WO2020082932A1

WO2020082932A1 - Prescription dispensing system for automated traditional chinese medicine pharmacy

Info

Publication number: WO2020082932A1
Application number: PCT/CN2019/105822
Authority: WO
Inventors: 王传辉; 李伟; 邱明权; 宋亚男; 李凯旋; 赵海明; 周凌威
Original assignee: 中国矿业大学
Priority date: 2018-10-23
Filing date: 2019-09-13
Publication date: 2020-04-30
Also published as: CN109204902A; CN109204902B

Abstract

Disclosed is a prescription dispensing system for an automated traditional Chinese medicine pharmacy. The system performs operations such as acquiring, conveying, weighing, packaging and recovering on stored pre-processed traditional Chinese medicines in bulk in the form of an assembly line. The system comprises a vertical rotary medicine cabinet (A), a medicine acquisition and weighing mechanism (B) and a packaging mechanism (C). The vertical rotary medicine cabinet (A) comprises an air cylinder support (A1), a driving shaft (A2), a driving sprocket (A3), a chain (A4), a rotary shelf (A5), a driven sprocket (A6), a balancing guide rail (A7), a driven shaft (A8), a shelf connecting rod (A9), a balancing guide rod (A10), a medicine box (A11), a medicine acquisition air cylinder (A12), an air cylinder platform (A13) and a medicine receiving air cylinder (A14). The medicine acquisition and weighing mechanism (B) comprises a push sheet (B1), a push sheet support (B2), a linear vibrator (B3), a first platform (B4), a weighing funnel (B5), an overturning plate (B6), an electric motor (B7), a weighing sensor (B8), a telescopic air cylinder (B9), a medicine conveying pipe (B10), a recovery pipeline (B11), a support (B12), a baseplate (B13), a bi-directional drive AGV cart (B14), a magnetic stripe (B15), a second platform (B16) and a third platform (B17). The problems of a high human labor cost, low efficiency and being error-prone during manual prescription dispensing in traditional Chinese medicine pharmacies in China are solved.

Description

Recipe adjustment system of automated Chinese pharmacy

Technical field

The invention relates to the field of mechanical design and automation, in particular to a prescription preparation system for an automated Chinese pharmacy.

Background technique

Automated pharmacies have achieved rapid development in China. The degree of automation is getting higher and higher, and the gap with foreign technology is also getting smaller and smaller. However, the automatic adjustment system for Chinese herbal medicine has not yet achieved great development. At present, most of the traditional Chinese medicine in traditional Chinese pharmacies still use the original ecology and manual weighing, which causes great inconvenience to the pharmacy and patients. There has always been a demand in the market for automated dispensing of bulk Chinese medicine. Therefore, in order to promote the automation and modernization of Chinese pharmacies, improve the work efficiency of Chinese pharmacies, and increase the convenience of patients' medication, it is of great value to develop a set of automatic adjustment system for Chinese medicine.

Most Chinese medicines are still stored in bulk, and the forms of medicinal materials are different, such as block, granule, strip, powder, etc. The prescriptions written by traditional Chinese medicine use weight to record the amount of traditional Chinese medicine, which makes the robot used by the automatic adjustment system of western medicine unable to accurately grasp the appropriate amount of traditional Chinese medicine. At present, the automatic dispensing system of the automated Chinese pharmacy is basically the same as the automatic dispensing system adopted by the western pharmacy. This is mainly because with the development of the Chinese medicine industry, two forms of Chinese medicine, namely Chinese medicine concentrated particles and Chinese medicine decoction pieces, have appeared. Both types of traditional Chinese medicine can be quantitatively packed and made into small packages of traditional Chinese medicine of different specifications, which is easy to automatically configure. However, traditional Chinese medicine pays attention to syndrome differentiation and treatment. It is difficult to use only a few fixed-size small packages of traditional Chinese medicine to meet the deployment of traditional Chinese medicine. In addition, whether the efficacy of traditional Chinese medicine granules is equivalent to decoction of traditional Chinese medicine is still controversial in the traditional Chinese medicine community. If all the Chinese medicine is broken into powder, although it is convenient for automated operation, a lot of foam will appear during boiling, which will cause many problems during boiling. The size of the traditional Chinese medicine weighed in the current automated traditional Chinese pharmacy is relatively large, because the area of contact with water is relatively small, so the active ingredients of the traditional Chinese medicine are not conducive to enter the water during boiling, and the contact area of the powdered Chinese medicine with water Although it is large, the generated foam will also affect the absorption of decoction.

