CN113816061A

CN113816061A - Automatic medicine cutting and dispensing system for small traditional Chinese medicine packages, medicine feeding control method and medicine dispensing control method

Info

Publication number: CN113816061A
Application number: CN202111239369.4A
Authority: CN
Inventors: 汪应龙; 陈杰; 沈伟; 徐克�; 袁锦州
Original assignee: Yihulu Technology Suzhou Co ltd
Current assignee: Yihulu Technology Suzhou Co ltd
Priority date: 2021-10-25
Filing date: 2021-10-25
Publication date: 2021-12-21
Anticipated expiration: 2041-10-25
Also published as: CN113816061B

Abstract

The invention relates to an automatic medicine cutting and dispensing system, a medicine feeding control method and a medicine dispensing control method for small traditional Chinese medicine packages, which comprise a rack, wherein the rack is built by sectional materials and forms a plurality of accommodating positions for placing medicine frames; the medicine frame is used for containing a coil material formed by small packaged traditional Chinese medicines and can deliver the medicines to the outer side of the medicine frame; the medicine frame conveying unit is used for conveying the medicine frames to the medicine feeding position; the medicine frame lifting unit is used for receiving the medicine frames in the medicine frame conveying unit and conveying the medicine frames to a specified accommodating position; the packaging and shearing unit is arranged on one side of the accommodating position and is used for cutting the roll materials into small packages; and the package conveying unit receives the small package and conveys the small package to the medicine discharging position. The system can automatically cut the traditional Chinese medicine packaged by the roll into small packages, and can directly gather the needed traditional Chinese medicine according to the prescription prescribed by a doctor; the whole system realizes the automatic processes of medicine feeding, shearing, medicine discharging and the like, and can improve the rapidness and convenience of traditional Chinese medicine distribution.

Description

Automatic medicine cutting and dispensing system for small traditional Chinese medicine packages, medicine feeding control method and medicine dispensing control method

Technical Field

The invention relates to the technical field of traditional Chinese medicine distribution equipment, in particular to an automatic medicine cutting and distributing system for small traditional Chinese medicine packages, a medicine feeding control method and a medicine distributing control method.

Background

Traditional Chinese medicine is traditional Chinese medicine, which is a specific medicine of traditional Chinese medicine in China, at present, traditional Chinese medicine taking is generally carried out in two modes, firstly, a doctor takes medicine in a traditional Chinese medicine store in a manual weighing mode according to a prescription, secondly, the doctor distributes a small-package traditional Chinese medicine combination in a traditional Chinese medicine hospital manually according to the prescription, and the doctor needs to manually cut roll material traditional Chinese medicine packages into small packages in the distribution process, the first mode is low in medicine taking efficiency and only suitable for being sold in traditional Chinese medicine stores beside street corners and roads, the second mode is obviously higher in efficiency compared with the first mode, but still needs to be manually operated, and the doctor is easy to fatigue in the long-time operation process, so that traditional Chinese medicine distribution errors are caused, and the medicine taking safety problem is easy to occur.

Therefore, there is a need for a system for dispensing traditional Chinese medicine that can solve the above problems.

Disclosure of Invention

The invention aims to solve the technical problem of providing a small traditional Chinese medicine package automatic slitting and dispensing system, a medicine feeding control method and a medicine dispensing control method which realize automatic medicine dispensing and have higher efficiency.

The technical scheme adopted by the invention for solving the technical problems is as follows: an automatic medicine cutting and dispensing system for small packages of traditional Chinese medicines comprises

The rack is built by sectional materials and forms a plurality of accommodating positions for placing the medicine frames;

the medicine frame is used for containing a coil material formed by small packaged traditional Chinese medicines and can deliver the medicines to the outer side of the medicine frame;

the medicine frame conveying unit is used for conveying the medicine frames to the medicine feeding position;

the medicine frame lifting unit is used for receiving the medicine frames in the medicine frame conveying unit and conveying the medicine frames to a specified accommodating position;

the packaging and shearing unit is arranged on one side of the accommodating position and is used for cutting the roll materials into small packages;

the package conveying unit receives the small package and conveys the small package to a medicine discharging position;

the medicine frame is carried the coil stock to packing shearing unit department and is sheared into the small package, and the small package drops to packing conveying unit department, and packing conveying unit transports the small package to the position of going out the medicine.

Further specifically, the frame include the frame of being built by a plurality of section bars, set up a plurality of medicine frame locating plates on the frame, every adjacent two medicine frame locating plates constitute one and hold the position in a plurality of medicine frame locating plates on same horizontal plane.

Further specifically, the medicine frame includes the frame body, set up the chamber that holds in the frame body, set up in holding the reference column that the chamber central point put, set up in holding the discharge gate of chamber one side and being located the packing output assembly that discharge gate department was used for the coil stock to derive.

Further specifically, the medicine frame conveying unit comprises a frame feeding assembly, a first steering assembly, a frame conveying assembly, a second steering assembly and a lower frame assembly in sequence according to the movement direction of the medicine frame, the medicine frame is conveyed to the first steering assembly through the frame feeding assembly, the direction of the medicine frame is adjusted by the first steering assembly, the medicine frame is placed on the frame conveying assembly, the medicine frame is conveyed to the second steering assembly through the frame conveying assembly, and the medicine frame is conveyed to the lower frame assembly through the second steering assembly.

Further specifically, the first steering component includes a first steering lifting group arranged on the rack, a first steering rotating group arranged on the first steering lifting group, a first steering belt group arranged on the first steering rotating group, and a first steering positioning group arranged on the first steering rotating group, and the first steering positioning group is used for positioning the medicine frame.

Further specifically, the first steering positioning group comprises a steering positioning plate, a movable positioning plate, a positioning pin and a guide rail sliding block group, wherein the steering positioning plate is fixed on the first steering lifting group, the movable positioning plate is arranged on the movable positioning plate, the guide rail sliding block group is arranged between the steering positioning plate and the movable positioning plate, a steering positioning rack is arranged on the movable positioning plate, a steering positioning motor is arranged on the steering positioning plate, a steering positioning gear is arranged on the steering positioning motor, and the steering positioning rack is matched with the steering positioning gear.

Further specifically, send frame subassembly including set up in the frame send frame belt assembly and the drive to send the frame motor of frame belt assembly motion send the belt of frame belt assembly on be provided with a plurality of locating plates that send, send frame locating plate to be the L type, per two send frame locating plate to set up in opposite directions and form and send the frame position, the medicine frame sets up in sending the frame position, send frame locating plate both ends all to the frame deflector that send that the outside was opened.

Further specifically, the second turns to the subassembly and turns to the lift group and set up the second that turns to on the lift group including setting up the second in the frame and turn to the belt group, the second turns to the belt group and turns to motor drive through the second, the second turns to the lift group and turns to lift frame, set up the second in the frame and turns to lift motor, turn to the cam group that lift motor is connected with the second including the second, the cam group drive second turn to belt group up-and-down motion.

