CN113953204A

CN113953204A - Automatic medicine box identification and sorting device and working method thereof

Info

Publication number: CN113953204A
Application number: CN202111086771.3A
Authority: CN
Inventors: 袁斌; 陈琛; 王辉
Original assignee: Zhejiang Lover Health Science and Technology Development Co Ltd
Current assignee: Zhejiang Lover Health Science and Technology Development Co Ltd
Priority date: 2021-09-16
Filing date: 2021-09-16
Publication date: 2022-01-21

Abstract

The invention discloses an automatic medicine box identification and sorting device and a working method thereof; the identification sorting device comprises a rack, and a conveying and pushing device, a grabbing and correcting device and a pushing and identification device which are arranged on the rack in sequence. The conveying and pushing device comprises a first conveyor and a layer-by-layer pushing assembly; the conveying and pushing device comprises a first conveyor and a layer-by-layer pushing assembly; the layer-by-layer material pushing assembly comprises a storage bin, a push plate and a first air cylinder. The pushing recognition device comprises a horizontal pushing assembly and an image acquisition assembly. The horizontal pushing assembly comprises a second double-rod cylinder, a rotating shaft, a shaft support bottom plate, a comb plate and a second pushing strip. According to the invention, the medicine boxes are positioned through the V-shaped grooves, and the inclined medicine boxes are adjusted to be in a horizontal state by matching of the two overturned comb plates, so that the medicine boxes can enter the image acquisition assembly one by one in the same tidy posture; the accuracy of image acquisition is improved, and the subsequent warehousing operation of the medicine boxes is facilitated.

Description

Automatic medicine box identification and sorting device and working method thereof

Technical Field

The invention belongs to the field of medical equipment, and particularly relates to an automatic medicine box identification and sorting device and a working method thereof.

Background

At present, the medicine sorting mode of a hospital pharmacy and a medicine store is mainly zero-disassembling manual sorting, and mainly comprises manual code scanning, input and medicine box sorting. The selection mode has low efficiency, high labor intensity and easy error, can not meet the requirements of high efficiency and high standard of modern society, is a future trend along with the improvement of comprehensive national power of China to develop social security and public health care and promote the informatization of medical institutions, and has an increasingly urgent need for the automatic medicine sorting technology. Therefore, the automatic medicine box identification and sorting device is provided, the automatic medicine box orderly arrangement randomly placed can be realized, automatic code scanning identification is further realized, and compared with the traditional manual operation, the automatic medicine box identification and sorting device can effectively improve the production and manufacturing efficiency and greatly reduce the utilization of human resources.

Disclosure of Invention

The invention aims to provide an automatic medicine box identification and sorting device and a working method thereof.

The invention relates to an automatic medicine box identification and sorting device which comprises a rack, and a conveying and pushing device, a grabbing and correcting device and a pushing and identifying device which are arranged on the rack in sequence. The conveying and pushing device comprises a first conveyor and a layer-by-layer pushing assembly; the layer-by-layer material pushing assembly is arranged below the output end of the first conveyor. The layer-by-layer material pushing assembly comprises a storage bin, a push plate and a first air cylinder. The storage bin is disposed below the output end of the first conveyor. The medicine boxes output by the first conveyor fall into the storage bin. The inner cavity bottom surface of the storage bin is obliquely arranged. The push plate capable of sliding obliquely is arranged at the bottom of the inner cavity of the storage bin and is driven by the first air cylinder. The distance from the top surface of the push plate to the bottom surface of the inner cavity of the storage bin is smaller than the minimum value of the thickness of the medicine box.

