1. A intelligent robot is delivered to traditional chinese medicine based on block supply chain which characterized in that: the automatic feeding device comprises a conveying belt (1), an electric guide rail (2) arranged above the conveying belt, a first sliding block (3) movably arranged on the electric guide rail, a hydraulic cylinder (4) fixedly arranged on the first sliding block, a frame body (5) fixedly arranged on the hydraulic cylinder, two first guide rods (6) fixedly arranged on the frame body at two ends, a first base (7) and a second base (8) movably sleeved on the two first guide rods, a first mechanical arm (9) arranged on the first base, a second mechanical arm (10) symmetrically arranged on the second base with the first mechanical arm, a first driving device (11) used for driving the first mechanical arm and the second mechanical arm to rotate, a second driving device (12) used for driving the first base and the second base to move relatively, and a camera (13) fixedly arranged on the frame body.

2. The intelligent robot for traditional Chinese medicine delivery based on block supply chain as claimed in claim 1, wherein: the first manipulator is the same as the second manipulator in structure, the first manipulator comprises a first belt pulley (91) rotatably arranged on a first base, a clamping seat (92) fixedly arranged on the first belt pulley in a penetrating manner, a first rack (93) and a second rack (94) movably arranged on the clamping seat, a first gear (95) rotatably arranged on the clamping seat and respectively meshed with the first rack and the second rack, a first clamping block (96) fixedly arranged on the first rack, a second clamping block (97) fixedly arranged on the second rack, a first fastening assembly (98) arranged on the first clamping block, a second fastening assembly (99) symmetrically arranged on the second clamping block and fixedly arranged on the second clamping block, two third racks (910) movably arranged on the clamping seat and meshed with the first gear, and a top plate (920) fixedly arranged on the third racks, Two first springs (930) respectively fixed on the top plate and the clamping seat at two ends.

3. The intelligent robot for traditional Chinese medicine delivery based on block supply chain as claimed in claim 2, wherein: the first fastening assembly is structurally the same as the second fastening assembly, the first fastening assembly (98) comprises a sliding rail (981) fixedly arranged on the first clamping block, a first rotating rod (982) with one end rotatably arranged on one end of the sliding rail, a second rotating rod (983) symmetrically arranged with the first rotating rod and with one end rotatably arranged on one end of the sliding rail, a second sliding block (984) movably arranged on the sliding rail, two second guide rods (985) and two third guide rods (986) with one ends fixedly arranged on the second sliding block, a third sliding block (987) movably sleeved on the two second guide rods, a fourth sliding block (988) movably sleeved on the two third guide rods, a first rotating shaft (989) with two ends rotatably arranged on the first rotating rod and the third sliding block, a second rotating shaft (990) with two ends rotatably arranged on the second rotating rod and the fourth sliding block, a second spring (991) with two ends fixedly arranged on the third sliding block and the second sliding block, The spring assembly comprises a third spring (992) with two ends fixedly arranged on a fourth slider and a second slider, two fourth springs (993) with two ends fixedly arranged on the second slider and a slide rail, a first movable plate (994) movably arranged on a top plate, a second movable plate (995) movably arranged on the slide rail and with one end fixedly arranged on the first movable plate, a first pull rope (996) with two ends fixedly arranged on the third slider and the second movable plate, and a second pull rope (997) with two ends fixedly arranged on the fourth slider and the second movable plate.

4. The intelligent robot for traditional Chinese medicine delivery based on block supply chain as claimed in claim 3, wherein: the first fastening assembly (98) further comprises a third moving plate (998) movably arranged on the first rotating rod, a fourth moving plate (999) movably arranged on the second rotating rod, a first push block (1000) fixedly arranged on the third moving plate, a second push block (1001) fixedly arranged on the fourth moving plate, a fifth spring (1002) with two ends fixedly arranged on the first push block and the first rotating rod, a sixth spring (1003) with two ends fixedly arranged on the second push block and the second rotating rod, a guide plate (1004) fixedly arranged on the first clamping block, a first inclined plane (1005) arranged on the guide plate, a second inclined plane (1006) symmetrical to the first inclined plane and arranged on the guide plate, a first roller (1007) rotatably arranged on the third moving plate, and a second roller (1008) rotatably arranged on the fourth moving plate.

