertion clearance.

Further, the three-dimensional medicine warehouse 400 includes at least one main medicine warehouse 410 (i.e., B1 to B5 medicine warehouse) for storing medicines for high frequency use and a small amount of medicines for very low frequency use and an auxiliary medicine warehouse 420 (i.e., a1 to a5 low frequency use medicine warehouse) for storing medicines for low frequency use, each dispensing station 300 is equipped with one main medicine warehouse 410, the rack 303 is provided with a plurality of material supply belts 346 for directly moving the medicine boxes on the main medicine warehouse 410 back and forth, each material taking window 315 is communicated with the main medicine warehouse 410 through one material supply belt 346, the medicine boxes on the main medicine warehouse 410 are connected with the material supply belt 317 through the material supply belts 346, and the medicine boxes on the auxiliary medicine warehouse 420 are conveyed through the medicine box moving mechanism 600.

Because each dispensing table 300 is provided with a main drug warehouse 410 which are adjacently arranged, common main medicinal materials are arranged in the main drug warehouse 410, and each material taking window 315 is communicated with the main drug warehouse 410 through a material supplying belt 346, in the dispensing process of a prescription, the common medicinal materials can be directly taken out from the main warehouse through a stacking mechanism 160 and then placed on the material supplying belt 346 to be conveyed to a medicine box switching mechanism, and then are moved to a material taking window 315 through a material supplying belt 317 in the medicine box switching mechanism, the height of the dispensing table is the same as the position of the material supplying belt 317 when the material taking window 315 is supplied, the dispensing table is conveniently and directly communicated with the material supplying belt 317 to form a parallel conveying belt, the supply and the return of the medicinal materials are more convenient, and for the non-common auxiliary medicinal materials, the dispensing table is uniformly arranged in a shared auxiliary drug warehouse 420, and the uniform dispatching is carried out through the medicine box moving mechanism 600, the problem that the common medicine boxes also need to be frequently supplied and shared by the medicine-box conveying mechanism 205 is effectively avoided.

Further, a reversing conveyor belt with adjustable height is arranged between the feeding conveyor belt 610 and the feeding-back conveyor belt 620 and the auxiliary medicine warehouse 420, the reversing conveyor belt is composed of two parallel conveyor belts 326 and a control motor capable of rotating forward and backward, two ends of the reversing conveyor belt are respectively located in the medicine box moving mechanism 600 and the auxiliary medicine warehouse 420, and the medicine boxes between the medicine box moving mechanism 600 and the stacking mechanism 160 are controlled by the reversing conveyor belt.

The switching principle of the medicine boxes by the reversing conveyor belt is similar to that of the feeding mechanism 305, when the three-dimensional medicine storehouses 400 are placed beside the medicine box moving mechanism 600, the medicine boxes need to be supplied or returned in a discussed mode, the stacking mechanism 160 only needs to be matched with the reversing conveyor belt, the structure is simpler and more convenient, the operation space of the stacking mechanism 160 can be smaller, and especially when the stacking mechanism 160 is arranged between the two three-dimensional medicine storehouses 400, the purpose of sharing the reversing conveyor belt by the two three-dimensional medicine storehouses 400 can be achieved only by extending one end of the reversing conveyor belt into the three-dimensional medicine storehouses 400 on the outer side.

Further, the stacking mechanism 160 includes a quadrangular positioning frame 150, a medicine box pick-and-place mechanism 100 provided on the positioning frame 150, a lateral adjustment mechanism 140 provided on the positioning frame 150 and controlling the medicine box pick-and-place mechanism 100 to move left and right, and a first height adjustment mechanism 130 provided on the positioning frame 150 and controlling the lateral adjustment mechanism 140 up and down, and the medicine box pick-and-place mechanism 100 moves to a designated position on the stereoscopic shelf through the lateral adjustment mechanism 140 and the first height adjustment mechanism 130 to pick and place a medicine box or place a medicine box in a medicine box groove of the designated stereoscopic shelf.

The positioning frame 150 is generally a quadrilateral frame structure, which is basically matched with the size of a three-dimensional shelf, so that the medicine box taking and placing mechanism 100 can reach the positions of all medicine boxes on the three-dimensional shelf, when the medicine boxes need to be taken and placed through the stacking mechanism 160, after the vertical and horizontal positions of the medicine box taking and placing mechanism 100 are adjusted through the transverse adjusting mechanism 140 and the first height adjusting mechanism 130, the medicine boxes can be rapidly moved to the front ends of all medicine box placing grooves on the three-dimensional shelf, so that the medicine boxes can be automatically taken, placed and placed, the required space between the two shelves is smaller, manual operation is not required in the whole operation process, automatic operation is adopted, the selection efficiency of medicinal materials is higher, the time for taking and dispensing is shorter, and when two parallel shelves are adopted, the positioning frame 150 only needs to be fixed between the two shelves to realize operation.