At present, Chinese medicine is doing experiments to determine the best particle form of each Chinese medicine. In this particle form, it can ensure the complete absorption of the drug effect, and it will not cause inconvenience for boiling because the particles are too small. It is understood that the optimal size of most Chinese medicines is between 3-10mm.

There have been many studies on the weighing of bulk Chinese medicine particles. For example, Sanjiu Group's robotic system, Shanghai Jiaotong University screw weighing and weighing, Sichuan University medicine bottle quantitative device. These are volumetric weighing. Their common shortcomings need to record the density of each drug, the density is different, the weight of the drug per unit volume is different, and the consistency of the drug during the feeding process must be ensured, otherwise the weighing is inaccurate.

Chinese medicine is a medicine used to treat diseases with minimal side effects, and the treatment effect is very good. When dispensing Chinese medicine, first weigh out a certain amount of Chinese medicine according to the prescription, and then divide it into three or seven portions. At present, when a traditional Chinese medicine practitioner divides a single medicine into multiple parts, it is usually distributed based on empirical visual inspection, and the distribution is uneven. The proportion of traditional Chinese medicines is all about. The dosage of each medicine needs to be precise. One more point and one less point will have an effect on the efficacy of the medicine. Some medicines are not allowed to do harm but cause harm to the human body. Severely high requirements will affect the efficacy of drugs and increase the labor intensity of doctors. At present, there is no good solution.

Distributing Chinese medicine in hospitals or Chinese pharmacies is a hassle, and it is not surprising that you have to wait for half an hour for a medicine. The dispensing staff has a heavy workload, and needs to grab the medicine back and forth from the container by hand to adjust to the required weight. The operation time is very long and the efficiency is low. Existing traditional Chinese medicine grasping devices cannot fundamentally accurately weigh and distribute traditional Chinese medicines. During the process of grasping traditional Chinese medicines, for convenience, staff members generally directly grasp them by hand, which is very unhygienic.

In recent years, automated packaging machines for tea have entered the market. The tea packaging machine can realize the processes of making bags, measuring, transferring bags, unloading and sealing. The weighing accuracy of the tea packaging can meet the market requirements. The tea packaging machine manually pours dozens of pounds of tea leaves into the feed hopper until all the tea leaves are packed.

Traditional Chinese medicine is a treasure handed down from China's traditional culture. It has the advantages of high curative effect, benefiting qi and nourishing qi. However, the inconvenience of taking traditional Chinese medicines, the long time required for dispensing medicines, the high labor intensity of pharmacist dispensing, and the inconsistency in formulas have hindered the rapid development of traditional Chinese medicines and prevented them from going abroad to the world. Therefore, the introduction of automation technology into Chinese medicine can not only meet the people's needs for convenient, efficient and high-quality medical treatment, but also enable Chinese medicine to benefit the people of the world and promote the cultural treasures of our country.

Summary of the invention

In view of the problems of high labor cost, low efficiency, and error-proneness of manual dispensing in traditional Chinese pharmacies in China, the present invention proposes a set of automated prescription dispensing system in traditional Chinese pharmacies. The system can realize the storage of pre-processed bulk Chinese medicine and the functions of automatic medicine taking, weighing, packaging, and recycling, and then achieve the purpose of automatic dispensing.

In order to achieve the above object, the present invention discloses an automatic prescription dispensing system in an automated Chinese pharmacy, which takes the form of a pipeline to perform operations such as taking medicine, transferring, weighing, packaging, and recovering stored pre-processed bulk Chinese medicine. The so-called pre-treated Chinese medicine refers to Chinese medicine that is detoxified and broken to a certain size, which is close to the size that each medicinal material can exert the maximum medicinal properties when decoction. The system includes a vertical rotary medicine cabinet, a medicine taking and weighing mechanism and a packaging mechanism.

Vertical rotary medicine cabinet mainly includes cylinder bracket, driving shaft, driving sprocket, chain, rotating shelf, driven sprocket, balancing guide rail, driven shaft, shelf connecting rod, balancing guide rod, medicine box, medicine taking cylinder Cylinder platform and medicine collecting cylinder; the cylinder platform is divided into upper and lower two layers, which are fixedly connected to the cylinder bracket; the medicine taking cylinder and the medicine collecting cylinder are fixedly connected to the upper and lower two layers of the cylinder platform by bolts; the cylinder bracket supports the cylinder platform, The medicine collection cylinder and medicine collection cylinder are built into the vertical rotary medicine cabinet. In order not to affect the normal rotation of the vertical rotary medicine cabinet, the part of the cylinder bracket is outside the vertical rotary medicine cabinet and fixedly connected to the ground; when the active shaft rotates Drive the driving sprocket, chain, driven sprocket and driven shaft in turn.