Further specifically, the medicine frame lifting unit comprises a mechanical arm for grabbing the medicine frame, a horizontal movement assembly for driving the mechanical arm to move horizontally and a vertical movement assembly for driving the mechanical arm to move vertically.

Further specifically, the horizontal motion assembly comprises a ground rail and a sky rail, the vertical motion assembly is arranged between the ground rail and the sky rail and can horizontally move between the ground rail and the sky rail, a first horizontal moving rack is arranged on the ground rail, a horizontal moving motor is arranged on the vertical motion assembly, a first horizontal moving gear is arranged on the horizontal moving motor, and the first horizontal moving gear is matched with the first horizontal moving rack.

Further specifically, the vertical motion subassembly include vertical motion support and be used for driving the vertical motion group of manipulator up-and-down motion, vertical motion group including set up the vertical motion belt assembly on vertical motion support and the vertical motion motor of the motion of drive vertical motion belt assembly.

Further specifically, the manipulator comprises a vertical movable frame capable of moving up and down in the vertical movable frame, a grabbing assembly arranged on the vertical movable frame and a grabbing motor for driving the grabbing assembly to move, and the vertical movable frame is used for storing the medicine frames.

Further specifically, the grabbing components are oppositely arranged in two groups, each group of grabbing components comprises a grabbing fixed plate, a first grabbing movable plate and a second grabbing movable plate, the grabbing fixed plate is fixed on the vertical movable frame, a slide rail slider group is arranged between the grabbing fixed plate and the first grabbing movable plate, a slide rail slider group is arranged between the first grabbing movable plate and the second grabbing movable plate, a first grabbing belt pulley and a second grabbing belt pulley are arranged on the first grabbing movable plate, the first grabbing belt pulley and the second grabbing belt pulley are respectively arranged at two ends of the first grabbing movable plate, a first grabbing belt is arranged on the first grabbing belt pulley, and two ends of the first grabbing belt are respectively arranged on the grabbing fixed plate and the second grabbing movable plate; the second belt pulley on be provided with the second and snatch the belt, the second both ends of snatching the belt set up respectively in snatching fixed plate and second and snatch the fly leaf, the first fly leaf of snatching through snatching motor drive.

Further specifically, the second grabbing movable plate is provided with a grabbing rotary motor, and the head of the grabbing rotary motor is provided with a grabbing hook.

Further specifically, a buffer frame is arranged on the vertical movable frame, and the buffer frame can move on the vertical movable frame.

Further specifically, the buffer memory frame including remove the frame and fix the buffer memory frame on removing the frame, be provided with slide rail sliding block set between removal frame and the vertical movable frame remove to put up and be provided with the buffer memory rack vertical movable frame on be provided with the buffer memory motor on set up the buffer memory gear, buffer memory gear and buffer memory rack cooperation.

More specifically, the package cutting unit comprises a cutting bracket arranged on the frame and a movable knife group capable of moving on the cutting bracket.

Further specifically, the shearing support comprises two shearing fixing plates which are arranged oppositely and a shearing guide pillar arranged between the two shearing fixing plates, the movable knife group is arranged on the shearing guide pillar, and the movable knife group comprises a shearing moving plate, an electromagnet assembly for driving the shearing moving plate and a cutter arranged on the shearing moving plate.

Further specifically, the shearing moving plate is provided with a shearing and edge pressing group, the shearing and edge pressing group comprises an edge pressing guide sleeve, an edge pressing guide pillar matched with the edge pressing guide sleeve, a shearing movable pressing plate fixed on the edge pressing guide pillar, and an edge pressing reset spring arranged between the edge pressing guide sleeve and the shearing movable pressing plate, and the shearing movable pressing plate is used for pressing coiled materials.

Further specifically, the shearing support on be provided with fast joint plug, fast joint plug and the cooperation of the fast socket that sets up on the medicine frame realize getting electricity and signal transmission.

Further specifically, packing conveying unit including set up in the conveying belt group that holds the position the place ahead and be located the receipt belt group of conveying belt group one end, conveying belt group receive from the little packing that the shearing dropped and carry to receiving belt group, receiving belt group carries little packing to a medicine position.

An automatic medicine feeding control method for small packages of traditional Chinese medicines comprises the following steps,

s1, placing the medicine frame containing the coil materials into a medicine frame conveying unit, and scanning the medicine frame by a code scanner to acquire coil material information;

s2, the control center checks the coil material information and calculates the coordinate position of the coil material needed to be placed to the containing position; meanwhile, the medicine frame conveying unit conveys the medicine frame to a medicine loading position;

s3, the medicine frame lifting unit moves the manipulator to the medicine position, the medicine frame of the medicine position is grabbed to the buffer area of the medicine frame lifting unit, and then the empty medicine frame in the buffer area is placed on the medicine frame conveying unit to be conveyed outwards;

s4, the medicine frame lifting unit moves the mechanical arm to the coordinate position of the accommodating position, firstly, the empty medicine frame on the accommodating position is grabbed to the cache region, then, the medicine frame on the cache region is placed to the accommodating position, and medicine feeding operation is completed.

An automatic medicine dispensing control method for small packages of traditional Chinese medicines comprises the following steps,

d1, the control center receives the traditional Chinese medicine prescription and identifies traditional Chinese medicines and dosage in the traditional Chinese medicine prescription;

d2, determining the containing positions corresponding to the traditional Chinese medicinal materials according to the traditional Chinese medicinal materials, and controlling the medicine output amount of the medicine frame according to the dosage;

d3, the control center controls the packaging and cutting unit to cut the traditional Chinese medicinal materials with required dosage from the coil stock and drop the traditional Chinese medicinal materials onto a belt of the packaging and conveying unit;

d4, forming a plurality of medicine storage areas for storing Chinese medicinal materials on the belt of the packaging and conveying unit, wherein the Chinese medicinal materials of the same Chinese medicinal prescription fall into the same medicine storage area along with the movement of the belt;

d5, the packaging and conveying unit conveys the traditional Chinese medicines of the same traditional Chinese medicine prescription to a medicine outlet position for packaging, and the medicine dispensing operation is completed.

The invention has the beneficial effects that: through the system, the medicine feeding control method and the medicine dispensing control method, the traditional Chinese medicine packaged by the roll can be automatically cut into small packages, and meanwhile, the required traditional Chinese medicine can be directly gathered according to the prescription prescribed by a doctor; the whole system realizes the automatic processes of medicine feeding, shearing, medicine discharging and the like, and can improve the rapidness and convenience of traditional Chinese medicine distribution.