Further, the first height adjustment mechanism 130 includes longitudinal rails 131 disposed on both sides of the positioning frame 150, and a third driving mechanism 132 disposed on the positioning frame 150, both ends of the transverse adjustment mechanism 140 are slidably disposed on the longitudinal rails 131, and the transverse adjustment mechanism 140 is driven by the third driving mechanism 132 to move up and down along the longitudinal rails 131.

When the height of the medicine box taking and placing mechanism 100 is controlled by the first height adjusting mechanism 130, because two ends of the transverse adjusting mechanism 140 are slidably connected to the longitudinal guide rails 131 at two sides of the positioning frame 150, the positioning frame 150 is further provided with a third driving mechanism 132, the whole medicine box taking and placing mechanism 100 can be stably moved up and down only by driving the transverse adjusting mechanism 140 to move up and down through the third driving mechanism 132, the third driving mechanism 132 is composed of a servo motor 219 and a transmission belt 326 or the servo motor 219 and a chain, the servo motor 219 drives a rotating shaft to rotate forward and backward, the chain is driven to rotate forward and backward through the rotating shaft, and the chain is fixed on the transverse adjusting mechanism 140, the structure is simpler and more convenient, the automatic control is simpler and more convenient, wherein the moving distance of the chain in the third driving mechanism 132 or the transverse adjusting mechanism 140 can be monitored by the position sensor 104 or the distance sensor, so that the overall height adjustment is more accurate.

Further, the lateral adjustment mechanism 140 includes a moving base 141 having both ends thereof slidably provided on the longitudinal rail 131, a lateral slide rail 142 provided on the moving base 141, and a fourth drive mechanism 143, the medicine-box pick-and-place mechanism 100 is slidably provided on the lateral slide rail 142 via the slider 118, and the medicine-box pick-and-place mechanism 100 is moved laterally along the lateral slide rail 142 via the fourth drive mechanism 143.

The moving base 141 is connected to the third driving mechanism 132, and directly applies an acting force to the moving base 141 by the third driving mechanism 132, and the medicine-box taking and placing mechanism 100 moves left and right along the lateral slide rail 142 by the fourth driving mechanism 143, thereby realizing the left and right movement of the medicine-box taking and placing mechanism 100. The fourth driving mechanism 143 is also composed of a servo motor 219 and a transmission belt 326 or a servo motor 219 and a chain, a driving distance of the fourth driving mechanism 143 is controlled by a position sensor 104 or a distance sensor, a structure of the fourth driving mechanism is basically similar to that of the first height adjusting mechanism 130, and meanwhile, the fourth driving mechanism can also be directly driven by the servo motor 219 to rotate the screw 121 and then drive the medicine box taking and placing mechanism 100 to translate through the screw 121.

Further, the third driving mechanism 132 and the fourth driving mechanism 143 are composed of a servo motor 219 and a belt 326 or a servo motor 219 and a chain, and the driving distance of the third driving mechanism 132 and the fourth driving mechanism 143 is controlled by a position sensor 104 or a distance sensor.

Further, the medicine box taking and placing mechanism 100 comprises a fork slide 101, baffles 112 arranged at two sides of the fork slide 101, a middle rotary seat 107 arranged on the fork slide 101, a fork plate 109 arranged on the middle rotary seat 107, the middle rotary seat 107 is arranged on the fork slide seat 101 in a sliding way through a double-axis guide rail 103, the fork plate 109 is slidably arranged on the middle rotary seat 107 through a double-axis guide rail 103, the fork slide carriage 101 is provided with a first driving mechanism 115 for moving the middle rotary seat 107 along the double-axis guide rail 103, the middle rotary seat 107 is provided with a second driving mechanism 116 which moves the fork plate 109 along the biaxial guide rail 103, the middle rotary table 107 is moved in both directions relative to the fork carriage 101 by the first drive mechanism 115, the fork plate 109 realizes bidirectional sliding relative to the middle swivel base 107 through the second driving mechanism 116, and the medicine boxes on the shelf are taken and placed through the fork plate 109.