5. The intelligent robot for traditional Chinese medicine delivery based on block supply chain as claimed in claim 2, wherein: first drive arrangement (11) including rotate locate second belt pulley (111) on the first base, simultaneously around first belt (112) on first belt pulley and second belt pulley on first manipulator, fixedly locate and be used for driving second belt pulley pivoted first motor (113) on the first base, correspond with the second belt pulley and rotate third belt pulley (114) of locating on the second base, simultaneously around second belt (115) on first belt pulley on third belt pulley and the second manipulator, one end is fixed to be located on the second belt pulley and the other end runs through portable extension bar (116) of locating on the third belt pulley.

6. The intelligent robot for traditional Chinese medicine delivery based on block supply chain as claimed in claim 1, wherein: the second driving device (12) comprises a screw rod (121) with two ends rotatably arranged on the frame body and arranged on the first base and the second base, a fixing ring (122) fixedly arranged on one end of the screw rod, a first fixing plate (123) fixedly arranged on the fixing ring, a second gear (124) sleeved outside the fixing ring and rotatably arranged on the frame body, a second fixing plate (125) and a third fixing plate (126) fixedly arranged on the second gear, a third gear (127) meshed with the second gear, a second motor (128) fixedly arranged on the frame body and used for driving the third gear to rotate, two guide rings (129) penetrating through the first fixing plate and fixedly arranged on the second fixing plate and the third fixing plate, a first arc spring (130) with two ends respectively fixedly arranged on the first fixing plate and the second fixing plate, a second arc spring (131) with two ends respectively fixedly arranged on the first fixing plate and the third fixing plate, and a first spring, A first touch switch (132) fixedly arranged on the second fixing plate and a second touch switch (133) fixedly arranged on the third fixing plate; half of the screw rod is set for positive thread and the other half is set for reverse thread.

Background

Along with the rapid development of economy, the role played by logistics supply chain transportation in various industries is more and more important, a block supply chain is a chain data structure formed by combining data blocks in a sequential connection mode according to a time sequence, and a distributed account book which is guaranteed in a cryptology mode and cannot be tampered and forged is provided, the block supply chain is the most basic concept of the block supply chain, the block chain data structure is used for verifying and storing data, a distributed node consensus algorithm is used for generating and updating data, the cryptology mode is used for guaranteeing the safety of data transmission and access, and an intelligent contract consisting of automatic script codes is used for programming and operating the data; the supply chain management is the whole process from the production of the commodities to the hands of the customers, and specifically comprises links such as packaging, transportation, storage, sale and the like; the traditional Chinese medicine logistics transportation and delivery task is transported by adopting the mode, the logistics codes on the traditional Chinese medicine boxes need to be identified before the traditional Chinese medicines are delivered, the logistics codes on the traditional Chinese medicine boxes are manually aligned to the direction of the camera, the labor intensity of workers is high, and meanwhile, the efficiency is low.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the intelligent robot for delivering the traditional Chinese medicines based on the block supply chain, which can automatically turn over the traditional Chinese medicine boxes, is convenient for identifying logistics codes on the traditional Chinese medicine boxes, can turn over the traditional Chinese medicine boxes with various specifications, has strong universality, reduces the manual labor intensity and improves the efficiency of delivering the traditional Chinese medicines.