The swing shelf is connected to the chain via a hinged shelf link. When the chain moves, it drives the rotary shelf and medicine box to rotate. The balance guide bar is fixedly connected with the swing shelf, the balance guide bar and the balance guide rail ensure that the swing shelf keeps moving when turning; the swing shelf is provided with several compartments, each compartment has a medicine box built in, and the swing shelf The back panel of each compartment has a square hole; the medicine box includes a medicine box box, a three-section slide rail, a first spring, a second spring, a baffle, a first baffle, a second baffle, and a baffle chute; The box is built into the rotary shelf through three sections of slide rails; when the medicine extraction cylinder and the medicine collection cylinder are extended, they can be pushed out through the square hole in the rear panel of the compartment to the medicine box that is directly in front of them; the first partition, the second The partition is fixedly connected to the bottom of the medicine box. One end of the first spring at the bottom of the medicine box is fixedly connected to the rotating shelf, and the other end is fixedly connected to the first partition. When the medicine retrieval cylinder is retracted, the first spring can pull the pushed medicine box into the rotating shelf; In the slide slot, one end of the second spring is fixedly connected to the baffle plate, and the other end is fixedly connected to the second partition plate; the baffle plate can seal the medicine outlet at the bottom of the medicine box under the pulling force of the second spring. When the medicine box is pushed out by the medicine taking cylinder, the blocking piece comes into contact with the uppermost pushing piece of the medicine taking and weighing mechanism, the blocking piece will be pushed, and the medicine outlet at the bottom of the medicine box is opened. The existence of the three-section slide rail is conducive to the smooth introduction and withdrawal of the medicine box. The structure of the baffle plate can ensure that when sliding, the two medicine dropping ports of the medicine box are opened or closed at the same time. The relevant structure of the medicine box is shown in Figure 8; the medicine box is divided into two small compartments and contains the same kind of Chinese medicine. The bottom of the medicine box has a tapered hole at an angle, so as to save space while ensuring Chinese medicine. Smooth leakage, at the same time can achieve the first-in first-out of traditional Chinese medicine to ensure the efficacy of medicine. The large square behind the medicine box is for pushing the medicine box in advance when the medicine taking cylinder and the medicine collecting cylinder are extended. The rectangular hole on the back panel of the medicine box box is for preventing the bumper from hitting the medicine box box when being pushed. The convex hole on the front panel of the medicine box box is to provide space for the push piece to push the baffle plate; the existence of the first spring through hole of the medicine box box ensures the connection and movement space of the first spring.

The medicine taking and weighing mechanism mainly includes a push piece, a push piece bracket, a linear vibrator, a first platform, a weighing funnel, a flap, a motor, a weighing sensor, a telescopic cylinder, a medicine delivery tube, a recovery pipe, a bracket, a bottom plate, a bidirectional Drive AGV car, magnetic stripe, second platform and third platform.

The magnetic strip is fixedly connected to the floor and parallel to the front of the vertical rotary medicine cabinet; the bidirectionally driven AGV cart is fixedly connected to the bottom plate, and the bidirectionally driven AGV cart can recognize the straight magnetic strip at the bottom to drive the medicine weighing mechanism Linear motion; the bottom plate, the first platform, the second platform, and the third platform are fixedly connected to the bracket; the push piece is fixedly connected to the bracket, the bracket is fixedly connected to the first platform, and the linear vibrator is fixedly connected to the first platform ; The weighing sensor is fixedly connected to the second platform, and the weighing funnel is fixedly connected to the weighing sensor and the motor. The motor is fixedly connected to the weighing funnel, and the output shaft of the motor is connected to the flap at the lower part of the weighing funnel. The telescopic cylinder is fixedly connected to the third platform, and the recovery pipeline and the medicine delivery tube are fixedly connected to the telescopic cylinder.

The packaging mechanism includes a feeding device, a former, a traction device, a vertical sealing device, a feeding tube, a horizontal sealing device, a bag receiving device, an integral frame, an electric control cabinet and a base; the base is fixedly connected to the floor; the feeding device and the former , Traction device, vertical sealing device, feeding tube, horizontal sealing device, bag receiving device are all fixedly connected to the whole frame. Seven packaging mechanisms with the same structure are fixed side by side on the ground.