In the process of taking and placing the medicine boxes through the medicine box taking and placing mechanism 100, the fork slide seat 101 and the two baffle plates 112 form a U-shaped cross section structure with two open ends, when the medicine boxes move to the upper part of the fork slide seat 101 through the fork plates 109, the baffle plates 112 can prevent the medicine boxes from moving left and right, so that the medicine boxes are higher in accuracy when being inserted, and better in stability in the transportation process, the fork slide seat 101, the transfer seat 107 and the fork plates 109 can realize mutual position movement, when the medicine boxes are in a non-working state, the transfer seat 107 and the fork plates 109 are generally stacked on the fork slide seat 101, so that the fork slide seat 101, the transfer seat 107 and the fork plates 109 are connected in a sliding manner through the double-axis guide rails 103, the overall height of the fork slide seat 101, the transfer seat 107 and the fork plates 109 can be thinner than other structures, the required height between the upper medicine boxes and the lower medicine boxes can, and the fork plate 109 can continue to extend forwards again on the premise that the transfer seat 107 extends outwards through the first driving mechanism 115 and the second driving mechanism 116, so that the overall length of the middle swivel seat 107 and the fork plate 109 is shorter under the condition of contraction, and the extending length is longer than that of other structures, meanwhile, the transfer seat 107 and the fork plate 109 can move forwards and backwards in two directions, when the goods shelf and the conveying belt are on the same side, the operation can be realized only through the function of moving one side, when the goods shelf and the conveying belt are on different sides, the operation can also be realized, even if the goods shelf is arranged on both sides, the taking and placing of the medicine boxes on two adjacent goods shelves by one medicine box taking and placing mechanism 100 can be realized, when the medicine box taking and placing mechanism 100 is arranged between the two goods shelves, the required gap between the two goods shelf can be smaller, and the space utilization rate of the warehouse is higher, when getting the removal to the medical kit, the form that has adopted the bottom to hold up is drawed, can not produce the harm to the medical kit, no matter what kind of material is adopted to the medical kit, can not make the medical kit lead to the bottom condition of breaking to appear in the removal in-process because of ageing to take place, when getting to get the medical kit on the goods shelves or putting into, no longer need the manual work to operate, low in labor strength, high in work efficiency, moreover, the steam generator is simple in structure, and is easy and simple to handle, when inserting the medical kit, only need take the medical kit from the conveyer belt after remove to the goods shelves mounting groove 311 again and move the certain distance downwards and just can realize separating and place, and is simple and convenient.

Further, the first driving mechanism 115 includes a sixth driver 117 disposed at the bottom of the fork slide 101, a driving gear 105 disposed on the sixth driver 117, and a rack 114 disposed at the bottom of the middle rotary seat 107, and the middle rotary seat 107 is driven by the driving gear 105 to move the rack 114 in two directions to achieve synchronous movement.

When centering swivel mount 107 carries out the back-and-forth movement for the fork base through first actuating mechanism 115, only need to drive gear 105 through sixth driver 117 and carry out positive and negative rotary motion, just can make rack 114 realize the back-and-forth movement, thereby drive through rack 114 fixing in well swivel mount 107 bottom and carry out the back-and-forth movement, can also control its displacement according to drive gear 105's tooth size, can make smooth realization front-and-back slip of transit mount 107 behind the cooperation two biax center guide rails 103, sixth driver 117 installs the bottom at the bottom of fork slide 101, and rack 114 generally is located between two biax center guide rails 103 and parallel arrangement each other, can also monitor through the distance inductor for the sliding distance between well swivel mount 107 for fork slide 101, sliding distance can be more accurate.

Further, the second driving mechanism 116 includes a first synchronous belt 108 and a second synchronous belt 119, both ends of which are respectively fixed on the pallet fork slide 101 and the fork plate 109, and two driving shafts 106 arranged on the middle rotating seat 107, the first synchronous belt 108 and the second synchronous belt 119 respectively form two reverse U-shaped structures after passing through one driving shaft 106, and the second driving mechanism 116 is driven to move the fork plate 109 in the same direction by the left and right movement of the middle rotating seat 107.

When the fork plate 109 is moved back and forth relative to the middle rotary table 107 by the second driving mechanism 116, two first synchronous belts 108 and second synchronous belts 119 in opposite directions are installed between the fork slide 101 and the fork plate 109, and two driving shafts 106 are installed at both ends of the middle rotary table 107, the first synchronous belts 108 and the second synchronous belts 119 pass around the respective driving shafts 106 from the outside to the inside, taking the example that the U-shaped opening of the first synchronous belt 108 faces backward and the U-shaped opening of the second synchronous belt 119 advances, when the rotary table 107 is moved forward under the control of the sixth driver 117, the first synchronous belts 108 can be pushed forward by the driving shaft 106, so that the first synchronous belts 108 drive the fork plate 109 to move forward, the second synchronous belts 119 are in a following state, and when they move in the opposite direction, the second synchronous belts 119 are driven by the driving shafts 106, so that the fork plate 109 moves backward, because well swivel mount 107 is through first actuating mechanism 115 control back-and-forth movement, connect the back through second actuating mechanism 116, change the passive power into main power, only need just can realize the synchronous syntropy removal of fork board 109 and well swivel mount 107 through first actuating mechanism 115, simple structure is convenient, and the driving source can be still less, also can be thinner to holistic thickness simultaneously, and the speed is faster when the flexible control to fork board 109.

Furthermore, an adjusting seat 120 for adjusting the running length of the first synchronous belt 108 and the second synchronous belt 119 is disposed on the fork slide 101 or the fork plate 109, and the length of the fork plate 109 extending relative to the middle rotation seat 107 is adjusted by the adjusting seat 120.

In the debugging process of the equipment, after the running lengths of the first synchronous belt 108 and the second synchronous belt 119 are adjusted by the adjusting seat 120, the whole equipment can just form a vertically symmetrical stacked structure in an initial state, and the debugging difficulty is low.