Drawings

FIG. 1 is a schematic diagram of the automatic medicine dispensing system for small packages of traditional Chinese medicines;

FIG. 2 is a schematic view of a portion of the housing of the present invention;

FIG. 3 is an enlarged schematic view of the portion A in FIG. 2;

FIG. 4 is an enlarged schematic view of the portion B in FIG. 2;

FIG. 5 is a schematic view of the structure of the medicine frame of the present invention;

FIG. 6 is a schematic view of the construction of the frame delivery unit of the present invention;

FIG. 7 is an enlarged schematic view of the portion C of FIG. 6;

FIG. 8 is a first schematic structural view of a first steering assembly of the present invention;

FIG. 9 is a second schematic structural view of the first steering assembly of the present invention;

FIG. 10 is a schematic view of a first steering positioning group in accordance with the present invention;

FIG. 11 is a schematic diagram of a combined structure of the frame-feeding buffer assembly, the second steering assembly and the lower frame assembly according to the present invention;

FIG. 12 is a block diagram of a frame-sending cache module according to the present invention;

FIG. 13 is a schematic structural view of a second steering assembly of the present invention;

FIG. 14 is a schematic view of the structure of the medicine frame lifting unit of the present invention;

FIG. 15 is an enlarged schematic view of portion D of FIG. 14;

FIG. 16 is a schematic view of the vertical motion assembly of the present invention;

fig. 17 is an enlarged schematic view of portion E of fig. 16;

FIG. 18 is a first schematic structural view of a robot of the present invention;

FIG. 19 is a second schematic structural view of the robot of the present invention;

FIG. 20 is a schematic view of the robot of the present invention in a configuration I (without a buffer frame);

FIG. 21 is a second schematic structural view of the robot of the present invention (without the buffer frame);

FIG. 22 is a schematic structural view of a grasping element according to the present invention;

FIG. 23 is a schematic structural view of the grasping assembly of the present invention (without the second grasping flap);

FIG. 24 is a block diagram of a cache framework according to the present invention;

FIG. 25 is a first schematic view of the structure of the package cutting unit of the present invention;

FIG. 26 is a second schematic view of the package cutting unit of the present invention;

FIG. 27 is an enlarged view of the portion F of FIG. 26;

fig. 28 is a schematic view of the structure of the package conveying unit of the present invention.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

As shown in figure 1, an automatic small package Chinese medicine separating and dispensing system mainly aims to separate and cut a roll material formed by small packages of Chinese medicines into a plurality of small packages, wherein the roll material formed by the small packages of Chinese medicines is used for packaging required Chinese medicines (such as 5g, 10g and the like) in the small packages in a plastic packaging mode, and the small packages are connected without being separated from each other

A frame 100 constructed of a profile and forming a plurality of receiving positions for placing the medicine frame 200;

the medicine frame 200 is used for containing coil materials and can deliver medicine to the outer side of the medicine frame 200;

a medicine frame conveying unit 300 for conveying the medicine frame 200 to a medicine feeding position;

a medicine frame lifting unit 400 for receiving the medicine frame 200 in the medicine frame conveying unit 300 and conveying the medicine frame 200 to a designated accommodating position;

the packaging and cutting unit 500 is arranged on one side of the accommodating position and is used for cutting the roll materials into small packages;

a pack conveying unit 600 that receives the small pack and conveys it to a medicine discharge position;

the system can realize automatic medicine feeding and medicine discharging, wherein the process of the medicine feeding process is that a full medicine frame is placed into the medicine frame conveying unit 300, the medicine frame conveying unit 300 conveys the full medicine frame to the medicine feeding position, at the moment, the medicine frame lifting unit 400 moves to the medicine feeding position and takes the full medicine frame out of the medicine frame conveying unit 300 (the empty medicine frame stored in the medicine frame lifting unit 400 can be placed into the position at the same time), then the full medicine frame is placed into the accommodating position on the rack 100, the empty medicine frame is taken down from the accommodating position and placed into the medicine frame conveying unit 300, and the medicine frame conveying unit 300 conveys the empty medicine frame out; the process of the medicine discharging flow is that the medicine frame 200 sends the coil stock out of the medicine frame 200 and enters the packaging and cutting unit 500, the packaging and cutting unit 500 cuts the small packages from the coil stock, and the small packages fall freely and fall into the packaging and conveying unit 600 to be conveyed to the medicine discharging position.

As shown in fig. 2, the rack 100 includes a frame 110 constructed by a plurality of sectional materials, and a plurality of medicine frame positioning plates 120 disposed on the frame 110, the plurality of medicine frame positioning plates 120 are arranged in an array to be divided into a plurality of layers and a plurality of rows, and a receiving position is formed between every two medicine frame positioning plates 120 in the plurality of medicine frame positioning plates 120 on the same layer, wherein, as shown in fig. 3, the medicine frame positioning plate 120 includes a medicine frame horizontal plate 121 fixed on the sectional materials, a medicine frame vertical plate 122 disposed on the medicine frame horizontal plate 121, a medicine frame limiting plate 123 disposed at one end of the medicine frame vertical plate 122, and a medicine frame guide plate 125 disposed at the other end of the medicine frame vertical plate 122, the medicine frame horizontal plate 121 is divided into two regions by the medicine frame vertical plate 122, the region far away from one side of the sectional materials is a medicine frame positioning region 124, two opposite medicine frame positioning regions 124 form a receiving position for placing the medicine frame 200, the medicine frame 200 enters the receiving position from one end of the medicine frame guide plate 125, the two medicine frame guide plates 125 are in a bell mouth shape, so that the medicine frame 200 can enter conveniently.

The front two sides of the containing position and the section bars on the front side are vertically provided with medicine guide plates and form a cylindrical medicine guide channel 130, and small packages enter the package conveying unit 600 through the medicine guide channel 130 after being cut.

As shown in fig. 5, the medicine frame 200 includes a frame body 210, a containing cavity 220 disposed in the frame body 210, a positioning column 230 disposed at a center of the containing cavity 220, a discharging hole 240 disposed at one side of the containing cavity 220, and a package output assembly 250 located at the discharging hole 240 for outputting a coil material, wherein the center of the coil material is inserted into the positioning column 230 and can rotate around the positioning column 230, and the positioning column 230 is used for positioning the coil material and facilitating discharging; the packaging output assembly 250 comprises a medicine frame motor fixed on the frame body 210, an output control panel connected to the medicine frame motor, a driving gear connected with the medicine frame motor and a plurality of driven gears driven by the driving gear, wherein packaging output rollers are arranged on the driven gears, coil materials are led out of the packaging output rollers in a matched mode, a power interface 260 and a signal control interface 270 are arranged on the output control panel, the power interface 260 is used for supplying power to the medicine frame motor, and the signal control interface 270 is used for receiving control signals sent by a control center so as to control the movement of the medicine frame motor; meanwhile, two grabbing grooves 280 are respectively arranged on two side surfaces of the medicine frame 200, and the grabbing grooves 280 are matched with the mechanical arm 420 for use.

