CN211643475U - Medicine supplementing and distributing integrated machine - Google Patents

Abstract

The utility model discloses a medicine supplementing and distributing integrated machine, which comprises a medicine supplementing unit, a first identification device, a medicine feeding unit, a medicine distributing unit and a control device, wherein a first conveying belt of the medicine supplementing unit is used for bearing sent medicines, a gripping device is used for transferring the medicines to an identification area of the first identification device according to position information identified by a second identification device and transferring the medicines to the medicine feeding unit according to the types of the medicines identified by the first identification device; the at least two first medicine feeding slideways of the medicine feeding unit are used for bearing medicines and sending the medicines to the medicine dispensing unit under the control of the control unit; a conveying device of the medicine dispensing unit is butted with the first medicine feeding slideway; and the control device is electrically connected with the medicine supplementing unit, the first identification device, the medicine feeding unit and the medicine dispensing unit. The utility model discloses a benefit and send out medicine all-in-one can improve the efficiency of benefit medicine.

Description

Medicine supplementing and distributing integrated machine

Technical Field

The utility model relates to the field of medical equipment, in particular to make-up and send out medicine all-in-one.

Background

When the existing medicine replenishing and distributing integrated machine is used for replenishing medicines, a plurality of medicine boxes are generally separated through a conveying belt, then a certain single-box medicine is grabbed to a medicine storage groove by a grabbing device, and finally the grabbing device needs to return to a belt conveying line to grab a new single-box medicine again. Because the medicine supplementing grabbing device moves back and forth between the belt line and the medicine storage groove every time and only can grab one box of medicine every time, the medicine supplementing efficiency is very low.

SUMMERY OF THE UTILITY MODEL

The present invention has been made in view of the above problems, and provides a complementary dispensing integrated machine that overcomes or at least partially solves the above problems.

The utility model provides a fill up and send out medicine all-in-one, includes fill up medicine unit, first recognition device, the unit of adding medicine, sends out medicine unit and controlling means, wherein:

the medicine supplementing unit comprises a rack, a first conveying belt, a second recognition device and a grabbing device, wherein the first conveying belt, the second recognition device and the grabbing device are installed on the rack; the first conveying belt is used for carrying the sent medicines; the second identification device is positioned above the first conveying belt and used for identifying the position information of the medicines on the first conveying belt; the gripping device is used for transferring the medicines to the identification area of the first identification device according to the position information and transferring the medicines to the medicine feeding unit according to the types of the medicines identified by the first identification device;

the first identification device is arranged on the medicine supplementing unit or the medicine feeding unit and used for identifying the type of the medicine;

the medicine feeding unit comprises at least two first medicine feeding slide ways, and the discharge ends of the first medicine feeding slide ways are butted with the medicine dispensing unit and are used for bearing the medicines transferred by the gripping device and sending the medicines to the medicine dispensing unit under the control of the control unit;

the medicine dispensing unit comprises a conveying device and a medicine storage groove, the conveying device is in butt joint with the first medicine feeding slide way, and the conveying device sends the medicines from the first medicine feeding slide way to the medicine storage groove for the medicines to be dispensed;

and the control device is electrically connected with the medicine supplementing unit, the first identification device, the medicine feeding unit and the medicine dispensing unit and is used for controlling the work of the medicine supplementing unit, the first identification device, the medicine feeding unit and the medicine dispensing unit.

Further, the second identification device is a 3D camera.

Further, the medicine feeding unit further comprises a bottom plate arranged below the medicine feeding slide way, and the first identification device is arranged on the bottom plate.

Further, the first recognition device adopts a 2D camera or a code scanning gun.

Furthermore, a medicine detection unit is arranged at the tail end of the first conveying belt and used for informing the control device to control the first conveying belt to stop running when detecting that medicines reach the tail end of the first conveying belt.

Furthermore, grabbing device include the robot body and with the unit of grabbing of robot body connection, the robot body is used for driving and grabs the unit removal, snatchs the unit and is used for snatching the medicine.

Furthermore, the robot body adopts a six-axis robot or a three-coordinate manipulator.

Further, the grabbing unit adopts a suction cup or a clamping jaw.

Further, first medicine slide of adding medicine is zigzag board and downward sloping setting, the unit of adding medicine still including set up in the terminal first baffle of first medicine slide of adding medicine.

Further, the first medicine feeding slide way is horizontally arranged and can rotate.