The preparation of the entire prescription includes the following steps:

(a) The system adjusts the traditional Chinese medicine according to the order of the prescription. The first medicine is dispensed first, and the vertical rotary medicine cabinet is turned to turn the rotary shelf where the medicine is located to the rotary shelf when taking the medicine as shown in Figure 4. Position, this position is fixed;

(b) The bidirectionally driven AGV trolley carries the weighing and medicine taking device to run directly in front of the medicine box to be grasped, and the push piece is in front of the blocking piece;

(c) The medicine-removing cylinder inside the vertical rotary medicine cabinet located directly behind the medicine box to be grasped will push out the corresponding medicine box. During the pushing-out process, the pushing piece directly above the linear vibrator pushes the blocking piece at the bottom of the medicine box, and the bottom of the medicine box The square hole starts to fall, and the Chinese medicine starts to fall into the linear vibrator;

(d) After the corresponding medicine box is pushed out by the medicine-drawing cylinder, it pauses for a few seconds to ensure that a sufficient amount of Chinese medicine falls into the linear vibrator, and the medicine-drawing cylinder is retracted. The corresponding medicine box is retracted to the partition of the swing shelf under the tension of the first spring In the meantime, at the same time, the blocking piece and the pushing piece no longer contact, the blocking piece is reset under the pulling force of the second spring, and the medicine-dropping square hole is sealed;

(e) Simultaneously with the above steps, the packaging materials are transported, formed and edge-sealed under the joint action of the feeding device, the former, the traction device, the vertical sealing device, the horizontal sealing device, the electric control cabinet, etc. Cylindrical

(f) The medicine taking and weighing device is moved to the first packing mechanism of the 7 packing mechanisms, which is opposite to the first one, and the medicine delivery tube is directly above the former;

(g) The linear vibrator starts to vibrate slowly, and the fallen Chinese medicine is sent to the weighing funnel until the amount of this medicine in a dose is weighed. The vibration stops, and the motor drives the flap to rotate to open the medicine dropping hole at the bottom of the weighing funnel. The Chinese medicine in the weighing funnel passes through the feeding tube of the first packaging mechanism and falls into a cylindrical packaging bag sealed at one end of the bottom. The motor drives the flap to rotate to close the medicine dropping hole at the bottom of the weighing funnel;

(h) Next, the medicine-taking and weighing device is sequentially moved to the opposite side of the 2-xth packing mechanism of the seven packing mechanisms, at this time the medicine delivery tube is directly above the former (x is the total number of prescriptions, generally 3 Or 7). Repeat the action of step g until this kind of medicine is weighed to the required number of servings, and the corresponding x medicines are received in the first x packaging mechanism;

(i) The bidirectionally driven AGV trolley carries the weighing and medicine taking device again to run directly in front of the medicine box to be grasped, at this time the push piece is in front of the blocking piece. At the same time, the vertical rotary medicine cabinet rotates, so that the rotary shelf where the medicine box just taken is turned to the position of the rotary shelf at the time of recovery as shown in FIG. 4, before dispensing the next medicine, the The traditional Chinese medicines taken out are collected into the medicine box just now, the corresponding medicine collecting cylinder pushes out the medicine box just now, and the telescopic cylinder pushes out to move the recycling pipe to the bottom of the weighing funnel and wait for the medicine to be recovered. To the shaper, the medicine outlet of the recovery pipe is directly above the corresponding medicine box. The motor drives the flap to rotate to open the medicine falling hole at the bottom of the weighing funnel. The linear vibrator starts to vibrate quickly. The medicine box just taken;

(j) After the collection is completed, the medicine collecting cylinder is retracted, and the corresponding medicine box is pulled back into the compartment of the rotary shelf;

(k) Repeat the above steps of aj until all the Chinese medicines in the prescription are captured and weighed. The horizontal sealing device of the packaging mechanism cuts the Chinese medicine in the cylindrical packaging bag that has just fallen into one end and cuts it horizontally to complete the packaging and packaging. Good Chinese medicine falls from the bag receiving device in the form of a bag. Each packaging bag contains each medicine in the prescription, and its weight is accurately weighed to the required amount.

Beneficial effect: The present invention is designed for the prescription preparation system of the automated Chinese pharmacy, and can realize the automatic preparation and dispensing of bulk Chinese medicine after pretreatment. This system solves the problems of high labor cost, low efficiency, and error-proneness of manual dispensing in traditional Chinese pharmacies in China. This system is conducive to changing the status quo of the time, inconvenience and high cost of Chinese medicine used by pharmacists and patients in China, and it also has a positive significance for the promotion of Chinese medicine.