The grabbing correction device comprises a second conveyor, a first fixing plate, a second fixing plate, a mechanical arm assembly and a pushing output assembly. The input end of the second conveyor is located at the outlet of the storage silo. The push output assembly comprises a first double-rod cylinder, a V-shaped groove plate and a second cylinder. The input end of the V-shaped groove plate is close to the output end of the second conveyor. The V-shaped groove plate is provided with a V-shaped groove and a medicine box placing plate positioned on one side of the V-shaped groove. The mechanical arm assembly can grab the medicine boxes on the second conveyor one by one onto the medicine box placing plate. The first double-rod cylinder is fixed on the frame. The push-pull direction of the first double-rod cylinder is parallel to the width direction of the V-shaped groove. A first pushing strip is fixed on a pushing rod of the first double-rod cylinder. First propelling movement strip is close to the top surface that the medicine box placed the board, can place the medicine box on the board with the medicine box and push to in the V type groove. The second cylinder is fixed on the frame and is located the input of V type frid. The end part of the push-out rod of the second cylinder is fixed with a push block. The pushing block is aligned with the V-shaped groove and used for pushing the medicine boxes in the V-shaped groove to the pushing recognition device.

The pushing recognition device comprises a horizontal pushing assembly and an image acquisition assembly. The horizontal pushing assembly comprises a second double-rod cylinder, a rotating shaft, a shaft support bottom plate, a comb plate and a second pushing strip. The two rotating shafts are supported on the frame and are respectively positioned on two sides of the output end of the V-shaped groove plate. The inner sides of the two comb plates are respectively fixed with the two rotating shafts. The outside of two fishback all is provided with many comb racks of interval arrangement in proper order. The comb racks on the two comb plates are arranged together in a staggered manner to form a V-shaped supporting surface; the two comb plates can be synchronously and reversely turned under the driving of the power element so as to adjust the inclination degree of the two inclined planes on the V-shaped supporting surface. In the initial state, the V-shaped supporting surface is aligned with the V-shaped groove on the V-shaped groove plate. The second double-rod cylinder is installed on the outer side of one of the rotating shafts, and the medicine box on the comb plate is pushed to the image acquisition assembly through the second pushing strip to acquire images.

Preferably, the storage bin includes side plates, end plates, and inclined support plates. The inclined supporting plate is fixed on the frame and is positioned below the output end of the first conveyor. The two side plates are respectively fixed on two sides of the top surface of the inclined supporting plate; the end plate is fixed at the bottom end of the top surface of the inclined supporting plate. The inclined supporting plate, the end plate and the two side plates form a storage bin. And a yielding gap is arranged between the end plate and the inclined support plate. The two sides of the push plate are respectively connected with the guide grooves arranged on the inner side surfaces of the two side plates in a sliding way. The push plate is close to the inclined support plate and slides along the length direction of the inclined support plate. The middle part of the inclined supporting plate is provided with a sliding groove arranged along the length direction of the inclined supporting plate. The first cylinder that the slope set up is fixed in the frame, and the piston rod is located the spout under. The end part of the piston rod of the first cylinder is fixed with the bottom surface of the push plate through a connecting block. The connecting block passes through the chute.

Preferably, the mechanical arm assembly comprises a mechanical arm support, a servo motor, a motor support, a flange plate, a connecting thin rod, a rocker arm, a steering engine mounting plate, a steering engine, an air valve connector and a vacuum chuck. The mechanical arm support is fixed on the frame. The first fixing plate is fixed on the top of the mechanical arm support. The bottom surface of the first fixing plate is provided with a camera module. The second fixing plate is fixed with the bottom of the first fixing plate. A central hole for threading is formed in each of the first fixing plate and the second fixing plate. Three motor supports of regular triangle are all fixed on the bottom surface of second fixed plate. And servo motors are fixed on the three motor supports. The output shafts of the three servo motors are provided with flange plates; the inner ends of the three rocker arms are respectively fixed with the three flange plates. The outer ends of the three rocker arms are respectively and rotatably connected with one ends of the three connecting thin rods; the other ends of the three connecting thin rods are respectively and rotatably connected with three different positions of the steering engine mounting plate. The steering engine is installed at the central position of the steering engine mounting plate. The air valve connector is fixed on the output shaft of the steering engine. The vacuum chuck is mounted at the bottom of the air valve connector. The air suction port of the vacuum chuck is connected with an external vacuum source through an air valve connector.

Preferably, the output end of the first conveyor is provided with a first photoelectric sensor. And the output end of the second conveyor is provided with a second photoelectric sensor.