Furthermore, the medicine supplementing unit also comprises a material arranging device, wherein the material arranging device comprises a first conveying belt and third baffle plates arranged in the front and the back of the moving direction of the first conveying belt; alternatively, the first and second electrodes may be,

the material arranging device comprises a first conveying belt and a vibrating device arranged below the first conveying belt.

Furthermore, the feed end of first conveyer belt still is provided with scrapes the material unit, it is rotatable scraper blade to scrape the material unit for adjust the medicine to the state of keeping flat.

Further, conveyor includes sharp module, with first medicine slide assorted buffer memory platform of adding medicine to, the buffer memory platform bears the medicine that first medicine slide of adding medicine to come, sharp module sends into the medicine into store up in the medicine groove.

Further, the unit of sending out the medicine still is provided with out the medicine mouth for send down the medicine, the unit of sending out the medicine still includes horizontal transfer area, lifting machine and spiral play medicine slide, horizontal transfer area set up in store up medicine groove below, the lifting machine both ends respectively with horizontal transfer area with it connects to go out the medicine mouth, spiral go out the medicine slide with it connects to go out the medicine mouth.

Based on the technical scheme, the utility model discloses beneficial effect than prior art does:

the utility model discloses a benefit all-in-one of sending out medicine, including tonifying medicine unit, first recognition device, the unit of adding medicine, the unit of sending out medicine, controlling means and manual tonifying medicine unit. The utility model discloses the use is equipped with the unit of adding medicine of a plurality of first slides of adding medicine and is passed through between the unit of adding medicine and the unit of sending out medicine, and the unit of adding medicine is all provided the conveyer of the unit of sending out medicine with the medicine of all first slides of adding medicine simultaneously, and conveyer puts into corresponding medicine storage tank with the medicine box one by one at the in-process of carrying, compares in the current mode that an initial position district was received to the benefit box medicine of filling again, the utility model discloses saved the time of using of coming and going in the transportation, improved the efficiency of adding medicine.

Drawings

FIG. 1 is a schematic structural diagram of an integrated machine for replenishing and dispensing chemicals in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a first identification device of a medicine feeding unit of a medicine replenishing unit in an embodiment of the present invention;

FIG. 3 is a schematic structural view of a drug reservoir in an embodiment of the present invention;

FIG. 4 is a schematic sectional view of the structure of the medicine tank in the embodiment of the present invention

FIG. 5 is a schematic structural diagram of a drug replenishing unit according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a medicine feeding unit in an embodiment of the present invention;

FIG. 7 is a partial enlarged view of the dispensing unit in an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a dispensing unit in an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1 and 2, an integrated machine for replenishing and dispensing medicine comprises a replenishing unit 20, a first recognition device 30, a medicine feeding unit 40, a medicine dispensing unit 50 and a control device 60, wherein:

the drug replenishing unit 20, as shown in fig. 5, includes a frame 24, a first conveyor belt 21, a second identification device 22, and a gripping device 23. The first conveyor belt 21 carries the sent medicines, the second recognition device 22 recognizes the position information of the medicines on the first conveyor belt 21, the grasping device 23 grasps the medicines according to the position information and transfers the medicines to the recognition area of the first recognition device 30, and the medicines are transferred to the medicine loading unit 40 according to the type of the medicines recognized by the first recognition device 30 and a preset rule.

In some embodiments, the second recognition device 22 is disposed above the first conveying belt 21, and may be a 3D camera, the 3D camera recognizes pose information of the medicine on the first conveying belt 21, the pose represents a position and a pose, and any rigid body can accurately and uniquely represent its position state in a space coordinate system (xyz) by the position and the pose, that is, the position: x, Y, Z coordinates, pose: the included angle rx between the rigid body and the OX axis, the included angle ry between the rigid body and the OY axis, and the included angle rz between the rigid body and the OZ axis. Specifically, the 3D camera acquires a 3D image of the drug, processes the image to obtain position information (X, Y, Z coordinates) and posture information (an included angle rx between the drug and the OX axis, an included angle ry between the drug and the OY axis, and an included angle rz between the drug and the OZ axis) of the drug, and can determine whether the drug is lying down, vertical, or inclined according to the posture information. Grabbing device 23 includes robot 231 and the unit 232 that snatchs that is connected with robot 231, and robot 231 drives and snatchs unit 232 and remove, and snatchs unit 232 and snatch the medicine, and robot 231 adopts six axis robot or three-coordinate manipulator. If a six-axis robot is adopted, due to the fact that the degree of freedom of the six-axis robot is high, the medicine can be grabbed more flexibly, and the medicine can be grabbed when inclined. The grasping unit 232 employs a suction cup or a gripping jaw. When the size of the medicine is larger, the clamping jaws may be used, and problems may exist, such as the distance between the clamping jaws needs to be adjusted to adapt to the size of the medicine, and the grabbing space of the clamping jaws needs to be left between the medicines when the clamping jaws are used. In some cases, the gripping unit 232 preferably employs a suction cup.