BRIEF DESCRIPTION

Figure 1 is a schematic structural view of the present invention;

2 is a schematic diagram of the side structure of the present invention;

3 is a partial structural schematic diagram of the vertical rotary medicine cabinet of the present invention;

4 is a partial structural schematic diagram of the vertical rotary medicine cabinet of the present invention;

5 is a partial structural schematic view of the rotary shelf and medicine box of the present invention;

6 is a partial schematic structural view of the medicine box of the present invention;

7 is a partial schematic view of the medicine box of the present invention;

8 is a partial schematic structural view of the medicine box of the present invention;

9 is a schematic structural view of the bottom baffle of the medicine box box of the present invention;

10 is a partial side view of the medicine taking and weighing mechanism of the present invention;

11 is a schematic structural view of the medicine taking and weighing mechanism of the present invention;

12 is a partial structural schematic diagram of the patent packaging mechanism of the present invention;

13 is a partial structural schematic diagram of the patent packaging mechanism of the present invention;

In the picture: A—vertical rotary medicine cabinet; B—medication and weighing mechanism; C—packaging mechanism; A1—cylinder bracket; A2—active shaft; A3—active sprocket; A4—chain ; A5-swing shelf; A6-driven sprocket; A7-balance rail; A8-driven shaft; A9-shelf link; A10-balance guide; A11-medicine box A ; A12-medicine retrieval cylinder; A13-cylinder platform; A14-medicine collection cylinder B; A11-1-medicine box box; A11-2-three-section slide rail; A11-3-first spring; A11 -4-second spring; A11-5-baffle; A11-6-first baffle; A11-7-second baffle; A11-8-baffle chute; B1-push Piece; B2—push piece bracket; B3—linear vibrator; B4—first platform; B5—weighing funnel; B6—turning plate; B7—motor; B8—weighing sensor; B9— -Telescopic cylinder; B10-medicine delivery tube; B11-recovery pipeline; B12-bracket; B13-bottom plate; B14-bidirectional drive AGV trolley; B15-magnetic stripe; B16-second platform; B17- — The third platform; C1 — supply device; C2 -Former; C3-traction device; C4-vertical sealing device; C5-feeding tube; C6-horizontal sealing device; C7-bag receiving device; C8-integral frame; C9-electric control cabinet; C10-Base.

detailed description

As shown in FIGS. 1-13, the present invention provides an automated prescription dispensing system for a traditional Chinese pharmacy. The system includes a vertical rotary medicine cabinet A, a medicine taking and weighing mechanism B, and a packaging mechanism C:

The vertical rotary medicine cabinet A mainly includes a cylinder bracket A1, a driving shaft A2, a driving sprocket A3, a chain A4, a rotating shelf A5, a driven sprocket A6, a balance rail A7, a driven shaft A8, a shelf link A9, balance guide A10, medicine box A11, medicine taking cylinder A12, cylinder platform A13 and medicine collecting cylinder A14;

The cylinder platform A13 is divided into upper and lower layers, which are fixedly connected to the cylinder bracket A1; the medicine taking cylinder A12 is fixedly connected to the upper layer of the cylinder platform A13 by bolts, and the medicine collecting cylinder A14 is fixedly connected to the lower layer of the cylinder platform A13 by bolts; the cylinder bracket A1 The cylinder platform A13, the medicine taking cylinder A12, and the medicine collecting cylinder A14 are built inside the vertical rotary medicine cabinet A. In order not to affect the normal rotation of the vertical rotary medicine cabinet A, the part of the cylinder bracket A1 is in the vertical rotary medicine cabinet A The outer side is fixedly connected to the ground; when the driving shaft A2 rotates, the driving sprocket A3, the chain A4, the driven sprocket A6, and the driven shaft A8 are sequentially driven;

The revolving shelf A5 is provided with several compartments, each compartment has a medicine box A11 built in, and the revolving shelf A5 has a square hole in the back panel of each compartment; the revolving shelf A5 is connected with the hinged shelf link A9 The chain A4 is connected; the chain A4 drives the swing shelf A5 and the medicine box A11 to swing; the balance guide A10 is fixedly connected to the swing shelf A5, and the balance guide A10 and the balance rail A7 ensure that the swing shelf A5 is in Keep moving when turning;