Further, the driving shaft 106 is a gear shaft, the first synchronous belt 108 and the second synchronous belt 119 are chains, both the first synchronous belt 108 and the second synchronous belt 119 are provided with a section of screw rod 121, the adjusting seat 120 comprises a fixing bracket 122 and an adjusting screw hole formed in the fixing bracket 122, and the adjusting lengths of the first synchronous belt 108 and the second synchronous belt 119 are adjusted through the screw rod 121.

Drive shaft 106 adopts the gear shaft, first hold-in range 108 and second hold-in range 119 are the chain, open a through-hole that runs through from top to bottom on transfer seat 107, drive shaft 106 is installed in the through-hole, can make the chain can realize the fixed at both ends, the length of swivel mount 107 in need not increasing again, it is disguised better, and the one end of chain is fixed through adjusting seat 120, when adjusting the length of chain through adjusting seat 120, only need rotate screw rod 121, screw rod 121 just can stretch out and draw back adjusting the screw, thereby quick simple realization the control of length, moreover, the steam generator is simple in structure, and is convenient, and low in cost.

Further, distance sensing devices 102 for monitoring the moving distance of the medicine boxes on the fork plate 109 are provided at both ends of the shutter 112.

When the medicine box moves through the fork plate 109, the distance from the distance sensing device 102 to one end of the medicine box can be monitored in real time, so that whether the medicine box reaches a specified position can be judged through the system and the medicine box can be put down.

Further, a stop mechanism 113 is arranged between the middle rotary seat 107 and the fork plate 109, and the extending limit distance of the fork plate 109 relative to the middle rotary seat 107 is controlled by the stop mechanism 113.

In the telescopic control process of the medicine box taking and placing mechanism 100, the extending limit distance of the fork plate 109 relative to the middle rotating seat 107 can be controlled through the stopping mechanism 113, so that the separation phenomenon of the fork plate 109 due to transition extension is avoided, and the first synchronous belt 108 and the second synchronous belt 119 are also prevented from directly running to the position beyond the driving shaft 106 in the moving process.

Further, the stop mechanism 113 includes a stop block 111 disposed in the middle of the middle rotating base 107, and two movable positioning blocks 110 disposed at the bottom of the fork plate 109 and engaged with the stop block 111, the movable positioning blocks 110 are disposed at two sides of the stop block 111, and the fork plate 109 is mutually positioned after contacting the stop block 111 through the movable positioning blocks 110.

The distance between the movable positioning block 110 at the two ends of the bottom of the fork plate 109 and the stop block 111 is smaller than the effective rolling distance of the first synchronous belt 108 and the second synchronous belt 119 on the driving shaft 106, when the fork plate 109 extends to one end to contact the movable positioning block 110 and the stop block 111, the fork plate 109 can be prevented from continuing to extend outwards through the movable positioning block 110 and the stop block 111, so that the stability of the second driving mechanism 116 is effectively guaranteed, the structure is simple, and the limitation can be realized only by one strip-producing block and two short-point bulges.

Further, the stop block 111 is a Z-shaped structure, and the two movable positioning blocks 110 are respectively attached to one end of the Z-shaped stop block 111. Thereby make both sides respectively form the structure of a similar L type, two remove the locating piece 110 respectively with the Z type end piece 111 one side laminating, through the Z type end piece 111 still has certain left and right sides position limit function, and it is not good and appear rocking to avoid controlling position stability when fork board 109 outwards limits to stretch out.

Further, the distance sensing device 102 is a correlation photoelectric sensor, a position sensor 104 is arranged between the pallet fork slide carriage 101 and the middle rotary seat 107, the telescopic distance control of the centering rotary seat 107 by the system can be facilitated through the position sensor 104, and the sixth driver 117 is prevented from moving excessively; meanwhile, the sixth driver 117 is a servo motor 219 or a stepping motor, a dry slide block 118 is arranged at the bottom of the fork slide seat 101, the fork slide seat 101 is connected with an external slide rail 333 through the slide block 118, the fork slide seat 101 can move along the bottom slide block 118 and the slide rail 333 only through a driving mechanism, and the fork slide seat is simple and convenient in structure and high in flexibility.

Furthermore, a medicine box interval control device 201 is arranged at the feeding end of the medicine box switching device 350 on the feeding conveying belt 610, the medicine boxes conveyed to the medicine box switching device 350 are stopped and accelerated to move forwards again on the feeding conveying belt 610 through the medicine box interval control device 201, the problems that stopping and accumulating cannot be achieved on a conveying line, and the interval between every two adjacent medicine boxes cannot be adjusted can be solved.

Further, the medicine-box distance control device 201 includes two support frames 202 disposed on both sides of the feed conveyor 610, mounting seats 204 disposed on the two support frames 202, two conveying mechanisms 205 disposed on the mounting seats 204, and a tensioning mechanism 211 disposed between the two mounting seats 204, a bottom of the mounting seat 204 is connected to the support frames 202 through a rotating shaft, the two mounting seats 204 form a horn-shaped structure with an opening at a discharge end smaller than a feed end through the tensioning mechanism 211, the medicine boxes located in the distance-adjusting device 203 are clamped and positioned by the conveying mechanisms 205 with both sides stopped by a tensioning force of the tensioning mechanism 211, and the medicine boxes located in the distance-adjusting device 203 are conveyed forward at an accelerated speed again by starting the conveying mechanisms 205.