As shown in fig. 6, the medicine frame conveying unit 300 sequentially includes a frame feeding assembly 310, a first steering assembly 320, a frame feeding assembly 330, a second steering assembly 320 and a lower frame assembly 360 according to the moving direction of the medicine frame 200, the medicine frame 200 is fed to the first steering assembly 320 through the frame feeding assembly 310, the first steering assembly 320 adjusts the direction of the medicine frame 200 and puts the medicine frame 200 on the frame feeding assembly 330, the frame feeding assembly 330 transports the medicine frame 200 to the second steering assembly 350, the medicine frame 200 is fed to the lower frame assembly 360 through the second steering assembly 350, a full medicine frame is put on the frame feeding assembly 310, and an empty medicine frame is output by the lower frame assembly 360.

Wherein, advance frame subassembly 310 including advance the frame support, set up advance frame belt group and drive on advancing the frame support advance frame motor that frame belt group moved, be provided with liquid crystal display and be used for setting up the variety and the quantity of adding medicine simultaneously advancing the frame support side, advance the frame support and also build by the section bar and form it and frame 100 as a whole, advance frame belt group including setting up two at least belt pulleys on advancing the frame support and around the belt on the belt pulley, advance frame motor drive belt pulley and rotate.

As shown in fig. 8, the first steering assembly 320 includes a first steering lifting group 321 disposed on the rack 100, a first steering rotating group 322 disposed on the first steering lifting group 321, a first steering belt group 323 disposed on the first steering rotating group 322, and a first steering positioning group 324 disposed on the first steering rotating group 322, wherein the first steering positioning group 324 is used for positioning the medicine frame 200; first, the first turning and lifting group 321 moves upward to lift the first turning belt group 323 to the same height as the frame feeding belt group or slightly lower than the same height, at this time, the first turning belt group 323 is higher than the frame feeding belt group 331 in the frame feeding assembly 330, after the first turning belt group 323 receives the medicine frame 200, the medicine frame 200 is positioned through the first turning and positioning group 324, at this time, the medicine frame 200 is adjusted to the standard medicine feeding direction through the first turning and rotating group 322 according to the placing direction of the medicine frame 200, then the first turning and lifting group 321 descends until the first turning belt group 323 is lower than the frame feeding belt group 331 in the frame feeding assembly 330, and the medicine frame 200 falls on the frame feeding belt group 331 to be fed.

As shown in fig. 8 and 9, the first steering lifting group 321 includes a first steering lifting frame 3211, a screw rod 3212 disposed on the rack 100, a screw nut 3213 disposed on the screw rod 3212, and a first steering lifting motor 3214, the screw nut 3213 is fixed on the first steering lifting frame 3211, the first steering lifting motor 3214 drives the screw rod 3212 to rotate to drive the first steering lifting frame 3211 to move up and down, and the first steering rotating group 322 is disposed on the first steering lifting frame 3211; the first steering rotation group 322 comprises a steering rotation frame 3221, a steering rotation gear group 3222 and a steering rotation motor 3223 for driving the steering rotation gear group 3222 to move, the steering rotation gear group 3222 drives the steering rotation frame 3221 to rotate, the first steering belt group 323 is arranged on the steering rotation frame 3221 and driven by the first steering belt motor, and when the medicine frame 200 is received from the frame entering assembly 310, it is required to ensure that the moving direction of the first steering belt group 323 is consistent with the moving direction of the frame entering belt group; as shown in fig. 10, the first steering positioning group 324 includes a steering positioning plate 3241 fixed on the steering rotating frame 3221, a movable positioning plate 3242, a positioning pin 3243 disposed on the movable positioning plate 3242, and a guide rail slider group disposed between the steering positioning plate 3241 and the movable positioning plate 3242, the movable positioning plate 3242 is provided with a steering positioning rack 3244, the steering positioning plate 3241 is provided with a steering positioning motor 3245, the steering positioning motor 3245 is provided with a steering positioning gear 3246, and the steering positioning rack 3244 is engaged with the steering positioning gear 3246; be provided with in medicine frame 200 bottom with locating pin 3243 complex constant head tank, rotate the position that can guarantee medicine frame 200 again after fixing a position medicine frame 200 and can not squint, raise the efficiency.

As shown in fig. 6 and 7, the frame feeding assembly 330 includes a frame feeding belt set 331 disposed on the rack 100 and a frame feeding motor for driving the frame feeding belt set 331 to move, a plurality of frame feeding positioning plates 332 are disposed on the belt of the frame feeding belt set 331, the frame feeding positioning plates 332 are L-shaped, every two frame feeding positioning plates 322 are oppositely disposed to form a frame feeding position, the medicine frame 200 is disposed in the frame feeding position, frame feeding guide plates 333 opened to the outside are disposed at two ends of the frame feeding positioning plates 332, and the two frame feeding guide plates 333 are in a bell mouth shape to facilitate the medicine frame 200 to enter the frame feeding position.

A frame-feeding buffer assembly 340 is further disposed between the frame-feeding buffer assembly 330 and the second steering assembly 350, and is mainly used for buffering empty medicine frames, so as not to affect the entering of the full medicine frames in the frame-feeding buffer assembly 330, as shown in fig. 11 and 12, the frame-feeding buffer assembly 340 includes a frame-feeding buffer belt set 341 disposed on the rack 100 and a frame-feeding buffer motor 342 driving the frame-feeding buffer belt set 341 to move, frame-feeding buffer positioning plates 343 are disposed on two sides of the movement direction of the frame-feeding buffer belt set 341, and frame-feeding buffer guide plates are disposed on two ends of the frame-feeding buffer positioning plate 343; the height of the frame-feeding buffer belt set 341 is the same as that of the frame-feeding belt set 331, and the height of the frame-feeding buffer belt set 341 is higher than that of the lower frame belt set in the lower frame assembly 360.

As shown in fig. 11 and 13, the second steering assembly 350 includes a second steering lift group 351 disposed on the frame 100 and a second steering belt group 352 disposed on the second steering lift group 351, the second steering belt group 352 is driven by a second steering motor 353, the second steering lift group 351 includes a second steering lift frame 3511, a second steering lift motor 3512 disposed on the frame 100 and a cam group 3513 connected to the second steering lift motor 3512, the cam group 3513 drives the second steering lift frame 3511 to move up and down, the second steering belt group 352 and the second steering motor 353 are disposed on the second steering lift frame 3511, and the moving direction of the second steering belt group 352 is consistent with the moving direction of the frame feeding belt buffer group 341; first, the second steering lifting motor 3512 drives the cam group 3513 to move, so that the second steering lifting frame 3511 moves upwards, the second steering belt group 352 is driven to move upwards, the second steering belt group 352 rises to the height consistent with the height of the frame feeding buffer belt group 341, the second steering motor 353 drives the second steering belt group 352 to move, the medicine frames 200 on the frame feeding buffer assembly 340 enter the second steering belt group 352, then the second steering lifting motor 3512 continues to move, so that the cam group 3513 drives the second steering lifting frame 3511 to move downwards, the second steering belt group 352 descends to the height lower than the lower frame belt group of the lower frame assembly 360, and at the moment, the medicine frames 200 fall on the lower frame belt group.