Preferably, the first conveyor and the second conveyor both adopt belt conveyors, and the conveying surfaces are horizontally arranged.

Preferably, a medicine box inductor is arranged on the medicine box placing plate. The medicine box sensor adopts a photoelectric sensor, a pressure sensor or a limit switch.

Preferably, the horizontal pushing assembly further comprises a third double-rod cylinder. And the third double-rod cylinder is fixed on the frame and is positioned below the two comb plates. The ejector rod of the third double-rod cylinder is arranged upwards and is fixed with an upper ejector block. The upper top block is in a long strip shape and is contacted with the joint of the bottom surfaces of the two comb plates.

Preferably, the image acquisition assembly comprises a first mounting plate, an identification plate, a second mounting plate, a first camera module and a second camera module. First mounting panel, discernment board and second mounting panel are all fixed in the frame. The identification plate is made of transparent material; the identification plate is positioned on one side of the comb plate, which is far away from the grabbing and correcting device, and is flush with the comb plate which is overturned to a horizontal state. The first mounting plate and the second mounting plate are respectively positioned above and below the identification plate. The first camera module is arranged on the first mounting plate, is arranged downwards and is used for shooting the top surface of the medicine box on the identification plate; the second camera module is installed on the second installation plate and arranged upwards and used for shooting the bottom surface of the medicine box on the identification plate.

The working method of the automatic medicine box identification and sorting device is as follows:

step one, a plurality of medicine boxes are put into a first conveyor; the first conveyor drops one or more cartridges into a storage bin; the first air cylinder reciprocates to push the medicine boxes in the storage bin to the upper second conveyor layer by layer.

Step two, the second conveyor conveys the medicine boxes forwards; the mechanical arm assembly grabs the medicine boxes on the second conveyor one by one to the medicine box placing plate through the vacuum suction cups.

Step three, when one medicine box is placed on the medicine box placing plate, the first double-rod cylinder pushes the medicine box into a V-shaped groove of the V-shaped groove plate; and then, the second cylinder pushes the medicine box in the V-shaped groove to the two comb plates. The two comb plates are turned upwards to be in a horizontal state; the third double-rod cylinder pushes the medicine boxes horizontally on the two comb plates to the image acquisition assembly, and the image acquisition assembly identifies the commodity codes of the medicine boxes and inputs the medicine box information into the system.

The invention has the beneficial effects that:

according to the invention, the medicine boxes are positioned through the V-shaped grooves, and the inclined medicine boxes are adjusted to be in a horizontal state by matching of the two overturned comb plates, so that the medicine boxes can enter the image acquisition assembly one by one in the same tidy posture; the accuracy of image acquisition is improved, and the subsequent warehousing operation of the medicine boxes is facilitated. In addition, the medicine boxes are separated layer by layer through the inclined push plate, and the problem that the medicine boxes stacked together are difficult to grab is solved.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a first structural diagram of the stacker transporting device according to the present invention.

FIG. 3 is a second schematic view of the transfer stacker of the present invention.

Fig. 4 is a schematic structural diagram of the grabbing and correcting device of the present invention.

Fig. 5 is a schematic structural diagram of the push recognition device of the present invention.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1, an automatic medicine box identification and sorting device includes a rack, and a conveying and pushing device 1, a grabbing and correcting device 2, and a pushing and identifying device 3, which are installed on the rack and arranged in sequence. The conveying and pushing device 1 is used for separating the stacked medicine boxes layer by layer and then conveying the medicine boxes to the grabbing and correcting device 2; the grabbing correction device 2 is used for aligning and positioning the medicine boxes and then conveying the medicine boxes to the pushing recognition device 3 one by one; the pushing recognition device 3 is used for shooting after the medicine box is pushed to the designated position.

As shown in fig. 2 and 3, the conveying and pushing device 1 includes a first conveyor, a first photoelectric sensor 12 and a layer-by-layer pushing assembly; the conveying surface of the first conveyor is horizontally arranged. The layer-by-layer material pushing assembly is arranged below the output end of the first conveyor. The output end of the first conveyor is provided with a first photosensor 12 of a correlation type. The first photoelectric sensor 12 is used for detecting whether a medicine box is output from the first conveyor.

