CN111516913A - A device for automatic picking and packing of bulk Chinese herbal medicines - Google Patents

Abstract

The invention relates to automatic picking and subpackaging equipment for bulk Chinese herbal medicines, which comprises a main trolley and a medicine bag rack trolley which move longitudinally in a reciprocating manner, a medicine box, a medicine bag rack, a horizontal turntable, a rotating shaft and a rotary driving device thereof, a material poking device, a buffer hopper, a weighing hopper and an electric control system; the medicine bag frame trolley is arranged on the frame of the main trolley in the same direction, and the plurality of medicine cartridges are arranged in a straight line and suspended above the main trolley; the medicine bag frames are arranged in a straight line and arranged on the medicine bag stand vehicle walking frame; a horizontal turntable and a kick-out device are respectively arranged below each medicine cylinder, and a buffer hopper and a weighing hopper are vertically superposed and positioned between the discharge port of the horizontal turntable and the upper part and the lower part of the medicine bag rack; when the machine works, the main trolley and the medicine bag rack trolley are controlled to longitudinally reciprocate through the electric control system, the upper and lower positions of the discharge port of each horizontal turntable and the inlet of the buffer hopper, the outlet of the weighing hopper and each medicine bag port on the medicine bag rack are sequentially adjusted, and automatic picking and subpackaging of Chinese herbal medicines are realized. The invention has high efficiency, small error and low production and manufacturing cost.

Description

A device for automatic picking and packing of bulk Chinese herbal medicines

technical field

The invention belongs to the technical field of Chinese herbal medicine picking and packaging, in particular to an automatic picking and packaging equipment for scattered Chinese herbal medicines.

Background technique

At present, the automatic medicine picking device commonly used in major hospitals is limited to picking up box-shaped and bag-shaped Chinese medicine preparations, and there is no equipment for picking up bulk granular Chinese herbal medicine at home and abroad. The picking and sub-packaging of bulk granular Chinese herbal medicines has always been done manually. At present, there are the following technical deficiencies in the manual picking of herbs:

1. The subcontracting error is large, which affects the efficacy of medicines; manual medicine picking is to weigh each medicine in the prescription with a steel balance to measure the total amount, and people will distribute it into several small parts evenly according to the control of experience, and the amount of each medicine in each part is full. With naked eye estimation and finger control, the error is larger and the cumulative error is larger. Generally, about 20 kinds of medicines are used in each prescription, and each medicine is divided into 5-7 parts. The distribution error of each medicine is calculated according to the weight of each medicine being 150g-200g. The efficacy of the drug, delaying the treatment, and causing certain economic losses to the patient.

2. The work efficiency is low; when a person is in a state of energy, a prescription is paid by picking 5 to 7. When using 20 kinds of drugs, the total weight of each drug is weighed and distributed into 5 to 7 parts, and the 20 kinds of drugs are divided into 20 kinds. After filling it into the medicine bag, if each prescription is operated by one person, it will take at least 15 minutes. As the working time of the person prolongs, when the human strength and energy decrease, the time for taking the medicine will be longer.

3. The cost of picking up medicines is high; for example, in a small hospital, based on an average of 150 prescriptions per day, in the case of concentrated prescriptions, it takes about 6 people to complete the collection, and the annual labor salary is more than 200,000 yuan. And with the increase of labor costs year by year, the employment cost of enterprises will also increase year by year.

To sum up, the existing methods of manually picking up and subcontracting herbal medicines have low batching efficiency, large human errors, high labor intensity of workers, and high production costs for enterprises. Therefore, it is a technical problem to be solved urgently by those skilled in the art to research and design an automatic picking and sub-packing device for bulk granular Chinese herbal medicines to replace manual picking of Chinese herbal medicines to achieve the goals of rapidity, small error and labor cost saving.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to overcome the above-mentioned deficiencies of the prior art, and to provide a bulk granular Chinese herbal medicine automatic picking and packing equipment to replace manual picking of Chinese herbal medicines, which has high efficiency, small error, and low production and manufacturing costs.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is:

Design a bulk granular Chinese herbal medicine automatic picking and filling equipment, including a main trolley and a medicine bag rack trolley that reciprocates longitudinally, a drug cartridge, a medicine bag rack, a horizontal turntable and its rotating shaft and a rotary drive device, a feeder, and a buffer hopper , weighing hopper, and electrical control system; the medicine bag rack trolley is arranged on the main trolley frame in the same direction, and there are multiple medicine cartridges, which are arranged vertically and suspended above the main trolley; There are multiple bag racks, which are arranged in a vertical line and arranged on the walking frame of the medicine bag rack trolley; a horizontal turntable and a dialer are respectively arranged under each medicine cartridge, and the buffer hopper and the weighing hopper are superimposed up and down, and are located horizontally. Between the blanking opening of the turntable and the upper and lower sides of the medicine bag holder; during operation, the longitudinal reciprocating movement of the main trolley and the medicine bag holder trolley is controlled by the electrical control system, and the blanking opening of each horizontal turntable and the entrance of the buffer hopper are adjusted successively. The upper and lower relative positions of the outlet of the hopper and the mouth of each medicine bag on the medicine bag rack realize the automatic picking and packing of Chinese herbal medicines.

Preferably, in the above-mentioned bulk Chinese herbal medicine automatic picking and distributing equipment, the rotary drive device includes an active friction disc and a passive friction disc arranged up and down, a vertically arranged rotating spindle and its rotational drive mechanism, and a lifting mechanism;

The rotating driving mechanism is a driving motor, and the lifting mechanism is an electric/magnetic cylinder; the driving motor and the electric/magnetic cylinder are arranged in the base of the main trolley, the power output end of the driving motor is connected with the rotating spindle, and the other end of the rotating spindle is connected with the active Friction disc; the passive friction disc is located below the horizontal turntable and is located at the end of the rotating shaft where the horizontal turntable is located; the active friction disc, the rotating spindle and the drive motor are connected in sequence and installed on the electric/magnetic cylinder as a whole;

When working, the electric/magnetic cylinder drives the active friction disc, the rotating spindle and the driving motor to vertically lift as a whole, so that the active friction disc and the passive friction disc are in contact or disengaged; under the action of the driving motor, the rotating spindle drives the active friction disc to rotate, and the After the active friction disk and the passive friction disk are contacted and subjected to force, the passive friction disk is driven to rotate, and the rotation or stop of the horizontal turntable is realized with the contact or separation of the active friction disk and the passive friction disk.

Preferably, in the above-mentioned automatic picking and distributing equipment for bulk Chinese herbal medicine, the active friction disc, the rotating spindle, the driving motor and the electric/magnetic cylinder constitute a set.

Preferably, in the above-mentioned bulk Chinese herbal medicine automatic pick-up and distribution equipment, the main trolley/medicine bag rack trolley includes a frame/travel frame, wheels and a traveling drive device; the main trolley/medicine bag rack trolley and The reciprocating movement can be realized in cooperation with the corresponding set rails.

Preferably, in the above-mentioned device for automatic picking and filling of bulk Chinese herbal medicines, the lower part of the medicine cartridge is a material receiving port;

Preferably, in the above-mentioned bulk Chinese herbal medicine automatic picking and dispensing equipment, a material level detection and alarm device is provided on the drug cartridge.

Preferably, in the above-mentioned device for automatically picking up and distributing Chinese herbal medicines in bulk, the medicine cartridge is provided with a feeding rod, and the feeding rod is fixed on the rotating shaft where the horizontal turntable is located.

Preferably, in the above-mentioned automatic picking and dispensing equipment for bulk Chinese herbal medicine, the buffer hopper and the weighing hopper share a bracket and are fixed on the frame of the main trolley.

Preferably, in the above-mentioned equipment for automatic picking and filling of bulk Chinese herbal medicines, the weighing hopper is provided with a weighing sensor, and the discharge ports of the buffering hopper and the weighing hopper are respectively controlled by electromagnetic rods.

Preferably, in the above-mentioned bulk Chinese herbal medicine automatic picking and packing equipment, the power units used to drive the rotating spindle, the reciprocating movement of the main trolley and the reciprocating movement of the medicine bag rack trolley are all stepping motors; the electric cylinder used is a servo electric cylinder ;

The electrical control system includes a human-computer interaction interface, a PLC controller, a stepper driver electrically connected to each stepper motor, and a servo controller electrically connected to the servo electric cylinder; each stepper driver and servo controller, And the electromagnetic rod set on the discharge port of the buffer hopper and the weighing hopper, the weighing sensor set on the weighing hopper and the material level detector set in each cartridge are respectively electrically connected with the PLC controller; the human-computer interaction interface Communication connection with PLC controller.