In the actual use process, the distance adjusting device 203 is installed on the feeding conveyer belt 610 through the two support frames 202, so that the two sides of the feeding conveyer belt 610 are both provided with one installation seat 204 and one conveying mechanism 205, because the bottom of the installation seat 204 is connected on the support frames 202 through a rotating shaft, and the discharge ends of the two installation seats 204 form a structure with a reduced opening through the tensioning force of the tensioning mechanism 211, when the medicine boxes do not enter the distance adjusting device 203, the installation seat 204 forms a horn-shaped structure with a discharge end opening smaller than a feed end through the tensioning mechanism 211, and the conveying mechanism 205 is in a stop state, when the medicine boxes move forwards from the feeding conveyer belt 610 to slowly enter the distance adjusting device 203, the horn-shaped passage is slowly restored to a parallel state through the outwardly extruded tension generated in the reduced area of the two side installation seats 204 by the medicine box entry end, at this time, the two sides of the box just fit the, the medicine boxes are clamped and fixed through the conveying mechanism 205, so that the medicine boxes cannot move forwards continuously due to the transmission force of the feeding conveying belt 610, subsequent medicine boxes cannot move forwards due to the existence of the currently positioned medicine boxes, the effect of positioning the medicine boxes on the feeding conveying belt 610 can be achieved, when the static medicine boxes need to be conveyed forwards again on the whole large conveying belt, the conveying mechanism 205 only needs to be started, an instant accelerating acting force is generated on the medicine boxes through the conveying mechanism 205, the medicine boxes move forwards at an instant acceleration, the medicine boxes can be quickly pulled apart from the following medicine boxes on the feeding conveying belt 610 rotating at an even speed by a certain distance, the static medicine boxes can be quickly moved to the required positions again, the adjustment of the distance between the backwards moving medicine boxes is achieved, and the problems that the medicine boxes cannot be stopped on the conveying line, The problem that the medicine boxes can only move forwards according to the speed of the current feeding conveying belt 610 and cannot be accelerated when conveyed forwards again after being accumulated and stopped is solved, and meanwhile, the problem that the distance between every two adjacent medicine boxes cannot be adjusted is solved.

For example, when an operator dispenses medicines on a prescription, if a medicine box for taking medicines at that time is not dispensed with a component, the situation that the medicine box moves over the position occurs if the subsequent medicine box moves forward again, so that the subsequent medicine box needs to be suspended, the function can be effectively realized through the clamping and positioning function of the distance adjusting device 203, after the current medicine box is taken out, the subsequent medicine box needs to be quickly conveyed to the current position of the operator again, and if the conventional conveying speed is adopted, the problem that the conveying speed of the medicine box is slow is caused, so that a forward thrust is needed, the working efficiency can be improved, and the problem that the medicine box cannot be quickly supplied after the suspension can be solved through the instant acceleration function of the conveying mechanism 205.

Further, the conveying mechanism 205 includes a power belt 216 looped on the side surface of the mounting base 204, and a servo motor 219 provided on the mounting base 204 and configured to rotate or stop the power belt 216, the medicine boxes are clamped and positioned by the power belts 216 on both sides, and the servo motor 219 drives the rotation speed of the power belt 216 to realize forward acceleration control of the medicine boxes.

When pressing from both sides tight fixed or impel with higher speed to the medical kit through conveying mechanism 205, power take 216 is encircleed in the side of mount pad 204 and is driven through servo motor 219, it is more convenient to the start-up and the control of power take 216, still make things convenient for system operation, simultaneously, it is fixed directly to press from both sides tight to the side of medical kit through power take 216, the medical kit no longer contacts with mount pad 204, the efficiency is higher when seeing off in the twinkling of an eye, overall structure is simple and convenient, the inboard of power take 216 can contact and the transmission through gyro wheel or roller bearing.

Furthermore, a floating support plate 213 is arranged on the inner side surface of the mounting seat 204, an elastic telescopic mechanism 217 for controlling the front and rear telescopic of the floating support plate 213 is arranged in the mounting seat 204, a clamping area of the power belt 216 is arranged on the outer side of the floating support plate 213, and the distance between the two clamping surfaces of the power belt 216 is controlled by the floating support plate 213.