In some embodiments, in order to ensure stable and efficient operation of the drug replenishing unit 20, the first conveyor belt 21 and the gripping device 23 are placed on the same horizontal installation surface in the middle of the frame 24, the central axes of the first conveyor belt 21 and the gripping device 23 are collinear, and the second identification device 22 is installed on the top of the frame 24 and above the first conveyor belt 21.

The first recognition device 30 is provided in the medicine replenishing unit 20 or the medicine applying unit 40 and is used for recognizing the kind of the medicine. The first recognition device 30 may be a 2D camera or a code scanning gun. Referring to fig. 2, the first recognition device 30 is disposed on the bottom plate 43 of the medicine applying unit 40, and the first recognition device 30 is a camera or a code scanning gun. If the first recognition device 30 is a 2D camera, the control device 60 may store an image library containing six images of the medicines in advance, and the first recognition device 30 obtains an image of at least one side of the medicine and then matches the image with the image in the image library to recognize the type of the medicine. If the first identification device 30 employs a bar code scanner, the control device 60 may pre-store a bar code library containing bar codes corresponding to various drugs, and the bar code library may be pre-stored with a decoding module in the bar code scanner, so that the bar code image of the drug can be directly decoded to identify the drug type. Since the barcode of the medicine is generally set at a specific position, and the medicine on the first conveyor belt 21 is randomly placed and is not specially processed, if a barcode gun is used, it may take a certain time to search for the barcode of the medicine, and the recognition efficiency is not high enough. With the rapid development of image recognition technology, it is preferable to configure the first recognition device 30 as a 2D camera, and it is possible to accurately recognize the kind of the medicine by acquiring the image of at least one side of the medicine with high efficiency.

The medicine feeding unit 40 comprises two first medicine feeding slide ways 41, the discharge ends of the first medicine feeding slide ways 41 are in butt joint with the medicine dispensing unit 50, the first medicine feeding slide ways 41 are used for bearing medicines gripped by the gripping devices 23 and sending the medicines to the medicine dispensing unit 50, the first medicine feeding slide ways 41 can send the medicines to the medicine dispensing unit 50 in batches, and the processing efficiency of the medicine feeding unit is far higher than that of each box of medicines which are sent independently.

Referring now to fig. 6, the structure of the administration unit 40 will be further described. The end of first medicine slide 41 of adding up still is provided with first baffle 42, first medicine slide 41 of adding up is the zigzag shaped plate, can make the medicine lean on toward one side of first medicine slide 41 of adding up, make the medicine place neatly, be convenient for dock with unit 50 of sending out medicine, first medicine slide 41 downward sloping is fixed to be set up on bottom plate 43, the medicine can slide down under the action of gravity, need not be with the help of external force or auxiliary assembly, through the decline and the rising of drive arrangement control first baffle 42, realize the switch of first medicine slide 41 of adding up. The driving means may be a motor or a cylinder.

In some embodiments, the first medicine loading chute 41 may be horizontally disposed and rotatable, the first medicine loading chute 41 is in a horizontal state when receiving the medicine, and then the first medicine loading chute 41 is rotated to an inclined state to release the medicine to the medicine dispensing unit 50 by gravity. Of course, the number of the first medicine feeding slideways 41 is not limited to two, and the number of the first medicine feeding slideways 41 can be set according to the requirement of the medicine supplementing speed.

And a medicine dispensing unit 50 for receiving the medicine from the medicine feeding unit 40 and dispensing the medicine. As shown in fig. 7, the dispensing unit 50 includes at least a conveying device 53 and a medicine storage tank 52, and the conveying device 53 receives the medicine from the first medicine loading chute 41 and sends the medicine to the medicine storage tank 52 for delivering the medicine. As further described with reference to fig. 7, the conveying device 53 includes a linear module 531 and a buffer storage platform 532 matching with the first medication feeding chute 41, the buffer storage platform 532 is in butt joint with the first medication feeding chute 41, the buffer storage platform 532 carries the medicine from the first medication feeding chute 41, and the linear module 531 feeds the medicine into the medicine storage tank 52. The buffer platform 532 can receive the medicines from the first medicine feeding slide 41 in batches, and the linear module 531 places the medicines into the corresponding medicine storage grooves 52 one by one in the conveying process, so that the time for the reciprocating in the transportation process is saved, and the processing efficiency of the buffer platform is far higher than that of the single transmission of each box of medicines.