The working principle of the present invention is:

The doctor prescribes the medicine, sets a number for each herb, and programs the computer (command center) to direct the fully automatic walking main trolley (intelligent robot) to reach the medicine cartridge of the designated Chinese herbal medicine. The electric/magnetic cylinder is started, and the stepper motor, the connected rotating spindle and the active friction disc are vertically raised as a whole. After the active friction disc and the passive friction disc are in close contact with the force, the stepper motor rotates, driving the active friction disc and the passive friction disc. The passive friction disc can drive the horizontal circular turntable set under the cartridge to rotate; the scattered granular Chinese herbal medicine accumulated on the horizontal circular rotary disc, under the action of the material-removing baffle fixed at the lower edge of the mouth of the cartridge, the granular herbal medicine is slowly released. Drop from the front of the horizontal turntable; there is a buffer hopper under the horizontal turntable, and a weighing hopper under it. The bag holder is driven by a walking trolley and can reciprocate left and right. When a certain drug in the prescription is divided into several parts according to the total amount, the stepping motor on the main trolley stops, the electric/magnetic cylinder vertically drops about 20mm, and the main trolley travels to the next cartridge according to the instruction. Repeat the work according to the above procedure, until all the medicines in the prescription are picked up and packed, the operator will take out the medicine bag and enter the picking and packing of the next prescription.

The beneficial technical effect of the technical solution of the present invention is:

The invention consists of a fully automatic trolley (intelligent robot) and a row of a plurality of Chinese herbal medicine cartridges to form a set of Chinese herbal medicine automatic picking and packaging process facilities. The longitudinal reciprocating movement of the main trolley and the reciprocating movement of the medicine bag rack trolley are controlled by the electrical control system, and the blanking openings of each horizontal turntable and the entrance of the buffer hopper, the outlet of the weighing hopper and the openings of the medicine bags on the medicine bag rack are adjusted. The relative position of the upper and lower sides realizes the automatic picking and packing of Chinese herbal medicines to replace the manual picking of Chinese herbal medicines. Compared with the existing manual picking up of medicines, the device can control the error of each medicine to be 1-2g, and the total amount of each medicine is uniform and consistent, which can improve the efficacy of medicine. And the work efficiency is greatly improved, which can replace the work of many people. The equipment can be operated by one person. Compared with the existing labor cost, in addition to a small maintenance fee, one investment can be profitable for many years, the equipment investment can be quickly recovered, and the production cost is low.

To sum up, the popularization and application of this technology mainly solves the problem of quantity error of Chinese herbal medicines, and the combination of doses is reasonable, which will improve the efficacy of medicines, reduce the physical and mental pain of patients, and reduce economic losses. It has good economic and social benefits, and promotes the development of Chinese medicine. effect.

In addition, automatic batching technology has been widely used in many production industries, but they all adopt the structure of mechanical and electrical integration, that is, a set of independent mechanical and electrical devices must be equipped for each raw material. On the other hand, the present invention adopts one automated trolley (intelligent robot) to be equipped with multiple mechanical devices, so that a large number of electrical components and devices are omitted in the structural configuration, and the total investment cost is greatly reduced. In actual production, each user can be equipped with an extra main trolley (intelligent robot), which can be replaced at any time in the event of electrical equipment failure without affecting normal production. In addition to being used in hospitals, the invention can also be used for automatic batching in other production industries, has a broad application market, and brings great economic benefits to enterprises and society.