The layer-by-layer pushing assembly comprises a side plate 13, an end plate, an inclined supporting plate, a pushing plate 16 and a first air cylinder 14. The inclined supporting plate is fixed on the frame. The top end of the inclined support plate is positioned at one side of the lower part of the output end of the first conveyor, which is close to the grabbing and correcting device 2. The two side plates 13 are respectively fixed on two sides of the top surface of the inclined supporting plate; the end plate is fixed at the bottom end of the top surface of the inclined supporting plate. The inclined support plate, the end plate and the two side plates 13 form a storage bin for temporarily storing medicine cartridges. The cartridges delivered by the first conveyor will fall into the storage bins inclined to the bottom.

And a yielding gap is arranged between the end plate and the inclined support plate. The two sides of the push plate 16 are respectively connected with the guide grooves arranged on the inner side surfaces of the two side plates 13 in a sliding way. The push plate 16 is adjacent to the inclined support plate and slides along the length of the inclined support plate. The middle part of the inclined supporting plate is provided with a sliding groove arranged along the length direction of the inclined supporting plate. The first cylinder 14 arranged obliquely is fixed on the frame, and the piston rod is positioned right below the sliding groove. The end of the piston rod of the first cylinder 14 is fixed with the bottom surface of the push plate 16 through a connecting block 15. The connecting block passes through the chute. The first cylinder 14 can push the push plate 16 to slide back and forth. The distance from the top surface of the push plate 16 to the top surface of the inclined support plate is less than the minimum thickness of the various types of medicine boxes to be sorted. Through the reciprocating sliding of the push plate 16, the medicine boxes stacked together in the storage bin can be pushed out to the grabbing and correcting device 2 layer by layer, so that the situation of stacking does not exist when the medicine boxes enter the grabbing and correcting device 2.

As shown in fig. 4, the grip correcting apparatus 2 includes a robot arm support, a second conveyor 21, a second photoelectric sensor 22, a first fixing plate 23, a second fixing plate 24, a camera module 25, a robot arm assembly, and a push output assembly. The conveying surface of the second conveyor is horizontally arranged. The first conveyor 11 and the second conveyor 21 each employ a belt conveyor. The output end of the second conveyor 21 is provided with a second photosensor 22 of a correlation type. The second photoelectric sensor 22 is used to detect whether or not any medicine cassette has been moved to a position where the second conveyor is close to the robot arm assembly.

The mechanical arm assembly comprises a servo motor 26, a motor bracket 27, a flange plate 28, a connecting thin rod 210, a rocker arm 29, a steering engine mounting plate 212, a steering engine 211, an air valve connector 213 and a vacuum chuck. The input end of the second conveyor 21 is located at the outlet of the storage silo and is aligned with the top edge of the inclined support plate. The mechanical arm support is fixed on the frame. The first fixing plate 23 is fixed to the top of the robot arm stand. The camera module 25 is mounted on the bottom surface of the first fixing plate 23. The second fixing plate 24 is connected to the bottom of the first fixing plate 23 by a long bolt. The first fixing plate 23 and the second fixing plate 24 are both provided with a central hole for threading. Three motor brackets 27 of regular triangle are all fixed on the bottom surface of the second fixing plate 24. Servo motors 26 are fixed to the three motor brackets 27. The output shafts of the three servo motors 26 are all provided with a flange 28; the inner ends of the three rocker arms 29 are fixed with the three flanges 28 respectively. The outer ends of the three rocker arms 29 are respectively and rotatably connected with one ends of the three connecting thin rods 210; the other ends of the three connecting thin rods 210 are respectively and rotatably connected with three different positions of the steering engine mounting plate 212. Both ends of the connecting thin rod 210 are provided with joint bearings. The steering engine 211 is installed at the center of the steering engine mounting plate 212. The air valve connector 213 is fixed to the output shaft of the steering gear 211. A vacuum cup is mounted on the bottom of the air valve connector 213. The suction port of the vacuum chuck is connected to an external vacuum source through a gas valve connector 213. The vacuum chuck can rotate around a vertical axis and move in three degrees of freedom under the driving of the steering engine 211 and the three servo motors.