The lower frame assembly 360 includes a lower frame support, a lower frame belt set disposed on the lower frame support, and a lower frame motor driving the lower frame belt set to move.

The medicine frame lifting unit 400 shown in fig. 14 includes a robot hand 420 for grasping the medicine frame 200, a horizontal movement assembly driving the robot hand 420 to move horizontally, and a vertical movement assembly 410 driving the robot hand 420 to move vertically.

14-17, the horizontal motion assembly includes a ground rail 402 and a top rail 401, the ground rail 402 and the top rail 401 are both disposed on the rack 100, the vertical motion assembly 410 is disposed between the ground rail 402 and the top rail 401 and can move horizontally therebetween, a first horizontal moving rack is disposed on the ground rail 402, a horizontal moving motor 403 is disposed on the vertical motion assembly 410, a first horizontal moving gear 404 (as shown in fig. 17) is disposed on the horizontal moving motor 403, the first horizontal moving gear 404 is engaged with the first horizontal moving rack, the horizontal moving motor 403 moves to drive the first horizontal moving gear 404 to rotate, and the vertical motion assembly 410 moves horizontally between the ground rail 402 and the top rail 401 due to the engagement of the first horizontal moving gear 404 and the first horizontal moving rack; further, in order to ensure that the vertical motion component 410 moves more smoothly, the top and the bottom of the vertical motion component 410 are respectively provided with a horizontal movement group 405, the horizontal movement group 405 comprises a plurality of first horizontal movement rollers 4051 and a plurality of second horizontal movement rollers 4052, the first horizontal movement rollers 4051 are arranged on the top surface of the sky rail 401 or the ground rail 402, namely, the first horizontal movement rollers 4051 are transversely arranged between the rail and the vertical motion component 410, the second horizontal movement rollers 4052 are arranged on the side surface of the sky rail 401 or the ground rail 402, namely, the second horizontal movement rollers 4052 are vertically arranged on the side surface of the rail, the first horizontal movement rollers 4051 ensure that the vertical motion component 410 moves smoothly, and the second horizontal movement rollers 4052 are arranged to ensure that the vertical motion component 410 does not incline and cannot derail.

Further in order to ensure that the vertical motion assembly 410 moves more stably, a second horizontal moving rack is arranged on the sky rail 401, a horizontal moving connecting rod 406 is arranged on the vertical motion assembly 410, the horizontal moving connecting rod 406 is vertically arranged, second horizontal moving gears are arranged at two ends of the horizontal moving connecting rod 406, the second horizontal moving gears correspond to the first horizontal moving rack and the second horizontal moving rack in a one-to-one mode, the weight of the vertical motion assembly 410 can be balanced through the three gears and the racks in a meshed mode, and stability is improved.

As shown in fig. 15 and 16, the vertical motion assembly 410 includes a vertical motion support 411 and a vertical motion group for driving the manipulator 420 to move up and down, the vertical motion group includes a vertical motion belt group 412 disposed on the vertical motion support 411 and a vertical motion motor 413 for driving the vertical motion belt group 412 to move, the vertical motion motor 413 drives the vertical motion belt group 412 to move, and the manipulator 420 is fixed with a belt in the vertical motion belt group 412 and drives the manipulator 420 to realize lifting movement.

As shown in fig. 18 and 19, the manipulator 420 includes a vertical movable frame 421 movable up and down in the vertical movable support 411, a grabbing assembly 422 disposed on the vertical movable frame 421, and a grabbing motor 423 for driving the grabbing assembly 422 to move, wherein the vertical movable frame 421 is used for storing the medicine frame, the grabbing motor 423 drives the grabbing assembly 422 to move to the medicine frame 200, the medicine frame 200 is grabbed by the grabbing assembly 422, and then the grabbing motor 423 moves in the reverse direction, and the grabbing assembly 422 resets and moves the medicine frame 200 into the vertical movable frame 421.

Wherein, two sets of grabbing components 422 are oppositely arranged, as shown in fig. 20-23, each set of grabbing components 422 includes a grabbing fixed plate 4223, a first grabbing movable plate 4222 and a second grabbing movable plate 4221, the grabbing fixed plate 4223 is fixed on the vertical movable frame 421, a sliding rail sliding block set is arranged between the grabbing fixed plate 4223 and the first grabbing movable plate 4222, a sliding rail sliding block set is arranged between the first grabbing movable plate 4222 and the second grabbing movable plate 4221, a first grabbing belt pulley 4224 and a second grabbing belt pulley 4225 are arranged on the first grabbing movable plate 4222, the first grabbing belt pulley 4224 and the second grabbing belt pulley 4225 are respectively arranged at two ends of the first grabbing movable plate 4222, a first grabbing belt 4226 is arranged on the first grabbing belt pulley 4224, and two ends of the first grabbing belt 4226 are respectively arranged on the grabbing fixing plate 4223 and the second grabbing movable plate 4221; a second grabbing belt 4227 is arranged on the second grabbing belt pulley 4225, two ends of the second grabbing belt 4227 are respectively arranged on the grabbing fixed plate 4223 and the second grabbing movable plate 4221, and the first grabbing movable plate 4222 is driven by the grabbing motor 423; a grabbing gear group 424 and a grabbing rack 425 are arranged between the grabbing motor 423 and the first grabbing movable plate 4222, the grabbing rack 425 is arranged at the bottom of the first grabbing movable plate 4222, and the grabbing gear group 424 is matched with the grabbing rack 425; a grabbing rotary motor 4228 is arranged on the second grabbing movable plate 4221, and a grabbing hook 4229 is arranged at the head of the grabbing rotary motor 4228.

When the medicine frame 200 needs to be grabbed, the grabbing motor 423 rotates forward to drive the grabbing gear set 424 to move, the grabbing gear set 424 is meshed with the grabbing rack 425 to drive the first grabbing movable plate 4222 to move towards the position of the medicine frame 200, at the moment, due to the fact that the first grabbing belt pulley 4224 is matched with the first grabbing belt 4226, the first grabbing movable plate 4222 pushes the first grabbing belt 4226 to move forwards, the first grabbing belt 4226 is forced to drive the second grabbing movable plate 4221 to move forwards, the moving speed of the second grabbing movable plate 4221 is faster than that of the first grabbing movable plate 4222, then the second grabbing movable plate 4221 moves to two sides of the medicine frame 200, and at the moment, the grabbing rotary motor 4228 moves to enable the grabbing hook 4229 to rotate into the grabbing groove 280 in the medicine frame 200; then the grabbing motor 423 rotates reversely to drive the grabbing gear group 424 to move, the grabbing gear group 424 drives the first grabbing movable plate 4222 to move in the opposite direction, at this time, the second grabbing belt 4225 is matched with the second grabbing belt 4227, the first grabbing movable plate 4222 pushes the second grabbing belt 4227 to move in the opposite direction, the second grabbing belt 4227 is forced to drive the second grabbing movable plate 4221 to move in the opposite direction, the first grabbing movable plate 4222 and the second grabbing movable plate 4221 can reset at the same time, at this time, the medicine frame 200 is grabbed to the vertical movable frame 421 for storage, then the manipulator 420 can be transported to the rear of the appointed accommodating position through the horizontal moving assembly and the vertical moving assembly 410, after the medicine frame 200 is placed to the accommodating position through the moving mode, the grabbing hook 4229 is rotated, and the grabbing assembly 420 can reset for next operation.