Description of drawings

The specific embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings, wherein:

Fig. 1 is the front view structure schematic diagram of the automatic picking and packing equipment of bulk Chinese herbal medicine according to the present invention;

Figure 2 is a schematic side view of the structure shown in Figure 1 (the medicine bag rack, the medicine bag rack trolley, the buffer hopper, the weighing hopper, etc. are hidden);

Fig. 3 is the top view structure schematic diagram shown in Fig. 1;

Fig. 4 is the front view structure schematic diagram of the horizontal circular turntable and the rotary drive device etc.;

5 is a schematic structural diagram of an active friction disc;

Fig. 6 is the top-view structure schematic diagram of the material-removing baffle relative to the horizontal circular turntable and the medicine cartridge;

Fig. 7 is the control principle schematic diagram of the electrical control part;

Serial number in the picture: 1. Main trolley;

1-1. Main trolley frame;

2. Medicine bag rack trolley;

2-1. Walking frame;

3. Medicine cartridge, 4. Medicine bag holder, 5. Horizontal circular turntable, 6. Rotating shaft;

7. Rotary drive device;

7-1. Active friction disc;

7-1-1. Rotating coupling disc, 7-1-2, friction pad, 7-1-3, magnet;

7-2, passive friction disc, 7-3, rotating spindle, 7-4, stepper motor 1, 7-5, servo electric cylinder, 7-6, spindle centering sliding sleeve;

8. Feeding baffle, 9. Buffer hopper, 10. Weighing hopper, 11. Track, 12. Material level detector, 13. Feeding rod, 14. Centering frame tie rod.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention. Obviously, the described embodiments are only schematic partial implementations of the present invention, and are not intended to limit the scope of the present invention. , any equivalent changes and modifications made by those skilled in the art without departing from the concept and principles of the present invention shall fall within the protection scope of the present invention.

Example 1

Referring to Figures 1-3, in the figures, the device for automatically picking up and distributing bulk Chinese herbal medicines of the present invention includes a main trolley 1 and a medicine bag rack trolley 2 that move longitudinally reciprocatingly, a medicine cartridge 3, a medicine bag holder 4, and a horizontal circular turntable 5 And its rotating shaft 6 and rotary drive device 7, material removal baffle 8, buffer hopper 9, weighing hopper 10, and electrical control system.

The medicine bag holder trolley is arranged on the main trolley frame 1-1 in the same direction, and there are multiple medicine cartridges, six in the figure. There are multiple medicine bag racks, seven of which are shown in the figure, which are arranged in a vertical line and arranged on the walking frame 2-1 of the medicine bag rack trolley. A horizontal circular turntable and a feeder are respectively arranged under each cartridge. The lower part of the cartridge is a material receiving port, and the feeder is a feeding baffle fixed at the lower edge of the cartridge mouth (see Figure 6). The buffer hopper and the weighing hopper are superimposed up and down, and are located between the blanking opening of the horizontal circular turntable and the upper and lower sides of the medicine bag holder.

In the above, it is specified that the arrangement direction of the cartridges and the reciprocating movement direction of the main trolley are the longitudinal direction, and the arrangement direction of the medicine bag holder and the reciprocating movement direction of the medicine bag holder trolley are in the same direction as the main trolley. The front of the designated horizontal turntable is the blanking port. In addition, a closed cover can be added around the connection between the lower mouth of the cartridge and the horizontal turntable to collect dust. An integral bracket is arranged between the cartridge and the main trolley, and no matter how many sets of combinations are set on this stepped integral bracket.

The function of adding a buffer hopper and a weighing hopper in this embodiment is that, under the premise that the horizontal turntable does not stop feeding, when the amount of herbal medicine in the weighing hopper is close to the set number, the buffer hopper is closed to reduce the weight. The buffer hopper is completely closed, the weighing hopper is closed after discharging, and the buffer hopper is opened again, so as to achieve precise picking and dispensing of each medicine. The horizontal round turntable cooperates with the feeder to realize directional blanking; each horizontal round turntable shares a set of rotary drive device, which can move back and forth with the main trolley, and sequentially drive the horizontal round turntables in a certain order to realize automatic Chinese herbal medicine. Pick up and dispense. Therefore, the structure is simplified and the manufacturing cost is low.

The facility consists of a fully automatic trolley (ie, an intelligent robot, including the main trolley and the medicine bag rack trolley) and a row of multiple Chinese herbal medicine cartridges to form a set of Chinese herbal medicine automatic picking and packaging process facilities. Arranged in a straight line, there is a walking track below. When working, the longitudinal reciprocating movement of the main trolley and the medicine bag rack trolley is controlled by the electrical control system, and the blanking port of each horizontal circular turntable and the entrance of the buffer hopper, the outlet of the weighing hopper and the medicine bags on the medicine bag rack are adjusted successively. The upper and lower relative positions of the mouth can realize the automatic picking and packing of Chinese herbal medicines.