The push output assembly includes a first double rod cylinder 215, a V-shaped channel plate 217 and a second cylinder 218. The input end of the V-groove plate 217 is adjacent to the output end of the second conveyor 21. The V-shaped groove plate 217 is composed of two horizontal plates and two inclined plates which are integrally formed. The bottom edges of the two sloping plates are connected together to form a V-shaped groove. The adjacent side edges of the two horizontal plates are respectively connected with the two top edges of the two inclined plates. One of the horizontal plates serves as a medicine box placing plate. The robot arm assembly can grab the cartridges one by one on the second conveyor 21 onto the cartridge placing plate. The medicine box placing plate is provided with a medicine box inductor. The medicine box sensor adopts a photoelectric sensor, a pressure sensor or a limit switch.

A first double-rod cylinder 215 is fixed to the frame and located on the robot arm support. The push-pull direction of the first double-rod cylinder 215 is parallel to the width direction of the V-groove. A first push bar 216 is fixed to the push-out rod of the first double-rod cylinder 215. The horizontal section of the first pushing strip 216 is parallel to the width direction of the V-shaped groove, is close to the top surface of the medicine box placing plate, and can push the medicine boxes on the horizontal plate into the V-shaped groove. The medicine box entering the V-shaped groove is in an inclined state. A second cylinder 218 is fixed to the frame and is located at the input end of the V-shaped trough plate 217. A push block is fixed to the end of the push rod of the second cylinder 218. The pushing block is aligned with the V-shaped groove and used for pushing the medicine boxes in the V-shaped groove to the pushing recognition device 3.

As shown in fig. 5, the pushing recognition device 3 includes a horizontal pushing component and an image capturing component. The horizontal pushing assembly comprises a second double-rod cylinder 32, a rotating shaft 35, a shaft support bottom plate, a comb plate 37, a third double-rod cylinder 39 and a second pushing bar 36. The two rotating shafts 35 are supported on the frame and are respectively positioned at two sides of the output end of the V-shaped groove plate 217. The inner sides of the two comb plates 37 are fixed with the two rotating shafts 35 respectively. The outer sides of the two comb plates 37 are provided with a plurality of comb racks which are arranged at equal intervals in sequence. The comb racks on the two comb plates 37 are arranged together in a staggered manner to form a V-shaped supporting surface; the inclination of the two inclined planes on the V-shaped supporting surface can be adjusted by turning over the two comb plates 37. In the initial state, the V-shaped support surface is aligned with the V-shaped groove on the V-shaped groove plate 217. The second cylinder 218 can push the cartridges on the V-shaped grooved plate 217 onto the two comb plates 37. The third double-rod cylinder 39 is fixed on the frame and is located below the two comb plates 37. The ejector rod of the third double-rod cylinder 39 is disposed upward and fixed with an upper ejector block. The upper top block is in a long strip shape and is contacted with the connecting part of the bottom surfaces of the two comb plates 37. By the expansion and contraction of the third double-rod cylinder 39, the upper ejector block can push the upper ejector block to turn synchronously, so that the inclination degree of the two inclined planes on the V-shaped supporting surface is adjusted. The medicine box inclined on the V-shaped supporting surface is adjusted to be in a horizontal state.

The second double-rod cylinder 32 is fixed on the frame, and the push-pull direction is parallel to the axial direction of the rotating shaft 35. A second push bar 36 is fixed to the push rod of the second double-rod cylinder 32. The horizontal section of the second push bar 36 is horizontally disposed and close to the top of the rotating shaft 35. Second propelling movement strip 36 is located two fishback 37 directly over, and when two fishback 37 overturn to the horizontality, second propelling movement strip 36 can be with the medicine box on two fishback from the fishback propelling movement to the discernment board 33 of image acquisition subassembly on the fishback.