The medicine box A11 includes a medicine box box A11-1, a three-section slide rail A11-2, a first spring A11-3, a second spring A11-4, a flap A11-5, a first partition A11-6, a second partition A11-7 and baffle chute A11-8;

The medicine box A11 is built into the swing shelf A5 through the three-section slide rail A11-2. When the medicine extraction cylinder A12 and the medicine collection cylinder A14 are extended, they can be transferred to the medicine box A11 directly in front of them through the square hole in the rear panel of the compartment Launched; the first partition A11-6 and the second partition A11-7 are fixedly connected to the bottom of the medicine box A11-1; the first spring A11-3 at the bottom of the medicine box A11 is fixedly connected to the swing shelf A5 at one end and the other end is fixed Connected to the first partition A11-6, when the medicine retrieval cylinder A12 is retracted, the first spring A11-3 can pull the ejected medicine box A11 into the swing shelf A5; the flap A11-5 is placed in the flap slide A11- In 8, the second spring A11-4 is fixedly connected to the baffle plate A11-5 at one end and the second baffle plate A11-7 at the other end; the baffle plate A11-5 can seal the medicine under the pulling force of the second spring A11-4 The medicine outlet at the bottom of the box A11; when the medicine box A11 is pushed out by the medicine taking cylinder A12, the blocking piece A11-5 comes into contact with the top pushing piece B1 of the medicine taking and weighing mechanism B, and the blocking piece A11-5 will be pushed The medicine outlet at the bottom of the box A11 is opened; the presence of the three-section slide rail A11-2 is conducive to the smooth pushing out and retraction of the medicine box A11; The two medicine drop openings are opened or closed at the same time; the relevant structure of the medicine box box A11-1 is shown in Figure 8; the medicine box box A11-1 is divided into two small compartments, containing the same kind of Chinese medicine, the medicine box box A11- 1 A tapered hole at a certain angle at the bottom, this is to ensure the smooth leakage of Chinese medicine while saving space as much as possible, and at the same time can achieve the first-in first-out of Chinese medicine to ensure the efficacy; the large square behind the medicine box A11-1 is for In the aspect, the medicine taking cylinder A12 and the medicine collecting cylinder A14 push the medicine box A11 in advance when they are extended; the rectangular hole in the rear panel of the medicine box box A11-1 is for preventing the bumper A11-5 from hitting the medicine box box A11-1 when it is pushed The convex hole on the front panel of the medicine box A11-1 is to provide space for the pusher B1 to push the stopper A11-5; the existence of the first spring through hole of the medicine box A11-1 ensures the first spring A11-3 Connection and sports space;

The medicine taking and weighing mechanism B mainly includes a pushing piece B1, a pushing piece bracket B2, a linear vibrator B3, a first platform B4, a weighing funnel B5, a flap B6, a motor B7, a weighing sensor B8, a telescopic cylinder B9, a medicine delivery Tube B10, recovery pipeline B11, bracket B12, bottom plate B13, bidirectionally driven AGV cart B14, magnetic strip B15, second platform B16 and third platform B17; the magnetic strip B15 is fixedly connected to the floor, and the vertical rotary medicine cabinet A The front is kept parallel; the bidirectionally driven AGV cart B14 is fixedly connected to the bottom plate B13, and the bidirectionally driven AGV cart B14 can recognize the straight magnetic strip B15 at the bottom and then drive the medicine taking and weighing mechanism B for linear movement; The second platform B16 and the third platform B17 are fixedly connected to the bracket B12; the push plate B1 is fixedly connected to the bracket B2, the bracket B2 is fixedly connected to the first platform B4, and the linear vibrator B1 is fixedly connected to the first platform B4; the weighing sensor B8 is fixedly connected to the second platform B16, the weighing funnel B5 is fixedly connected to the weighing sensor B8 and the motor B7; the output shaft of the motor B7 is connected to the flap B6 at the lower part of the weighing funnel B5; Telescopic cylinder B9 solid Connected to the third platform, B17, B11 and recovery line feed cartridge B10 are respectively fixedly connected to the telescopic cylinder B9;

The packaging mechanism C includes a feeding device C1, a former C2, a traction device C3, a vertical sealing device C4, a feeding tube C5, a horizontal sealing device C6, a bag receiving device C7, an integral frame C8, an electric control cabinet C9, a base C10; a base 10 Fixedly connected to the floor; the feeding device C1, the former C2, the traction device C3, the vertical sealing device C4, the feeding tube C5, the horizontal sealing device C6, and the bag receiving device C7 are all fixedly connected to the overall frame C8; the 7 structures are the same The packaging mechanism C is fixed side by side on the ground.