When the conveying mechanism 205 clamps the medicine boxes, in order to avoid the phenomenon that the power belts 216 are inflexible after being deformed due to the acting force of the medicine boxes and clamping force cannot be adjusted in real time during clamping, the regional support plate of the clamping surface of the power belts 216 is designed into a floating support plate 213 which can be expanded and contracted inside and outside, the floating support plate 213 is fixedly connected through an elastic expansion mechanism 217, the power belts 216 are normally bulged outwards through the floating support plate 213, so that the distance between the two power belts 216 is smaller than the width of the medicine boxes, when the medicine boxes enter, the contact region on the power belts 216 and the floating support plate 213 are inwards contracted through the stress contraction function of the elastic expansion mechanism 217, so that the distance between the two power belts 216 is consistent with the box body and the clamping force is formed through the reaction force of the elastic expansion mechanism 217, so as to realize fixation, the medicine boxes in this state are only in contact with the power belt 216, when the power belt 216 is driven by the servo motor 219, the power belts 216 on both sides can generate an instantaneous forward thrust on the clamped medicine boxes, so that the medicine boxes move forward quickly, and the floating support plate 213 resets quickly at the same time, and the two mounting seats 204 also reset quickly by the tensioning mechanism 211 so as to clamp the next medicine box.

Further, the elastic telescopic mechanism 217 includes a plurality of limiting connecting rods 215 arranged between the floating supporting plate 213 and the mounting base 204, and a return spring 212 sleeved outside the limiting connecting rods, the floating supporting plate 213 is ejected outwards by the return spring 212, and the floating supporting plate 213 contracts inwards after receiving pressure; the limiting connecting rod 215 is a connecting screw rod 121, one end of the connecting screw rod 121 is fixed on the floating support plate 213, and the other end of the connecting screw rod 121 is limited and fixed with the nut head through a hole.

When installing location to unsteady backup pad 213 through elasticity telescopic machanism 217, the rear end of unsteady backup pad 213 connects with mount pad 204 through a plurality of spacing poles 215, support the location through reset spring 212 again between mount pad 204 and unsteady backup pad 213 simultaneously, can make unsteady backup pad 213 outwards ejecting through reset spring 212, and can inwards retract after the atress, thereby make unsteady backup pad 213 realize the automatic flexible function of different distances according to the effort of difference, spacing pole 215 preferentially adopts connecting screw 121, convenient material collection and with low costs, it is also more convenient to the regulation of flexible distance, still be convenient for change and dismouting.

Furthermore, a driving shaft 218 and a driven shaft 214 for driving the power belt 216 are respectively arranged at two ends of the mounting seat 204, the servo motor 219 controls the rotation speed of the driving shaft 218, a position adjusting mechanism 208 for controlling the position of the driven shaft 214 is further arranged on the mounting seat 204, and the distance between the driving shaft 218 and the driven shaft 214 is adjusted by the position adjusting mechanism 208.

The front end and the rear end of the power belt 216 are respectively passed through the driving shaft 218 and the driven shaft 214, the servo motor 219 is right, the rotating speed of the driving shaft 218 is controlled, when the power belt 216 is required to be driven, the driving shaft 218 is driven to rotate only through the servo motor 219, the driving of the whole conveying mechanism 205 can be achieved, the structure is simple and convenient, the driving is flexible, the position adjusting mechanism 208 for controlling the position of the driven shaft 214 is further arranged on the mounting seat 204, the distance between the driving shaft 218 and the driven shaft 214 can be adjusted through the position adjusting mechanism 208, the tension of the power belt 216 is adjusted more conveniently and simply, and the problem that the power belt 216 cannot be tensioned again due to looseness in the long-term use process cannot be caused.

Further, the position adjusting mechanism 208 includes a strip-shaped positioning hole 209 formed in the mounting seat 204, a fixing seat 207 formed in the mounting seat 204, and an adjusting screw 206 formed in the fixing seat 207, wherein two ends of the driven shaft 214 are limited by the strip-shaped positioning hole 209, and the distance between the driven shaft 214 and the strip-shaped positioning hole 209 is adjusted by rotating the adjusting screw 206.

The both ends of driven shaft 214 are passed through rectangular shape locating hole 209 and are spacing afterwards, thereby make it only to remove along rectangular shape locating hole 209, and fixing base 207 and adjusting screw 206 are installed and are located the one end of driving shaft 218 on rectangular shape locating hole 209, can be ejecting to the other end of rectangular shape locating hole 209 driven shaft 214 through adjusting screw 206, through the dual function of adjusting screw 206's external effort and the power strip 216 to the produced interior tension force of team of driven shaft 214, just can realize the stable rotation of power strip 216, and only need rotate just can realize adjusting screw 206 during the regulation distance, it is simple and convenient to adjust, position control mechanism 208 generally sets up in the outside of mount pad 204 and all one from top to bottom.

Further, straining device 211 is the tensioning spring, the both ends of tensioning spring are fixed respectively the top of mount pad 204, and simple structure is convenient, and the rotation of mount pad 204 is nimble, and is simpler when changing, can not exert an influence to the medical kit, and support frame 202 generally is height-adjustable's bearing structure. The feed conveyor belt 610 is provided with a limit block 210 for controlling the tensioning angle of the mounting base 204, and the minimum contraction angle of the two conveying mechanisms 205 is controlled by the limit block 210.

Furthermore, the feed conveyor 610 is provided with a limit block 210 for controlling the tension angle of the mounting base 204, and the minimum contraction angle of the two conveying mechanisms 205 is controlled by the limit block 210.