The image capturing assembly includes a first mounting plate 31, a recognition plate 33, a second mounting plate 34, a first camera module, and a second camera module. The first mounting plate 31, the identification plate 33 and the second mounting plate 34 are all fixed on the frame. The identification plate 33 is a transparent material; the identification plate 33 is located on the side of the comb plate away from the gripping and correcting device 2, and is flush with the comb plate turned to the horizontal state. The first mounting plate 31 and the second mounting plate 34 are respectively located above and below the identification plate 33. The first camera module is mounted on the first mounting plate 31, is arranged downward, and is used for shooting the top surface of the medicine box on the identification plate 33; the second camera module is mounted on the second mounting plate 34 and is disposed upward for photographing the bottom surface of the medicine box on the recognition plate 33.

After the first camera module and the second camera module are photographed, the medicine boxes on the recognition plate 33 are taken out by using subsequent blanking equipment. The medicine boxes on the recognition plate 33 are in very positive postures through preposed placing and positioning, so that the subsequent blanking and storage are very convenient to realize automation.

step one, after a plurality of medicine boxes enter a first conveyor 11, when a first photoelectric sensor 12 detects the medicine boxes, the first conveyor 11 stops and continues to convey the medicine boxes until one or more medicine boxes fall into a storage bin; then the first conveyor 11 stops moving, the first air cylinder 14 reciprocates, and the medicine boxes in the storage bin are pushed to the upper second conveyor 21 layer by layer. After the storage bin is emptied, the first conveyor 11 continues to convey, continuously separates the randomly stacked medicine boxes and feeds them to the second conveyor 21.

Step two, the second conveyor 21 conveys the medicine boxes forwards, after the second photoelectric sensor 22 detects the medicine boxes, the second conveyor 21 conveys the medicine boxes, the camera module 25 identifies the positions of the medicine boxes, and the mechanical arm assemblies grab the medicine boxes one by one onto the medicine box placing plate through the vacuum suction cups 214;

step three, when one medicine box is placed on the medicine box placing plate, the first double-rod cylinder 215 reciprocates once, and the medicine box is pushed into a V-shaped groove of the V-shaped groove plate 217 through the first pushing strip; thereafter, the second cylinder 218 reciprocates once to push the medicine boxes in the V-shaped grooves to the two comb plates 37.

The second double-rod cylinder 32 is pushed out upwards to drive the two comb plates 37 to turn upwards to be in a horizontal state; the third double-rod cylinder 39 reciprocates once to push the medicine boxes on the two comb plates 37 to the recognition plate 33; the first camera module and the second camera module shoot the top surface and the bottom surface of the medicine box, identify the commodity code of the medicine box and input the information of the medicine box into the system. The second double rod cylinder 32 then returns downward; and the subsequent blanking warehousing and equipment automatically snatch the medicine boxes on the identification plate 33 for warehousing.

Claims

1. An automatic medicine box identification and sorting device comprises a rack; the method is characterized in that: the automatic feeding device also comprises a conveying and pushing device (1), a grabbing and correcting device (2) and a pushing and identifying device (3) which are arranged on the rack in sequence; the conveying and pushing device (1) comprises a first conveyor and a layer-by-layer pushing assembly; the layer-by-layer material pushing assembly is arranged below the output end of the first conveyor; the layer-by-layer material pushing assembly comprises a storage bin, a push plate (16) and a first air cylinder (14); the storage bin is arranged below the output end of the first conveyor; the medicine boxes output by the first conveyor fall into the storage bin; the bottom surface of the inner cavity of the storage bin is obliquely arranged; the push plate (16) which slides in an inclined mode is arranged at the bottom of an inner cavity of the storage bin and is driven by the first air cylinder (14); the distance from the top surface of the push plate (16) to the bottom surface of the inner cavity of the storage bin is smaller than the minimum value of the thickness of the medicine box;