The preparation of the entire prescription includes the following steps:

(a) The system adjusts the traditional Chinese medicine according to the order of the prescription. The first medicine is dispensed first, and the vertical rotary medicine cabinet A is turned to turn the rotary shelf A5 where the medicine is located to the time when the medicine is taken as shown in FIG. 4 The position of shelf A5, this position is fixed;

(b) The bidirectionally driven AGV cart B14 carries the weighing and medicine taking device B and runs to the front of the medicine box to be grasped. At this time, the pushing piece B1 is in front of the blocking piece A11-5;

(c) The medicine cylinder A12 inside the vertical rotary medicine cabinet A located directly behind the medicine box A11 to be grasped Chinese medicine will push out the corresponding medicine box A11. During the pushing out process, the pusher B1 directly above the linear vibrator B3 pushes the medicine box A11 At the bottom of the block A11-5, the square hole at the bottom of the medicine box A11 began to fall, and the Chinese medicine began to fall into the linear vibrator B3;

(d) After the medicine box A11 is pushed out by the medicine extraction cylinder A12, it pauses for a few seconds to ensure that a sufficient amount of Chinese medicine falls into the linear vibrator B3, and the medicine extraction cylinder A12 is retracted. The corresponding medicine box A11 is pulled by the first spring A11-3 Retract back into the compartment of the swing shelf A5, at the same time the blocking piece A11-5 and the pushing piece B1 no longer contact, the blocking piece A11-5 is reset under the pulling force of the second spring A11-4, and the medicine dropping square hole Blockade

(e) Simultaneously with the above steps, the packaging materials are transported, formed, and sealed under the joint action of the feeding device C1, the former C2, the traction device C3, the vertical sealing device C4, the horizontal sealing device C6, the electric control cabinet C9, etc. The side is formed into a cylindrical shape with one end sealed at the bottom;

(f) The medicine taking and weighing device B moves to the first packing mechanism C of the seven packing mechanisms C, which is directly opposite to the medicine feeding tube B10, which is directly above the former C2;

(g) The linear vibrator B3 begins to vibrate slowly, and the fallen Chinese medicine is sent to the weighing funnel B5 until the amount of this medicine in a dose is weighed. The vibration stops, and the motor B7 drives the flap B6 to turn to open the weighing funnel B5 At the bottom, the medicine in the weighing funnel B5 passes through the feeding tube C5 of the first packaging mechanism C, and then falls into a cylindrical packaging bag sealed at one end of the bottom. The motor B7 drives the flap B6 to close the bottom of the weighing funnel B5. Tribal medicine

(h) Next, the medicine taking and weighing device B is sequentially moved to the opposite side of the 2-xth packing mechanism C of the seven packing mechanisms C. At this time, the medicine feeding tube B10 is directly above the former C2 (x is the total prescription medication Number, generally 3 or 7). Repeat the action of step g until this medicine is weighed to the required number, and the corresponding x packaging mechanisms C have received this Chinese medicine;

(i) The bidirectionally driven AGV cart B14 carries the weighing and medicine taking device B and runs again to the front of the medicine box to be grasped. At this time, the pushing piece B1 is in front of the blocking piece A11-5; at the same time, the vertical turning medicine cabinet A Swivel to turn the swivel shelf A5 where the medicine box A11 just taken to the position of the swivel shelf A5 at the time of recovery as shown in FIG. 4. Before dispensing the next medicine, you need to remove the extra The Chinese medicine is recovered into the medicine box A11 just now, the corresponding medicine collecting cylinder A14 pushes out the medicine box A11 just now, and the telescopic cylinder B9 pushes out, so that the recovery pipe B11 moves to just below the weighing funnel B5 and waits for the medicine to be recovered. It will not hit the shaper C2, the medicine outlet of the recovery pipe B11 is directly above the corresponding medicine box A11, the motor B7 drives the flap B6 to open the medicine dropping hole at the bottom of the weighing funnel B5, the linear vibrator B3 starts to vibrate quickly, and more The Chinese medicines in turn pass through the weighing funnel B5 and the recovery pipeline B11 to reach the medicine taking box A11 just now;

(j) After the recovery, the medicine collecting cylinder A14 is retracted, and the corresponding medicine box A11 is pulled back into the compartment of the swing shelf A5;

(k) Repeat the above steps of aj until all the traditional Chinese medicines in the prescription are captured and weighed. The horizontal sealing device C6 of the packaging mechanism B cuts the traditional Chinese medicine in the cylindrical packaging bag that has just been sealed at one end and cuts it to complete the packaging. The packaged Chinese medicine falls from the bag receiving device C7 in the form of a bag. Each packaging bag contains each medicine in the prescription, and its weight is accurately weighed to the required amount.