Example 2

Referring to FIGS. 4-5 , in the figures, the structure of this embodiment is similar to that of Embodiment 1, and the same numbers in the figures represent the same meaning. The difference is: in this embodiment, the rotary drive device 7 includes active friction discs 7-1 arranged up and down. And the passive friction disc 7-2, the vertical rotating spindle 7-3 and its rotation driving mechanism, and the lifting mechanism.

The rotation driving mechanism is a stepping motor 7-4 for driving, and the lifting mechanism is a servo electric cylinder 7-5. The drive motor and the electric/magnetic cylinder are arranged in the base of the main trolley, the power output end of the drive motor is connected with the rotating spindle, and the other end of the rotating spindle is connected with the active friction disc. The passive friction disc is located under the horizontal circular turntable, and is arranged at the end of the rotating shaft where the horizontal circular turntable is located. The active friction disc, the rotating spindle and the driving motor are connected in sequence and then integrally mounted on the electric/magnetic cylinder.

Active friction disc, rotating spindle, drive motor and electric/magnetic cylinder form a set. When working, the electric/magnetic cylinder drives the active friction disc, the rotating spindle and the driving motor to vertically lift as a whole, so that the active friction disc and the passive friction disc are in contact or disengaged; under the action of the driving motor, the rotating spindle drives the active friction disc to rotate, and the After the active friction disc and the passive friction disc are contacted and subjected to force, the passive friction disc is driven to rotate, and as the active friction disc and the passive friction disc contact or disengage, the rotation or stop of the horizontal circular turntable is realized.

Further, the active friction disc 7-1 may include a rotating coupling disc 7-1-1, a friction pad 7-1-2 and a magnet 7-1-3. The friction pad is connected to the top of the rotary coupling disc, and the magnet is arranged in the center of the top of the rotary coupling disc. The rotating spindle is rotatably supported on the main trolley frame 1-1 through the spindle centering sliding sleeve 7-6.

Example 3

Referring to Figures 1-3, in the figures, the structure of this embodiment is similar to that of Embodiment 2, the same numbers in the figures represent the same meaning, the difference is: in this embodiment, the main trolley 1/medicine bag rack trolley 2 includes a frame 1 -1/Travel frame 2-1, wheels and traveling drive device. The main trolley/medicine bag rack trolley cooperates with the corresponding rails 11 to realize reciprocating movement. A material level detector 12 is arranged on the cartridge. The medicine cartridge is provided with a material-removing rod 13, and the material-removing rod is fixedly arranged on the rotating shaft where the horizontal circular turntable is located. The buffer hopper and the weighing hopper share a bracket and are fixed on the frame of the main trolley. The weighing hopper is provided with a weighing sensor (not shown in the figure), and the discharge ports of the buffer hopper and the weighing hopper are respectively controlled by electromagnetic rods (not shown in the figure).

In this embodiment, a material level detection and alarm device is added to detect the material level in time and give an alarm, so as to avoid insufficient Chinese herbal medicine in the cartridge, which will affect production; The function of adding a feeding lever is that Chinese herbal medicine is basically a fibrous component, with a small specific gravity and a large difference. It is easy to shelf in a small-capacity cartridge, and it falls unevenly, or even does not fall at all. A dial lever is set on the main shaft of the turntable. The buffer hopper and the weighing hopper share a bracket and are fixed on the main trolley of the intelligent robot. The structure is relatively simple and compact, and the production cost is low.

Example 4

Referring to FIG. 7 , in the figure, the structure of this embodiment is similar to that of Embodiment 3, the same numbers in the figure represent the same meaning, and the difference is: The reciprocating power units are all stepper motors, and are respectively a stepper motor one, a stepper motor two, and a stepper motor three.

The electrical control system includes a human-computer interaction interface, a PLC controller, a stepper driver corresponding to each stepper motor, and a servo controller corresponding to the servo electric cylinder. Each stepper driver, servo controller, the electromagnetic rod set on the buffer hopper and the discharge port of the weighing hopper, the weighing sensor set on the weighing hopper, and the material level detector set in each cartridge are respectively connected with the PLC. The controller is electrically connected. The man-machine interface is communicated and connected with the PLC controller.