In this scheme, set up medicine frame lift unit 400 in frame 100 middle part for medicine frame lift unit 400 both sides all have the position of holding, need also be provided with at the other end that the second snatched fly leaf 4221 at this moment and snatch the rotating electrical machines 4228 and snatch the colluding hand 4229, realize holding the position to the opposite side and go on upper ledge and lower frame.

Further, in order to be able to guarantee that two medicine frames 200 can be stored at least in vertical movable frame 421, make things convenient for frame and lower frame, reduce medicine frame lifting unit 400's motion route and save time, so set up buffer memory frame 426 on vertical movable frame 421, wherein buffer memory frame 426 can move on vertical movable frame 421, set up two at least buffer memory position simultaneously on buffer memory frame 426, will place different buffer memory position in grabbing subassembly 420 department through reciprocating of buffer memory frame 426, it can operate medicine frame 200 to grab subassembly 420.

As shown in fig. 24, the buffer frame 426 includes a moving frame 4261 and a buffer frame 4262 fixed on the moving frame 4261, a sliding rail slider group is arranged between the moving frame 4261 and the vertical movable frame 421, a buffer rack 427 is arranged on the moving frame 4261, a buffer motor 428 is arranged on the vertical movable frame 421, a buffer gear 429 is arranged on the buffer motor 428, the buffer gear 429 is matched with the buffer rack 427, the buffer motor 428 moves to drive the buffer gear 429 to move, and further to drive the buffer rack 427 to move, and the buffer rack 427 is fixed on the moving frame 4261 to drive the moving frame 4261 to move up and down, so that the moving frame 4261 drives the buffer frame 4262 to move up and down; cache frame 4262 is including being fixed in two cache boards on removing frame 4261, setting up the L type cache locating plate 4263 on two cache boards, L type cache locating plate 4263 set up a plurality of and two liang of relative settings, two L type cache locating plates 4263 that set up relatively constitute the cache position.

As shown in fig. 4, 25 and 26, the package shearing unit 500 includes a shearing bracket disposed on the frame 100 and a movable knife group capable of moving on the shearing bracket, wherein the shearing bracket includes two shearing fixing plates 501 disposed opposite to each other, and a shearing guide pillar 502 disposed between the two shearing fixing plates 501, wherein there are at least two shearing guide pillars 502, the movable knife group is disposed on the shearing guide pillar 502, and the two shearing guide pillars 502 are designed to ensure the smoothness of the movement of the movable knife group; the movable knife group comprises a shearing moving plate 503, an electromagnet assembly 504 for driving the shearing moving plate 503 and a knife 505 arranged on the shearing moving plate 503, the shearing moving plate 503 is arranged on the shearing guide pillar 502 and can slide on the shearing guide pillar 502, and the shearing moving plate 503 is arranged on the shearing guide pillar 502 through a shearing guide sleeve 506; the electromagnet assembly 504 drives the shearing moving plate 503 to slide on the shearing guide post 502, and when the cutter 505 is in contact with the coiled material, the coiled material can be quickly cut into small packages, so that automatic material cutting is realized; further, in order to facilitate the cutting of the cutter 505, the movable cutter sets are arranged oppositely, that is, the tips of the two movable cutter sets are opposite, and the roll material is cut by matching the two cutters.

In order to conveniently and quickly cut, the two cutters 505 are respectively designed in an inclined mode, the inclined directions of the two cutters 505 are different, and two opposite cutter points are inclined inwards, namely the tip parts of the cutter edges are firstly contacted with a coiled material, so that the cutting effect can be easily realized, the inclined angle is 3-8 degrees, preferably 4 degrees, and the coiled material can be quickly cut in the angle ranges; in the scheme, two cutters 505 are arranged in an axisymmetric mode; when the cutters 505 are mounted, one cutter 505 is fixed in a forward direction, and the other cutter 505 is fixed in a reverse direction, namely, the directions of the surfaces of the two cutters 505 are opposite, and the opposite surfaces can well realize the shearing task.

During the shearing task, in order to ensure the accurate shearing position, an elastic shearing and edge pressing group is arranged on the shearing moving plate 503, as shown in fig. 27, the shearing and edge pressing group comprises an edge pressing guide sleeve 507 arranged on the shearing moving plate 503, an edge pressing guide pillar 508 matched with the edge pressing guide sleeve 507, a shearing movable pressing plate 509 fixed on the edge pressing guide pillar 508, and an edge pressing return spring arranged between the edge pressing guide sleeve 507 and the shearing movable pressing plate 509, wherein the shearing movable pressing plate 509 is used for pressing the coil stock; in the shearing process, the two shearing moving plates 503 move oppositely, firstly, the two shearing moving pressing plates 509 contact with the coil materials firstly and press the coil materials through the action of the blank pressing return spring, when the shearing moving plates 503 continue to move, the shearing moving pressing plates 509 push the blank pressing return spring to contract, the shearing moving pressing plates 509 do not move any more, at the moment, the cutter 505 continues to move, when the cutter 505 exceeds the shearing moving pressing plates 509, the cutter is in contact with the coil materials to realize shearing, and when the shearing moving plates 503 reversely move, the shearing moving pressing plates 509 return under the action of the blank pressing return spring, and the next shearing operation can be carried out.

Further, a shearing through groove 510 is formed in the shearing movable pressing plate 509, the cutter 505 can penetrate through the shearing through groove 510 to realize shearing operation, the shearing position can be easily controlled by adopting the design of the shearing through groove 510, and the shearing efficiency and the shearing precision are improved.

In order to facilitate rapid power-on and signal transmission of the medicine frame 200 after the medicine frame 200 enters the accommodating position, a quick-connection plug 511 is arranged on the shearing bracket, the quick-connection plug 511 is matched with a power interface 260 and a signal control interface 270 arranged on the medicine frame 200 to achieve power-taking and signal transmission, the power interface 260 and the signal control interface 270 are integrated into a quick-connection socket, and the quick-connection socket is directly matched and plugged with the quick-connection plug 511 when the medicine frame 200 enters the accommodating position.