the grabbing correction device (2) comprises a second conveyor (21), a first fixing plate (23), a second fixing plate (24), a mechanical arm assembly and a pushing output assembly; the input end of the second conveyor (21) is positioned at the outlet of the storage bin; the push output assembly comprises a first double-rod cylinder (215), a V-shaped groove plate (217) and a second cylinder (218); the input end of the V-shaped groove plate (217) is close to the output end of the second conveyor (21); a V-shaped groove and a medicine box placing plate positioned on one side of the V-shaped groove are arranged on the V-shaped groove plate (217); the mechanical arm assembly can grab the medicine boxes on the second conveyor (21) onto the medicine box placing plate one by one; the first double-rod cylinder (215) is fixed on the frame; the push-pull direction of the first double-rod cylinder (215) is parallel to the width direction of the V-shaped groove; a first pushing bar (216) is fixed on a pushing rod of the first double-rod cylinder (215); the first pushing strip (216) is close to the top surface of the medicine box placing plate and can push the medicine boxes on the medicine box placing plate into the V-shaped groove; the second air cylinder (218) is fixed on the frame and is positioned at the input end of the V-shaped groove plate (217); a push block is fixed at the end part of a push rod of the second air cylinder (218); the pushing block is aligned with the V-shaped groove and used for pushing the medicine boxes in the V-shaped groove to the pushing recognition device (3);

the pushing recognition device (3) comprises a horizontal pushing component and an image acquisition component; the horizontal pushing assembly comprises a second double-rod cylinder (32), a rotating shaft (35), a shaft support bottom plate, a comb plate (37) and a second pushing strip (36); the two rotating shafts (35) are supported on the frame and are respectively positioned on two sides of the output end of the V-shaped groove plate (217); the inner sides of the two comb plates (37) are respectively fixed with the two rotating shafts (35); a plurality of comb teeth bars which are sequentially arranged at intervals are arranged on the outer sides of the two comb teeth plates (37); the comb teeth strips on the two comb tooth plates (37) are arranged together in a staggered manner to form a V-shaped supporting surface; the two comb plates (37) can be synchronously and reversely turned under the driving of the power element so as to adjust the inclination degree of the two inclined planes on the V-shaped supporting surface; in an initial state, the V-shaped supporting surface is aligned with a V-shaped groove on a V-shaped groove plate (217); the second double-rod cylinder (32) is installed on the outer side of one rotating shaft (35), and the medicine box on the comb plate is pushed to the image acquisition assembly through the second pushing strip (36) to acquire images.

2. The automatic identification and sorting device for medicine boxes according to claim 1, wherein: the storage bin comprises side plates (13), end plates and inclined support plates; the inclined support plate is fixed on the rack and is positioned below the output end of the first conveyor; the two side plates (13) are respectively fixed on the two sides of the top surface of the inclined supporting plate; the end plate is fixed at the bottom end of the top surface of the inclined supporting plate; the inclined support plate, the end plate and the two side plates (13) form a storage bin; an abdicating gap is arranged between the end plate and the inclined support plate; two sides of the push plate (16) are respectively connected with guide grooves arranged on the inner side surfaces of the two side plates (13) in a sliding way; the push plate (16) is close to the inclined support plate and slides along the length direction of the inclined support plate; the middle part of the inclined supporting plate is provided with a sliding chute arranged along the length direction of the inclined supporting plate; a first cylinder (14) which is obliquely arranged is fixed on the frame, and a piston rod is positioned right below the sliding groove; the end part of a piston rod of the first cylinder (14) is fixed with the bottom surface of the push plate (16) through a connecting block (15); the connecting block passes through the chute.