When the mounting base 204 rotates inwards through the tensioning mechanism 211, the mounting base 204 cannot rotate inwards continuously when contacting with the limiting block 210, so that the mounting bases 204 on two sides cannot collide, the tensioned position is more accurate, and the symmetry degree is higher.

Further, the material taking window 315 is provided with an induction alarm device 306, and when the material taking window 315 which cannot take the medicine enters an object, an alarm signal is sent through the induction alarm device 306.

When medicine is taken, in order to avoid that an operator stretches into a material taking window 315 which is not currently required to take medicine in the medicine dispensing process to take medicine, an induction alarm device 306 is arranged on each material taking window 315, if a hand stretches into the correct material taking window 315, the induction alarm device 306 does not generate an alarm signal, when the material taking window 315 which cannot take medicine enters an object, the induction alarm device 306 can send the alarm signal, thereby reminding the operator of misoperation, and when the material taking window 315 is designed to be an opening, the phenomenon that foreign matters fall into the material taking window 315 to damage equipment can be avoided.

Further, the induction alarm device 306 comprises a grating 313 for monitoring the material taking window 315, a signal indicator lamp 316 arranged on the rack 303 for monitoring the material taking state of the material taking window 315, and an alarm 310 arranged on the rack 303, wherein the grating 313 is used for monitoring whether an object enters the material taking window 315 in real time, the indicator lamp is used for prompting the operation priority of the material taking window 315, the current operation completion condition and the special condition alarm prompt, and the alarm 310 is used for sending an alarm signal when the material taking window 315 which is mistakenly inserted and cannot take the material enters the object.

When monitoring material taking window 315 through response alarm device 306, the window is regional to pass through grating 313 and covers, when the foreign matter stretches into, grating 313 can appear sheltering from and the signal is interrupted, thereby trigger alarm 310 sends the warning, monitor through grating 313, the structure that can also make material taking window 315 is open form, when snatching the medicine in the medical kit, only need open the lid of medical kit upper end and just can directly snatch, and for the convenience of operating personnel quick judgement, still install the signal indicator lamp 316 of getting the medicine state on the next door of material taking window 315, for example, the window of getting the medicine for static red light, green light is the current window of getting the medicine, thereby it is more convenient to make the definite time of material taking window 315.

Further, at least one medicine replenishing device 500 is provided on one side of the medicine-box moving mechanism 600, and the medicine replenishing device 500 may be configured to be the dispensing table 300 or the total weighing table 301 may be eliminated.

When the system detects that medicinal materials in a medicine chest are insufficient, according to real-time data of a dynamic medicine chest management system, a replenishment worker is timely notified to replenish the medicinal materials in real time, according to early-stage work big data, the amount of replenishment required in the next day is automatically generated, a large-warehouse stock worker is notified in advance, an operator can be notified to the replenishment device 500 to replenish the medicinal materials, the system calls the inventory condition of a stereoscopic warehouse in real time, according to the set replenishment requirement rule, information required to replenish the medicinal materials is pushed to a replenishment platform and a replenishment manager, replenishment work is completed, and the replenishment platform is organically combined with the dispensing platform 300 in real time, so that the work efficiency is greatly improved; when the daily preparation is finished, the recommended list of the required quantity of each variety of the traditional Chinese medicine decoction pieces on the next day is provided for an enterprise or hospital manager based on the big data condition of the previous work, the warehouse is informed of stock in advance, and the working intensity and the management pressure of the warehouse are greatly simplified.

The medicine supplementing device 500 also introduces a weight-increasing and weight-losing matching principle, introduces a management system according to the relevant regulations of the prescription regulation of traditional Chinese medicine, and realizes double automatic recheck; and single-variety traditional Chinese medicine decoction piece standard decoction piece pictures are respectively established on operation channels of operation tables of the replenishment area and the dispensing area, so that the operation personnel and the management recheck are facilitated to check in real time.

Further, an external device installation groove 311 is further formed in the frame 303, and a printer 309 is arranged in the external device installation groove 311.

Be provided with various external interfaces on external equipment mounting groove 311, be connected with printer 309 in external equipment mounting groove 311, snatch the completion back when the prescription, can directly print the prescription through printer 309, and can also install equipment such as telephone, machine for punching the card, and is cleaner and tidier to the management of external equipment.

Further, still include video monitor system 700, video monitor system 700 comprises the camera of installing in different regions, the medical kit is stored and is removed all through each the camera is gathered in real time and is stored, especially after having installed the camera on the dispensing platform 300, can also carry out real time monitoring and later stage video tracking to the dispensing process, realize dispensing regional whole journey control, establish single prescription dispensing process video recording, and transmit back total control platform in order to establish the database and look for, do benefit to afterwards to investigate, accident responsibility affirmation, can open enterprise, regulatory agency, or patient, reinforcing enterprise or reputation hospital and visionability, combine identification system and weighing measurement, can really realize the informationization of dispensing process, visual management, realize the whole process data of dispensing and trace back. In addition, through this video monitor system 700, the supervisor can carry out the medicine secondary recheck through the video data that video monitor system 700 shot, that is to say, the supervisor can snatch the image data of medicine and the name and/or the picture that the medicine was snatched to the target through actually snatching that sees in the video data, then judges whether the personnel of drawing prescription correctly snatched the target medicine. Of course, the judgment process can also be realized in an image recognition mode, and only a medicine recognition model needs to be established and trained according to the convolutional neural network.