In order to achieve the purpose, the invention adopts the following technical scheme: a traditional Chinese medicine delivery intelligent robot based on a block supply chain comprises a conveyor belt, an electric guide rail arranged above the conveyor belt, a first sliding block movably arranged on the electric guide rail, a hydraulic cylinder fixedly arranged on the first sliding block, a frame body fixedly arranged on the hydraulic cylinder, two first guide rods with two ends fixedly arranged on the frame body, a first base and a second base movably sleeved on the two first guide rods, a first mechanical arm arranged on the first base, a second mechanical arm symmetrically arranged on the second base with the first mechanical arm, a first driving device for driving the first mechanical arm and the second mechanical arm to rotate, a second driving device for driving the first base and the second base to relatively move, and a camera fixedly arranged on the frame body; the Chinese medicine box to be delivered is placed on the conveyor belt, the conveyor belt is started to drive the Chinese medicine box to move, the electric guide rail drives the first sliding block to move, the first sliding block stops moving after moving to the position right above the conveyor belt, the Chinese medicine box moves to the position right below the hydraulic cylinder, the hydraulic cylinder drives the frame body to descend, so that the first base and the second base are positioned at the two sides of the Chinese medicine box, namely, the traditional Chinese medicine box is positioned between the first base and the second base, the first base and the second base are driven by the second driving device to move relatively close to each other, so that the first mechanical arm on the first base and the second mechanical arm on the second base move relatively close to each other, the first mechanical arm and the second mechanical arm are used for clamping the medicine chest, the first mechanical arm and the second mechanical arm are rotated by the first driving device, namely, the Chinese medicine box is turned over, and the logistics codes on the Chinese medicine box are scanned and identified through the camera. The invention firstly puts the traditional Chinese medicine box to be delivered on a conveyor belt, starts the conveyor belt to drive the traditional Chinese medicine box to move, so that the traditional Chinese medicine box moves towards a first base and a second base, then drives a first slide block to move through an electric guide rail, so that the first slide block moves to the position right above the conveyor belt, the first slide block stops moving after moving to the position right above the conveyor belt, namely the traditional Chinese medicine box moves to the position right below a hydraulic cylinder, drives a frame body to descend through the hydraulic cylinder, so that the first base and the second base descend, so that the first base and the second base are positioned at two sides of the traditional Chinese medicine box, namely the traditional Chinese medicine box is positioned at the middle part of the first base and the second base, drives the first base and the second base to relatively move close to each other through a second driving device, so that a first mechanical hand on the first base and a second mechanical hand on the second base relatively move close to each other, and clamps the traditional Chinese medicine box through the first mechanical hand and the second mechanical hand, can carry out the centre gripping to the traditional chinese medicine case of multiple specification size through first manipulator and second manipulator setting, the commonality is strong, and rethread first drive arrangement rotates first manipulator and second manipulator, and the centering medical kit overturns promptly, can overturn automatically to the centering medical kit, scans the discernment through the commodity circulation code on the traditional chinese medicine case through the camera, and the commodity circulation code on the traditional chinese medicine case is convenient for discern, reduces artifical intensity of labour, improves the efficiency that traditional chinese medicine was delivered, to sum up can overturn automatically to the centering medical kit, is convenient for discern the commodity circulation code on the traditional chinese medicine case, and can overturn to the traditional chinese medicine case of multiple specification size, and the commonality is strong, reduces artifical intensity of labour, improves the efficiency that traditional chinese medicine was delivered.

The first manipulator is the same as the second manipulator in structure, the first manipulator comprises a first belt pulley which is rotatably arranged on a first base, a clamping seat which is fixedly arranged on the first belt pulley is penetrated, a first rack and a second rack which are movably arranged on the clamping seat, a first gear which is rotatably arranged on the clamping seat and is respectively meshed with the first rack and the second rack, a first clamping block which is fixedly arranged on the first rack, a second clamping block which is fixedly arranged on the second rack, a first fastening assembly which is arranged on the first clamping block, a second fastening assembly which is symmetrical to the first fastening assembly and is fixedly arranged on the second clamping block, two third racks which are movably arranged on the clamping seat and are meshed with the first gear, a top plate which is fixedly arranged on the third racks, and two first springs which are fixedly arranged on the top plate and the clamping seat at two ends respectively.

The first fastening assembly and the second fastening assembly are identical in structure, the first fastening assembly comprises a slide rail fixedly arranged on the first clamping block, a first rotating rod with one end rotatably arranged on one end of the slide rail, a second rotating rod which is symmetrical to the first rotating rod and is rotatably arranged on one end of the slide rail, a second sliding block movably arranged on the slide rail, two second guide rods and two third guide rods with one ends fixedly arranged on the second sliding block, a third sliding block movably sleeved on the two second guide rods, a fourth sliding block movably sleeved on the two third guide rods, a first rotating shaft with two ends rotatably arranged on the first rotating rod and the third sliding block, a second rotating shaft with two ends rotatably arranged on the second rotating rod and the fourth sliding block, a second spring with two ends fixedly arranged on the third sliding block and the second sliding block, a third spring with two ends fixedly arranged on the fourth sliding block and the second sliding block, and two fourth springs with two ends fixedly arranged on the second sliding block and the slide rail, The first movable plate is movably arranged on the top plate, the second movable plate is movably arranged on the sliding rail, one end of the second movable plate is fixedly arranged on the first movable plate, the two ends of the first pull rope are fixedly arranged on the third sliding block and the second movable plate, and the two ends of the second pull rope are fixedly arranged on the fourth sliding block and the second movable plate.