As shown in fig. 28, the package conveying unit 600 includes a conveying belt set 601 disposed in front of the accommodating position and a receiving belt set located at one end of the conveying belt set 601, the conveying belt set 601 receives the cut and dropped small packages and conveys the small packages to the receiving belt set, and the receiving belt set conveys the small packages to the medicine discharging position; wherein, a plurality of baffle strips 606 with equal distance are arranged on the surface of the belt of the conveying belt group 601, the distance between the adjacent baffle strips 606 is required to be larger than the medicine guide channel 130, and a pair of traditional Chinese medicines can be placed between the two baffle strips 606; a plurality of barrier strips are also arranged on the belts of the receiving belt group, the receiving belt group comprises a horizontal belt group 602 and an inclined belt group 603, the horizontal belt group 602 is lower than the conveying belt group 601 in height, and the inclined belt group 603 conveys the small packages on the horizontal belt group 602 to the medicine discharging position.

A medicine delivery lifting machine 604 is arranged at the medicine outlet position, a medicine outlet window is arranged on the rack 100, and the medicine delivery lifting machine 604 receives the small package sent by the inclined belt group 603 and lifts the small package to the medicine outlet window for an operator to take medicine; the medicine conveying hoister 604 comprises a lifting belt group arranged on the rack 100 and a medicine conveying belt group arranged on the lifting belt group, small packages fall onto the medicine conveying belt group, and the medicine conveying belt group is conveyed to a medicine outlet window by the lifting belt group; a medicine discharging belt group 605 is arranged at the medicine discharging window, and the medicine conveying belt group conveys the small packages to the medicine discharging belt group 605 to finish the medicine discharging operation.

In conclusion, the system can automatically cut the traditional Chinese medicine packaged by the roll material into small packages, and can directly gather the needed traditional Chinese medicine according to the prescription prescribed by a doctor; firstly, in the process of medicine feeding, the medicine feeding assembly 310 in the medicine frame conveying unit 300 is matched with a display to input medicine information and medicine frames, then the position of the medicine frame 200 is adjusted through the first steering assembly 320 to be in line with the medicine feeding direction, then the medicine frame 200 is conveyed to the medicine feeding position through the medicine conveying assembly 330, the medicine frame 200 is grabbed to the medicine feeding position through the movable manipulator 420 and conveyed to a designated accommodating position, and the whole medicine feeding process is completed; in the medicine discharging process, the coil package is conveyed to a cutter 505 of a package cutting unit 500 through a medicine frame 200 for cutting operation, the cut small packages enter a conveying belt group 601 in the package conveying unit 600 along a material guide channel 130, then enter a receiving belt group, and finally the small packages are output to a medicine discharging window through a medicine conveying hoister 604; the whole system realizes the automatic processes of medicine feeding, shearing, medicine discharging and the like, and can improve the rapidness and convenience of traditional Chinese medicine distribution.

It is to be emphasized that: the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.

Claims

1. An automatic medicine cutting and dispensing system for small packages of traditional Chinese medicines is characterized by comprising

The rack (100) is built by sectional materials and forms a plurality of accommodating positions for placing the medicine frame (200);

a medicine frame (200) for holding a coil material formed by small packaged traditional Chinese medicines and delivering the medicines to the outer side of the medicine frame (200);

a medicine frame conveying unit (300) for conveying the medicine frame (200) to a medicine feeding position;

a medicine frame lifting unit (400) which receives the medicine frame (200) in the medicine frame conveying unit (300) and conveys the medicine frame (200) to a specified accommodating position;

the packaging and cutting unit (500) is arranged on one side of the accommodating position and is used for cutting the roll materials into small packages;

a package conveying unit (600) for receiving the small package and conveying the small package to a medicine discharging position;

the medicine frame (200) conveys the coil stock to a package shearing unit (500) to be sheared into small packages, the small packages fall to a package conveying unit (600), and the package conveying unit (600) conveys the small packages to a 350 medicine discharging position.

2. The automatic small traditional Chinese medicine package dividing and dispensing system according to claim 1, wherein the rack (100) comprises a frame (110) constructed by a plurality of sectional materials, and a plurality of medicine frame positioning plates (120) arranged on the frame (110), and each two adjacent medicine frame positioning plates (120) in the plurality of medicine frame positioning plates (120) on the same horizontal plane form a containing position.

3. The automatic small traditional Chinese medicine packaging and dispensing system as claimed in claim 1, wherein the medicine frame (200) comprises a frame body (210), a containing cavity (220) arranged in the frame body (210), a positioning column (230) arranged at the center of the containing cavity (220), a discharge hole (240) arranged at one side of the containing cavity (220), and a packaging output assembly (250) located at the discharge hole (240) and used for guiding out a coil stock.

4. The automatic small traditional Chinese medicine package separate dispensing system of claim 1, wherein the medicine frame conveying unit (300) comprises a frame feeding assembly (310), a first steering assembly (320), a frame feeding assembly (330), a second steering assembly (350) and a lower frame assembly (360) in sequence according to the movement direction of the medicine frame (200), the medicine frame (200) is fed to the first steering assembly (320) through the frame feeding assembly (310), the first steering assembly (320) adjusts the direction of the medicine frame (200) and puts the medicine frame (200) on the frame feeding assembly (330), the frame feeding assembly (330) conveys the medicine frame (200) to the second steering assembly (350), and the medicine frame (200) is fed to the lower frame assembly (360) through the second steering assembly (350).

5. The automatic small herbal medicine packaging and dispensing system of claim 4, wherein the first turning assembly (320) comprises a first turning and lifting group (321) disposed on the rack (100), a first turning and rotating group (322) disposed on the first turning and lifting group (321), a first turning belt group (323) disposed on the first turning and rotating group (322), and a first turning and positioning group (324) disposed on the first turning and rotating group (322), and the first turning and positioning group (324) is used for positioning the medicine frame (200).

6. The automatic small traditional Chinese medicine package dividing and dispensing system according to claim 5, wherein the first turning and positioning group (324) comprises a turning and positioning plate (3241) fixed to the first turning and lifting group (321), a movable positioning plate (3242), a positioning pin (3243) arranged on the movable positioning plate (3242), and a guide rail slider group arranged between the turning and positioning plate (3241) and the movable positioning plate (3242), the movable positioning plate (3242) is provided with a turning and positioning rack (3244), the turning and positioning plate (3241) is provided with a turning and positioning motor (3245), the turning and positioning motor (3245) is provided with a turning and positioning gear (3246), and the turning and positioning rack (3244) is matched with the turning and positioning gear (3246).

7. The automatic small traditional Chinese medicine package dividing and dispensing system according to claim 4, wherein the frame conveying assembly (330) comprises a frame conveying belt set (331) arranged on the rack (100) and a frame conveying motor for driving the frame conveying belt set (331) to move, a plurality of frame conveying positioning plates (332) are arranged on a belt of the frame conveying belt set (331), the frame conveying positioning plates (332) are L-shaped, every two frame conveying positioning plates (332) are oppositely arranged to form a frame conveying position, the medicine frame (200) is arranged in the frame conveying position, and two end portions of each frame conveying positioning plate (332) are provided with frame conveying guide plates (333) which are opened towards the outside.