The specific working process is roughly as follows:

Refer to Figure 1-7, for example, when the prescription prescribed by the doctor is 7 sets, the fully automatic main trolley (intelligent robot) set under the cartridges arranged in a line goes to the bottom of the serial number 1 cartridge according to the number sequence of Chinese herbal medicines in the prescription , the electric/magnetic cylinder set on the main trolley starts, and the stepping motor together with the connected rotating spindle and the active friction disc are lifted up by about 20mm, until the active friction disc and the passive friction disc are in close contact, and under the action of the magnet suction The first stepper motor set on the base of the main trolley is activated to drive the active friction disc and the passive friction disc, which can drive the horizontal circular turntable set at the bottom of the medicine hopper to rotate; the scattered particles naturally accumulated on the horizontal circular turntable The herbs, under the action of the baffle plate fixed in the space between the lower edge of the barrel and the horizontal round turntable, the herbs fall from the front edge of the horizontal round turntable. Continuous falling on the turntable, at this time, the buffer hopper is open, the lower mouth of the weighing hopper is closed, and the medicine falls into the weighing hopper controlled by the weighing sensor. Under non-stop working conditions, the direct-acting electromagnetic rod closes the buffer hopper, opens the lower mouth of the weighing hopper, and drops the herbal medicine into the first medicine bag of the walking medicine bag rack trolley set below, and then closes the medicine bag at the same time. The trolley moves forward one position of the medicine bag holder, and the buffer hopper is opened to open, the herbs fall into the weighing hopper, and the buffer hopper, weighing hopper, and medicine bag holder move forward one position to form a reciprocating cycle until the first type of medicine in the prescription. The total amount of herbal medicines is divided into 7 doses respectively; the last dose is controlled by stepping motor deceleration. The electric/magnetic cylinder drops about 20mm, the active friction disc and the passive friction disc are separated, and the fully automatic main trolley (intelligent robot) runs to the bottom of the next herbal cartridge, and starts to work according to the previous operation mode until all the medicines in the prescription are separated. The herbal medicines are packed according to the quantity until the number is paid in the prescription. The operator takes the medicine bag out of the medicine bag rack, and enters the automatic picking and packing of the next prescription according to the instruction.

The types of herbs used in the Chinese herbal medicine room vary according to the size of the specialty and comprehensive medical care, ranging from about 100 to about 200. In order to reduce the investment in facilities, the length of the herbal room can be as long as possible, and the herbal cartridges can be formulated according to pharmacological compatibility. There are about 30 in one line, and a fully automatic trolley (intelligent robot) is arranged below the row of medicine cartridges, and there is a walking track. The three parts are a set of facilities. The hospital can configure the required number of sets according to its own dosage. In order to avoid affecting the operation due to electrical failures, each user can be equipped with an additional fully automatic trolley (smart robot) for backup, which can be replaced at any time in case of failure.

From the aspect of the accurate quantity of herbal medicines, in order to reduce the error of each single dosage, the pharmacy is required to control the granularity of the purchased herbs to be less than 10mm according to different proportions, so as to reduce the quantity error.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments may be referred to each other.

The above description of the disclosed embodiments enables any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The utility model provides a form chinese herbal medicine automatic picking partial shipment equipment looses which characterized by: the medicine bag weighing machine comprises a main trolley and a medicine bag stand trolley which move longitudinally in a reciprocating manner, a medicine box, a medicine bag frame, a horizontal turntable, a rotating shaft and a rotary driving device thereof, a kick-out device, a buffer hopper, a weighing hopper and an electric control system; the medicine bag frame trolley is arranged on the frame of the main trolley in the same direction, and a plurality of medicine cartridges are longitudinally arranged above the main trolley in a straight line; the medicine bag rack comprises a plurality of medicine bag racks which are arranged in a straight line in the longitudinal direction and are arranged on a walking rack of the medicine bag rack trolley; a horizontal turntable and a kick-out device are respectively arranged below each medicine cylinder, and the buffer hopper and the weighing hopper are vertically overlapped and are positioned between the discharge port of the horizontal turntable and the upper part and the lower part of the medicine bag rack; during operation, the longitudinal reciprocating movement of the main trolley and the medicine bag rack trolley is controlled through the electric control system, the vertical relative positions of the blanking port of each horizontal turntable, the inlet of the buffer hopper, the outlet of the weighing hopper and the opening of each medicine bag on the medicine bag rack are adjusted in sequence, and automatic picking and subpackaging of Chinese herbal medicines are achieved.