3. The automatic identification and sorting device for medicine boxes according to claim 1, wherein: the mechanical arm assembly comprises a mechanical arm support, a servo motor (26), a motor support (27), a flange plate (28), a connecting thin rod (210), a rocker arm (29), a steering engine mounting plate (212), a steering engine (211), an air valve connector (213) and a vacuum chuck; the mechanical arm support is fixed on the frame; the first fixing plate (23) is fixed at the top of the mechanical arm bracket; a camera module (25) is arranged on the bottom surface of the first fixing plate (23); the second fixing plate (24) is fixed with the bottom of the first fixing plate (23); the first fixing plate (23) and the second fixing plate (24) are both provided with a central hole for threading; three regular-triangular motor brackets (27) are all fixed on the bottom surface of the second fixing plate (24); servo motors (26) are fixed on the three motor supports (27); the output shafts of the three servo motors (26) are provided with flange plates (28); the inner ends of the three rocker arms (29) are respectively fixed with the three flange plates (28); the outer ends of the three rocker arms (29) are respectively and rotatably connected with one ends of the three connecting thin rods (210); the other ends of the three connecting thin rods (210) are respectively and rotatably connected with three different positions of the steering engine mounting plate (212); a steering engine (211) is arranged at the center of the steering engine mounting plate (212); the air valve connector (213) is fixed on an output shaft of the steering engine (211); the vacuum chuck is arranged at the bottom of the air valve connector (213); the suction port of the vacuum chuck is connected to an external vacuum source through a gas valve connector (213).

4. The automatic identification and sorting device for medicine boxes according to claim 1, wherein: the output end of the first conveyor is provided with a first photoelectric sensor (12); the output end of the second conveyor (21) is provided with a second photoelectric sensor (22).

5. The automatic identification and sorting device for medicine boxes according to claim 1, wherein: the first conveyor and the second conveyor are both belt conveyors, and conveying surfaces are horizontally arranged.

6. The automatic identification and sorting device for medicine boxes according to claim 1, wherein: the medicine box placing plate is provided with a medicine box inductor; the medicine box sensor adopts a photoelectric sensor, a pressure sensor or a limit switch.

7. The automatic identification and sorting device for medicine boxes according to claim 1, wherein: the horizontal pushing assembly further comprises a third double-rod air cylinder (39); the third double-rod cylinder (39) is fixed on the frame and is positioned below the two comb plates (37); a pushing rod of the third double-rod cylinder (39) is arranged upwards and is fixed with an upper ejector block; the upper top block is in a long strip shape and is contacted with the connecting part of the bottom surfaces of the two comb plates (37).

8. The automatic identification and sorting device for medicine boxes according to claim 1, wherein: the image acquisition assembly comprises a first mounting plate (31), a recognition plate (33), a second mounting plate (34), a first camera module and a second camera module; the first mounting plate (31), the identification plate (33) and the second mounting plate (34) are all fixed on the rack; the identification plate (33) is made of transparent material; the recognition plate (33) is positioned on one side of the comb plate, which is far away from the grabbing correction device (2), and is flush with the comb plate turned to be in a horizontal state; the first mounting plate (31) and the second mounting plate (34) are respectively positioned above and below the identification plate (33); the first camera module is arranged on the first mounting plate (31), is arranged downwards and is used for shooting the top surface of the medicine box on the identification plate (33); the second camera module is installed on the second installation plate (34), is arranged upwards and is used for shooting the bottom surface of the medicine box on the identification plate (33).

9. The method of claim 1, wherein the automatic identification and sorting device comprises: step one, a plurality of medicine boxes are put into a first conveyor (11); a first conveyor (11) drops one or more cartridges into a storage bin; the first air cylinder (14) reciprocates to push the medicine boxes in the storage bin to the upper second conveyor (21) layer by layer;

step two, the second conveyor (21) conveys the medicine boxes forwards; the mechanical arm assembly grabs the medicine boxes on the second conveyor (21) one by one to the medicine box placing plate through a vacuum suction cup (214);

step three, when one medicine box is placed on the medicine box placing plate, the first double-rod air cylinder (215) pushes the medicine box into a V-shaped groove of a V-shaped groove plate (217); then, the second air cylinder (218) pushes the medicine boxes in the V-shaped grooves to the two comb plates (37); the two comb plates (37) are turned upwards to be in a horizontal state; the third double-rod cylinder (39) pushes the medicine boxes horizontally on the two comb plates (37) to the image acquisition assembly, and the image acquisition assembly identifies the commodity codes of the medicine boxes and inputs the information of the medicine boxes into the system.