8. The automatic small herbal medicine separating and dispensing system of claim 4, wherein the second diverting assembly (350) comprises a second diverting lifting group (351) disposed on the machine frame (100) and a second diverting belt group (352) disposed on the second diverting lifting group (351), the second diverting belt group (352) is driven by a second diverting motor (353), the second diverting lifting group (351) comprises a second diverting lifting frame (3511), a second diverting lifting motor (3512) disposed on the machine frame (100), and a cam group (3513) connected with the second diverting lifting motor (3512), and the cam group (3513) drives the second diverting belt group (352) to move up and down.

9. The automatic small herbal medicine packing and dispensing system according to claim 1, wherein the medicine frame lifting unit (400) comprises a manipulator (420) for grasping the medicine frame (200), a horizontal movement assembly for driving the manipulator (420) to move horizontally, and a vertical movement assembly (410) for driving the manipulator (420) to move vertically.

10. The automatic small traditional Chinese medicine packaging separate dispensing system according to claim 9, wherein the horizontal movement assembly comprises a ground rail (402) and a top rail (401), the vertical movement assembly (410) is arranged between the ground rail (402) and the top rail (401) and can move horizontally therebetween, a first horizontal movement rack is arranged on the ground rail (402), a horizontal movement motor (403) is arranged on the vertical movement assembly (410), a first horizontal movement gear (404) is arranged on the horizontal movement motor (403), and the first horizontal movement gear (404) is matched with the first horizontal movement rack.

11. The automatic small traditional Chinese medicine packaging and separating medicine dispensing system according to claim 9, wherein the vertical motion assembly (410) comprises a vertical motion bracket (411) and a vertical motion group for driving the manipulator (420) to move up and down, and the vertical motion group comprises a vertical motion belt group (412) arranged on the vertical motion bracket (411) and a vertical motion motor (413) for driving the vertical motion belt group (412) to move.

12. The automatic small traditional Chinese medicine packaging dividing and dispensing system according to claim 9, wherein the manipulator (420) comprises a vertical movable frame (421) which can move up and down in the vertical movable assembly (410), a grabbing assembly (422) which is arranged on the vertical movable frame (421), and a grabbing motor (423) which drives the grabbing assembly (422) to move, and the vertical movable frame (421) is used for storing the medicine frame (200).

13. The automatic small traditional Chinese medicine packaging separate dispensing system according to claim 12, wherein the two sets of grabbing components (422) are arranged oppositely, each set of grabbing components (422) comprises a grabbing fixed plate (4223), a first grabbing movable plate (4222) and a second grabbing movable plate (4221), the grabbing fixed plate (4223) is fixed on the vertical movable frame (421), a sliding rail slider set is arranged between the grabbing fixed plate (4223) and the first grabbing movable plate (4222), a sliding rail slider set is arranged between the first grabbing movable plate (4222) and the second grabbing movable plate (4221), a first grabbing belt pulley (4224) and a second grabbing belt pulley (4225) are arranged on the first grabbing movable plate (4222), the first grabbing belt pulley (4224) and the second grabbing belt pulley (4225) are respectively arranged at two ends of the first grabbing movable plate (4222), a first grabbing belt (4226) is arranged on the first grabbing belt pulley (4224), and two ends of the first grabbing belt (4226) are respectively arranged on the grabbing fixing plate (4223) and the second grabbing movable plate (4221); the second grabbing belt (4227) is arranged on the second belt pulley (4225), two ends of the second grabbing belt (4227) are respectively arranged on the grabbing fixing plate (4223) and the second grabbing movable plate (4221), and the first grabbing movable plate (4222) is driven by the grabbing motor (423).

14. The automatic small Chinese medicine package separating and dispensing system according to claim 13, wherein a grabbing rotary motor (4228) is provided on the second grabbing movable plate (4221), and a grabbing hook (4229) is provided at a head of the grabbing rotary motor (4228).

15. The automatic small herbal medicine packaging and dispensing system according to claim 12, wherein a buffer frame (426) is disposed on the vertical movable frame (421), and the buffer frame (426) can move on the vertical movable frame (421).

16. The automatic small traditional Chinese medicine packaging dividing and dispensing system according to claim 15, wherein the buffer frame (426) comprises a moving frame (4261) and a buffer frame (4262) fixed on the moving frame (4261), a sliding rail slider group is arranged between the moving frame (4261) and the vertical movable frame (421), a buffer rack (427) is arranged on the moving frame (4261), a buffer motor (428) is arranged on the vertical movable frame (421), a buffer gear (429) is arranged on the buffer motor (428), and the buffer gear (429) is matched with the buffer rack (427).

17. The automatic small herbal medicine packaging and dispensing system of claim 1, wherein the packaging and cutting unit (500) comprises a cutting frame disposed on the frame (100) and a movable knife assembly movable on the cutting frame.

18. The automatic small herbal medicine cutting and dispensing system according to claim 17, wherein the cutting frame comprises two oppositely disposed cutting fixing plates (501), a cutting guide pillar (502) disposed between the two cutting fixing plates (501), the moving knife set is disposed on the cutting guide pillar (502), the moving knife set comprises a cutting moving plate (503), an electromagnet assembly (504) for driving the cutting moving plate (503), and a knife (505) disposed on the cutting moving plate (503).

19. The automatic small traditional Chinese medicine package dividing and cutting system according to claim 18, wherein a cutting and pressing set is disposed on the cutting moving plate (503), the cutting and pressing set includes a pressing guide sleeve (507), a pressing guide post (508) engaged with the pressing guide sleeve (507), a cutting movable pressing plate (509) fixed to the pressing guide post (508), and a pressing return spring disposed between the pressing guide sleeve (507) and the cutting movable pressing plate (509), and the cutting movable pressing plate (509) is used for pressing the coil material.

20. The automatic small traditional Chinese medicine package dispensing system according to claim 17, wherein a quick-connect plug (511) is arranged on the shearing bracket, and the quick-connect plug (511) is matched with a quick-connect socket arranged on the medicine frame (200) to achieve power taking and signal transmission.

21. The automatic small traditional Chinese medicine package dispensing system according to claim 1, wherein the package conveying unit (600) comprises a conveying belt set (601) arranged in front of the containing position and a receiving belt set arranged at one end of the conveying belt set (601), the conveying belt set (601) receives the small packages dropped from the cutter and conveys the small packages to the receiving belt set, and the receiving belt set conveys the small packages to the medicine discharging position.

22. An automatic medicine feeding control method for small packages of traditional Chinese medicines is characterized by comprising the following steps,

23. An automatic medicine dispensing control method for small packages of traditional Chinese medicines is characterized by comprising the following steps,