In some embodiments, the dispensing unit 50 further includes a dispensing opening 51 for dispensing the medicine, and as further described with reference to fig. 8, the dispensing unit 50 further includes a horizontal conveyor belt 54, a lifter 55 and a spiral medicine-discharging slide 56, the horizontal conveyor belt 54 is disposed below the medicine storage tank 52, the lifter 55 is connected to the horizontal conveyor belt 54, the lifter 55 is connected to the dispensing opening 51, and the spiral medicine-discharging slide 56 is connected to the dispensing opening 51. The medicines in the medicine storage groove 52 automatically fall onto the horizontal conveyor belt 54, the horizontal conveyor belt 54 conveys the medicines to the elevator 55, the elevator 55 conveys the medicines to the medicine outlet 51, and the medicines slide down to the medicine basket from the medicine outlet 51 through the spiral medicine outlet slide 56.

And the control device 60 controls the medicine pool 10, the medicine supplementing unit 20, the first recognition device 30, the medicine feeding unit 40 and the medicine dispensing unit 50 to work according to a preset rule. Specifically, the method comprises the following steps: the medicine pool 10 is controlled to convey the medicines to the medicine supplementing unit 20, the second identification device 22 of the medicine supplementing unit 20 is controlled to identify the position information of the medicines on the first conveying belt 21, the grabbing device 23 is controlled to grab the medicines according to the position information and transfer the medicines to the identification area of the first identification device 30, the medicines are placed into the corresponding first medicine feeding slide rails 41 according to the type of the medicines identified by the first identification device 30 and the preset rule, the first identification device 30 is controlled to identify the type of the medicines, each first medicine feeding slide rail 41 of the medicine feeding unit 40 is controlled to convey the medicines to the medicine dispensing unit 50, and the medicine dispensing unit 50 is controlled to receive the medicines from the medicine feeding unit 40 and dispense the medicines.

In the integrated machine for replenishing and distributing medicines disclosed by the embodiment, the first conveying belt 21 of the replenishing unit 20 bears the sent medicines, the second identification device 22 identifies the position information of the medicines, the gripping device 23 grips the medicines according to the position information and transfers the medicines to the identification area of the first identification device 30 to identify the types of the medicines, the gripping device 23 also places the medicines into the medicine feeding unit 40 according to the types of the medicines, each first medicine feeding slideway 41 sends the medicines to the medicine distributing unit 50, and the conveying device 53 of the medicine distributing unit 50 receives the medicines from the medicine feeding unit 40 and sends the medicines to the medicine storage groove 52 for medicine distribution. The utility model discloses the use is equipped with the unit 40 that adds medicine of a plurality of first slides 41 of adding medicine and passes through between the unit 20 and the unit 50 of sending out the medicine, and the unit 40 that adds medicine is all provided the conveying device 53 of the unit 50 of sending out the medicine with all first slides 41 of adding medicine simultaneously, and conveying device 53 puts into corresponding medicine storage tank 52 with the medicine box one by one at the in-process of carrying, compares in the current mode that initial position district received the medicine box of getting back to again of a benefit box medicine, the utility model discloses saved the time of using of coming and going in the transportation, improved the efficiency of adding medicine.

The utility model discloses a make-up and send out medicine all-in-one can be applied to make-up, send out medicine scenes such as hospital, drugstore, and application scope is wide. Utilize this benefit to send out medicine all-in-one can greatly reduce pharmacist's work load, reduce the human cost, when guaranteeing that patient can receive the medicine fast, can also liberate the pharmacist from tedious manual work of making up the medicine, and then drop into the consultation work of using medicine that more has value.

In some embodiments, in order to provide a large amount of medicines to the medicine replenishing unit 20, the integrated machine further includes a medicine pool 10 for storing a plurality of medicines, which can be randomly placed without being arranged according to a certain rule.