The above is only the preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, several improvements can be made without departing from the principles of the present invention, and these improvements should also be regarded as the present invention Scope of protection.

Claims

A prescription dispensing system in an automated Chinese pharmacy, including a vertical rotary medicine cabinet (A), a medicine taking and weighing mechanism (B) and a packaging mechanism (C);

The vertical rotary medicine cabinet (A) includes a cylinder bracket (A1), a driving shaft (A2), a driving sprocket (A3), a chain (A4), a rotating shelf (A5), a driven sprocket (A6), Balance guide rail (A7), driven shaft (A8), shelf connecting rod (A9), balance guide rod (A10), medicine retrieval cylinder (A12), cylinder platform (A13) and medicine collection cylinder (A14); The cylinder platform (A13) is divided into two layers, which are fixedly connected to the cylinder bracket (A1), the medicine taking cylinder (A12) is fixed on the upper layer of the cylinder platform (A13), and the medicine collecting cylinder (A14) is fixed on the cylinder platform (A13) The lower layer; the cylinder bracket (A1) supports the medicine retrieval cylinder (A12), the cylinder platform (A13), and the medicine collection cylinder (A14) built into the vertical rotary medicine cabinet (A);

The swing shelf (A5) is connected to the chain (A4) via a hinged shelf link (A9), the swing shelf (A5) is fixedly connected to the balance guide (A10); the swing shelf (A5) is provided There are several compartments, each compartment has a medicine box (A11) built in, and each compartment has a square hole in the back panel; the medicine box (A11) includes a medicine box box (A11-1), three-section slide Rail (A11-2), first spring (A11-3), second spring (A11-4), flap (A11-5), first partition (A11-6), second partition (A11- 7) and baffle chute (A11-8);

The medicine box (A11) is built into the rotary shelf (A5) through three sections of slide rails (A11-2); the first partition (A11-6) and the second partition (A11-7) are fixed at The bottom of the medicine box (A11-1); the first spring (A11-3) is located at the bottom of the medicine box (A11), one end of the first spring (A11-3) is fixedly connected to the swing shelf (A5), and the other end is fixedly connected The first partition (A11-6); the baffle (A11-5) is placed in the baffle chute (A11-8); one end of the second spring (A11-4) is fixedly connected to the baffle (A11- 5), the other end is fixedly connected to the second partition (A11-7);

The medicine taking and weighing mechanism (B) includes a pushing piece (B1), a pushing piece bracket (B2), a linear vibrator (B3), a first platform (B4), a weighing funnel (B5), and a turning plate (B6) , Motor (B7), weighing sensor (B8), telescopic cylinder (B9), medicine delivery tube (B10), recovery pipeline (B11), bracket (B12), bottom plate (B13), bidirectional drive AGV trolley (B14), Magnetic stripe (B15), second platform (B16) and third platform (B17); the magnetic stripe (B15) is kept parallel to the front of the vertical rotary medicine cabinet (A); the bidirectionally driven AGV cart (B14) Fixedly connected to the bottom plate (B13); the bottom plate (B13), the first platform (B4), the second platform (B16), and the third platform (B17) are fixedly connected to the bracket (B12); the bracket (B2) 3. The linear vibrator (B3) is fixed on the first platform (B4); the pusher (B1) is fixed on the bracket (B2); the weighing sensor (B8) is fixed on the second platform (B16) ; The load cell (B8) and the motor (B7) are fixedly connected to the weighing funnel (B5); the output shaft of the motor (B7) is connected to the flap (B6) at the bottom of the weighing funnel (B5); The telescopic cylinder (B9) is fixed on the third platform (B17); the recovery pipeline (B11) and the medicine delivery tube (B10) are divided Do not fix it on the telescopic cylinder (B9);

The packaging mechanism (C) includes a feeding device (C1), a former (C2), a traction device (C3), a vertical sealing device (C4), a feeding tube (C5), a horizontal sealing device (C6), a bag receiving device (C7), integral frame (C8), electric control cabinet (C9) and base (C10).
The prescription dispensing system of an automated Chinese pharmacy according to claim 1, characterized in that the medicine box box (A11-1) is divided into two small compartments, and the bottom of the medicine box box (A11-1) is provided with a tapered shape hole.