Further, the system is provided with the automatic medicine replenishing device 500, the weight or quantity of each single medicine variety set by the system is the lowest value, and when each single medicine variety is lower than the set lowest value, the conveying mechanism conveys the current medicine box to the medicine replenishing device 500 for replenishing. Meanwhile, the display device of the drug replenishing device 500 provides the drug varieties to be replenished, so that the preparation is convenient for the operator to prepare in advance.

Furthermore, each medicine box weighing platform 314 is internally provided with a weighing sensor, the total weighing platform 301 on the dispensing platform 300 is also provided with a weighing sensor, and when a single medicine variety is dispensed, the weight reduction of the medicine box of the dispensing platform 300 is consistent with the weight increase of the total weighing platform, so that the weight double check is realized.

Further, the medicine-box information display 307 contains a standard picture of the current medicine type, and is used for double-checking whether the current medicine type is consistent with the current dispensing medicine type.

Further, the dispensing table 300 and the medicine replenishing device 500 of the system are both provided with an image display device and a light warning device which are interactive with an operator, the display provides pictures of standard medicines of which the system detects the current varieties, the medicine varieties are conveniently checked and confirmed by the operator for the second time, and the light warning device guides the operator to rapidly complete the operation.

Further, the dispensing station 300 and the medicine replenishing device 500 are equipped with weighing devices in all operation channels on each operation console, the weight system is automatically updated after each medicine box in the system enters and exits, the system automatically updates inventory information, and managers can manage inventory in real time through the system.

Furthermore, according to real-time inventory management, the system automatically calculates the situation that each medicine needs replenishment in the next day according to the statistics of the consumption situation of each day in the early operation and the consumption situation of the same period.

The invention also provides a computer readable storage medium, which stores an executable computer program, and when the computer program is run, the computer program can realize the automatic dispensing and taking method of the traditional Chinese medicine prescription.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.

Claims

1. An automatic dispensing and taking method for a traditional Chinese medicine prescription is characterized by comprising the following steps:

a prescription distribution step:

judging whether the prescription has extremely low frequency medicine;

the high-frequency using medicine and the extremely-low-frequency using medicine are determined according to the frequency of the medicine appearing in the prescription of clinical application within a preset time limit, the medicine with the frequency higher than a first preset value is classified as the high-frequency using medicine, the medicine with the frequency lower than a second preset value is classified as the extremely-low-frequency using medicine, and the medicine between the first preset value and the second preset value is classified as the low-frequency using medicine;

prescription preparation steps:

2. The method of claim 1, further comprising the steps of, prior to the prescription dispensing step:

prescription auditing step:

judging whether the patient corresponding to the prescription is a special population, wherein the special population comprises: pregnant women, infants, children, tumor patients and special allergic people;

if not, checking the prescription specification;

if not, marking as an abnormal dispensing prescription;

if yes, entering the prescription distribution step.

3. The automatic dispensing and taking method for traditional Chinese medicine prescriptions according to claim 1 or 2, wherein the mode of conveying the medicine boxes to the corresponding operation dispensing table is specifically as follows:

4. The method of claim 3, further comprising the steps of:

if so, prompting that the current medicine grabbing is finished;

5. The automatic dispensing and taking method for a traditional Chinese medicine prescription according to claim 1, wherein after the medicine chest has finished picking up the medicine, it is judged whether the medicine chest needs to be restocked according to the weight of the medicine chest;

judging whether the current medicine chest completes medicine supplement;

6. The automatic dispensing and taking method for traditional Chinese medicine prescriptions according to claim 5, wherein the specific way of conveying the medicine boxes back to the corresponding medicine warehouse is as follows:

7. The method of claim 6, further comprising the steps of:

8. The method of claim 1, wherein when a medicine box is completely filled, the corresponding medicine in the prescription is marked as filled; when all the medicines in the prescription are marked as being in the filled state, the prescription is prompted to be filled.

9. The automatic dispensing and medicine taking method for traditional Chinese medicine prescriptions of claim 1, wherein the operating dispensing table has a plurality of material taking windows, each material taking window corresponds to an indicator light, and the indicator light is used for indicating whether the current material taking window can be used for taking a medicine or has completed a taking action; the operation dispensing table is provided with a video monitoring device, and the video monitoring device is used for shooting the whole process of medicine taking on the operation dispensing table.

10. A computer-readable storage medium, wherein the computer-readable storage medium stores an executable computer program, and the computer program is executed to implement the method for automatically dispensing and taking a prescription of chinese medicine according to any one of claims 1 to 9.