One configuration of the reservoir 10 is now given in connection with figures 3 and 4. Medicine pond 10 includes curb plate 12, second conveyer belt 13, and curb plate 12 and second conveyer belt 13 form no top box, and second conveyer belt 13 includes smooth transition's horizontal segment 131 and slope section 132, and horizontal segment 131 is located the bottom half, and the end of slope section 132 sets up in the box top, and this conveyer belt can promote the medicine from medicine pond 10 bottom to the top, then sends to the unit 20 of making up a prescription. In order to prevent the medicine from sliding off when the medicine ascends, it is preferable that a plurality of protruding division bars 14 are provided on the second conveyor belt 13 to ensure that the medicine does not slide off when the medicine ascends.

In order to realize the normal operation of the second conveyer belt 13, in some embodiments, the medicine pool further includes a frame 11, rollers 15 at two ends of the second conveyer belt 13 are mounted on the frame 11, a pair of pinch rollers 16 is disposed at a transition of the second conveyer belt 13 at the corner, the second conveyer belt 13 is wound under the pinch rollers 16, and the pinch rollers 16 are adjusted to tension the second conveyer belt 13, so as to prevent the second conveyer belt 13 from slipping and failing and ensure the smoothness of the second conveyer belt 13.

Of course, in some cases, the medicine tank 10 may be increased in length and decreased in height to accommodate the spatial position, and the second conveyor 13 may be horizontally disposed.

In some embodiments, if there is a drug pile on the first conveyor belt 21, it is not beneficial for the gripping device 23 to grip, so some means is needed to control the amount of drug on the first conveyor belt 21. For example, it is monitored whether there is any medicine reaching the tail end of the first conveyor belt 21, and if so, it indicates that the number of medicines on the first conveyor belt 21 has reached the threshold value, and the second conveyor belt 13 and the first conveyor belt 21 should stop running. Specifically, the control device 60 may be used to calculate the time for which the drugs travel on the first conveyor belt 21 to determine whether any bins have reached the end of the first conveyor belt 21. As shown in fig. 5, a medicine detecting unit 26 may be further disposed at the end of the first conveying belt 21, and the medicine detecting unit 26 may be a photoelectric sensor or an infrared detector, and the like, and is used for detecting whether a medicine reaches the end of the first conveying belt 21, so as to inform the control device 60 to control the second conveying belt 13 and the first conveying belt 21 to stop running. In addition, the number of the medicines on the first conveyor belt 21 may be controlled by presetting the operation and stop time of the second conveyor belt 13 and the first conveyor belt 21.

It will be appreciated that to ensure that the medicament is easily gripped, and in particular easily sucked by the suction cups, it is generally desirable that the large face of the outer package of medicament faces the gripping means 23. However, in practical applications, the medicine is inclined or erected, which is not beneficial for the grabbing device 23 to grab, and the inclined medicine is accumulated more and more over time, which is likely to disturb the medicine replenishing process. To solve these problems, the dispensing unit 20 may be provided with a material arranging device to ensure that the large side of the pharmaceutical product package faces the gripping device 23. In practical application, whether the material arranging device is controlled to arrange the materials or supply the materials to the first conveying belt 21 is judged by combining the number and the pose of the medicines identified by the 3D camera, for example, when the number of the medicines on the first conveying belt 21 is large but the medicines cannot be grabbed due to the inclined or vertical postures, the medicine arranging device is controlled to change the pose of the medicines and then the medicines are identified and grabbed by the medicine supplementing unit 20, and if only a small number of preset medicines (for example, two or three medicines) on the first conveying belt 21 cannot be grabbed, the medicines are directly supplied to the first conveying belt 21.

Referring to fig. 5, the material arranging device includes a first conveyor belt 21 and third baffles 25 disposed at the front and rear of the moving direction of the first conveyor belt 21, and the outlet of the second conveyor belt 13 is higher than the third baffles 25. In practical application, when a plurality of medicines reach first conveyer belt 21, second conveyer belt 13 stop work, and second conveyer belt 21 moves towards one side of direction of motion, because the blocking of third baffle 25, the medicine is with third baffle 25 striking under the inertia effect, and then first conveyer belt 21 moves towards the opposite side, and the medicine can be the big face up state of keeping flat, and follows first conveyer belt 21 motion, becomes the object of waiting to snatch again. In addition, if the medicine is too close to the edge, for example, the medicine is too close to the third baffle 25, the type of the medicine may not be accurately identified due to the reflection of the light from the inner wall of the third baffle 25, and the material arranging device of the embodiment can also enable the medicine close to the edge to leave the edge.