2. The automatic bulk Chinese herbal medicine picking and dispensing apparatus as claimed in claim 1, wherein: the rotary driving device comprises an active friction disc and a passive friction disc which are arranged up and down, a rotating main shaft and a rotary driving mechanism thereof which are vertically arranged, and a lifting mechanism;

the rotary driving mechanism is a driving motor, and the lifting mechanism is an electric/magnetic cylinder; the driving motor and the electric/magnetic cylinder are arranged in the main trolley base, the power output end of the driving motor is connected with the rotating main shaft, and the other end of the rotating main shaft is connected with the driving friction disc; the passive friction disc is positioned below the horizontal rotating disc and is arranged at the tail end of a rotating shaft where the horizontal rotating disc is positioned; the driving friction disc, the rotating main shaft and the driving motor are connected in sequence and then integrally arranged on the electric/magnetic cylinder;

when the device works, the electric/magnetic cylinder drives the driving friction disc, the rotating main shaft and the driving motor to integrally and vertically lift, so that the driving friction disc is contacted with or separated from the driven friction disc; under the action of a driving motor, the rotating main shaft drives the driving friction disc to rotate, and after the driving friction disc and the driven friction disc are in contact stress, the driven friction disc is driven to rotate, and the driving friction disc and the driven friction disc are in contact or separated, so that the horizontal rotary disc rotates or stops.

3. The automatic bulk Chinese herbal medicine picking and dispensing apparatus as claimed in claim 2, wherein: the driving friction disc, the rotating main shaft, the driving motor and the electric/magnetic cylinder form a set.

4. The automatic bulk Chinese herbal medicine picking and dispensing apparatus as claimed in claim 1, wherein: the main trolley/medicine bag stand trolley comprises a trolley frame/walking frame, wheels and a walking driving device; the main trolley/medicine bag rack trolley is matched with the corresponding track to realize reciprocating movement.

5. The automatic bulk Chinese herbal medicine picking and dispensing apparatus as claimed in claim 1, wherein: the lower part of the cartridge is provided with a material receiving port; the kick-out device is a kick-out baffle fixedly arranged at the lower edge of the opening of the medicine barrel.

6. The automatic bulk Chinese herbal medicine picking and dispensing apparatus as claimed in claim 1, wherein: and the cartridge is provided with a charge level detection and alarm device.

7. The automatic bulk Chinese herbal medicine picking and dispensing apparatus as claimed in claim 1, wherein: the medicine cylinder is internally provided with a material poking rod which is fixedly arranged on a rotating shaft where the horizontal rotating disc is arranged.

8. The automatic bulk Chinese herbal medicine picking and dispensing apparatus as claimed in claim 1, wherein: the buffer hopper and the weighing hopper share one support and are fixedly arranged on a frame of the main trolley.

9. The automatic bulk Chinese herbal medicine picking and dispensing apparatus as claimed in claim 1, wherein: and the weighing hopper is provided with a weighing sensor, and the discharge ports of the buffer hopper and the weighing hopper are respectively provided with an electromagnetic rod for control.

10. The automatic bulk Chinese herbal medicine picking and dispensing apparatus as claimed in claim 2, wherein: the power units for driving the rotating main shaft, the main trolley to move in a reciprocating manner and the medicine bag stand trolley to move in a reciprocating manner are all stepping motors; the electric cylinder is a servo electric cylinder;

the electric control system comprises a human-computer interaction interface, a PLC (programmable logic controller), stepping drivers correspondingly and electrically connected with the stepping motors and a servo controller correspondingly and electrically connected with the servo electric cylinder; the stepping drivers, the servo controller, the electromagnetic rods arranged on the discharge ports of the buffer hopper and the weighing hopper, the weighing sensors arranged on the weighing hopper and the charge level detectors arranged in the cartridges are respectively electrically connected with the PLC; the human-computer interaction interface is in communication connection with the PLC.

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