In other embodiments, the material arranging device includes a first conveyor belt 21 and a vibrating device disposed below the first conveyor belt 21. When a plurality of medicines reach the first conveyer belt 21, the second conveyer belt 13 and the first conveyer belt 21 both stop working, and the vibrating device starts to drive the medicines on the first conveyer belt 21 to vibrate, so as to ensure that the large surface of the medicine external package faces the grabbing device 23. The vibration device may be a vibration motor.

In some embodiments, a scraping unit may be disposed at the feeding end of the first conveyor belt 21, and the scraping unit is a rotatable scraper that scrapes a layer of medicine each time the first conveyor belt rotates, so that the scraped medicine is a flat-laying device for the grabbing device 23 to grab.

It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.

In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, the invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".

Claims (10)

1. The utility model provides a fill up and send out medicine all-in-one which characterized in that, includes fill up medicine unit, first recognition device, the unit of adding medicine, sends out medicine unit and controlling means, wherein:

the medicine supplementing unit comprises a rack, a first conveying belt, a second recognition device and a grabbing device, wherein the first conveying belt, the second recognition device and the grabbing device are installed on the rack; the first conveying belt is used for carrying the sent medicines; the second identification device is positioned above the first conveying belt and used for identifying the position information of the medicines on the first conveying belt; the gripping device is used for transferring the medicines to the identification area of the first identification device according to the position information and transferring the medicines to the medicine feeding unit according to the types of the medicines identified by the first identification device;

the first identification device is arranged on the medicine supplementing unit or the medicine feeding unit and used for identifying the type of the medicine;

the medicine feeding unit comprises at least two first medicine feeding slide ways, and the discharge ends of the first medicine feeding slide ways are butted with the medicine dispensing unit and are used for bearing the medicines transferred by the gripping device and sending the medicines to the medicine dispensing unit under the control of the control unit;

the medicine dispensing unit comprises a conveying device and a medicine storage groove, the conveying device is in butt joint with the first medicine feeding slide way, and the conveying device sends the medicines from the first medicine feeding slide way to the medicine storage groove for the medicines to be dispensed;

and the control device is electrically connected with the medicine supplementing unit, the first identification device, the medicine feeding unit and the medicine dispensing unit and is used for controlling the work of the medicine supplementing unit, the first identification device, the medicine feeding unit and the medicine dispensing unit.

2. A machine as claimed in claim 1, wherein the first identification means is a 2D camera or a code scanning gun.

3. A machine as claimed in claim 1, wherein a drug detection unit is disposed at the end of the first conveyor belt for detecting that the drug reaches the end of the first conveyor belt, and the control device is notified to control the first conveyor belt to stop running.

4. A machine as claimed in claim 1, wherein the gripping device comprises a robot body and a gripping unit connected to the robot body, the robot body is used for driving the gripping unit to move, and the gripping unit is used for gripping the medicine.

5. A machine as claimed in claim 1, wherein the first slide is a zigzag plate and is inclined downward, and the unit further comprises a first baffle plate disposed at the end of the first slide.

6. A machine as claimed in claim 1, wherein the first chute is horizontally disposed and rotatable.

7. The integrated machine for replenishing and distributing medicines according to claim 1, wherein the replenishing unit further comprises a material arranging device, and the material arranging device comprises a first conveying belt and third baffles arranged in the front and rear of the moving direction of the first conveying belt; alternatively, the first and second electrodes may be,

the material arranging device comprises a first conveying belt and a vibrating device arranged below the first conveying belt.

8. A machine as claimed in claim 1, wherein the feeding end of the first conveyor belt is further provided with a scraping unit, and the scraping unit is a rotatable scraper for adjusting the medicine to be in a flat state.

9. A machine as claimed in claim 1, wherein the conveyor comprises a linear module and a buffer platform matching with the first medication feeding chute, the buffer platform carries the medication from the first medication feeding chute, and the linear module feeds the medication into the medication storage tank.

10. A machine as claimed in claim 1, wherein the dispensing unit further comprises a dispensing opening for dispensing the medicament, the dispensing unit further comprises a horizontal conveyor, a lifter and a spiral dispensing slide, the horizontal conveyor is disposed below the medicament storage tank, two ends of the lifter are respectively connected to the horizontal conveyor and the dispensing opening, and the spiral dispensing slide is connected to the dispensing opening.

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