The first fastening assembly further comprises a third movable plate movably arranged on the first rotating rod, a fourth movable plate movably arranged on the second rotating rod, a first push block fixedly arranged on the third movable plate, a second push block fixedly arranged on the fourth movable plate, a fifth spring with two ends fixedly arranged on the first push block and the first rotating rod, a sixth spring with two ends fixedly arranged on the second push block and the second rotating rod, a guide plate fixedly arranged on the first clamping block, a first inclined plane arranged on the guide plate, a second inclined plane symmetrical to the first inclined plane and arranged on the guide plate, a first roller rotatably arranged on the third movable plate, and a second roller rotatably arranged on the fourth movable plate.

First drive arrangement is including rotating the second belt pulley of locating on the first base, simultaneously around the first belt on first belt pulley and second belt pulley on first manipulator, fix and be used for driving second belt pulley pivoted first motor on locating first base, correspond with the second belt pulley and rotate the third belt pulley of locating on the second base, simultaneously around the second belt on first belt pulley on third belt pulley and the second manipulator, one end is fixed to be located on the second belt pulley and the other end runs through the portable extension bar of locating on the third belt pulley.

The second driving device comprises a screw rod, a fixed sleeve, a fixed ring, a first fixed plate, a second gear, a second fixed plate, a third gear, a second motor, two guide rings, a first arc-shaped spring, a first touch-touch switch, a second arc-shaped spring, a second touch-touch switch and a second touch-touch switch, wherein the two ends of the screw rod are rotatably arranged on the frame body and are arranged on the first base and the second base, the fixed sleeve is arranged on the fixed ring, the first fixed plate is fixedly arranged on the fixed ring, the second gear is fixedly arranged on the frame body, the second gear is fixedly arranged on the fixed ring and is rotatably arranged on the frame body, the second fixed plate is fixedly arranged on the fixed ring, the second fixed plate and the third fixed plate are fixedly arranged on the second gear, the third gear is fixedly arranged on the frame body, the second motor is fixedly arranged on the fixed ring, the frame body, the two guide rings are movably arranged on the first fixed plate and are movably arranged on the first fixed plate, the second arc-touch switch is fixedly arranged on the second fixed plate, and is arranged on the second fixed plate, the second motor is arranged on the second motor, and is arranged on the second motor, the second motor is arranged on the second motor, the third motor, the second motor, the third motor, the second motor, the third motor, the second motor is fixedly arranged on the second motor, the third motor is fixedly arranged on the third motor, the second motor, the third motor, the second motor, the third motor, the second touch switch is fixedly arranged on the third fixing plate; half of the screw rod is set for positive thread and the other half is set for reverse thread.

The invention has the following advantages: firstly, a traditional Chinese medicine box to be delivered is placed on a conveyor belt, the conveyor belt is started to drive the traditional Chinese medicine box to move, the traditional Chinese medicine box moves towards a first base and a second base, a first sliding block is driven by an electric guide rail to move, the first sliding block moves to a position right above the conveyor belt, the first sliding block stops moving after moving to a position right above the conveyor belt, namely the traditional Chinese medicine box moves to a position right below a hydraulic cylinder, a frame body is driven by the hydraulic cylinder to descend, the first base and the second base are driven by the hydraulic cylinder to be positioned at two sides of the traditional Chinese medicine box, namely the traditional Chinese medicine box is positioned at the middle position between the first base and the second base, the first base and the second base are driven by a second driving device to move relatively close, a first mechanical arm on the first base and a second mechanical arm on the second base move relatively close to each other, the traditional Chinese medicine box is clamped by the first mechanical arm and the second mechanical arm, can carry out the centre gripping to the traditional chinese medicine case of multiple specification size through first manipulator and second manipulator setting, the commonality is strong, and rethread first drive arrangement rotates first manipulator and second manipulator, and the centering medical kit overturns promptly, can overturn automatically to the centering medical kit, scans the discernment through the commodity circulation code on the traditional chinese medicine case through the camera, and the commodity circulation code on the traditional chinese medicine case is convenient for discern, reduces artifical intensity of labour, improves the efficiency that traditional chinese medicine was delivered, to sum up can overturn automatically to the centering medical kit, is convenient for discern the commodity circulation code on the traditional chinese medicine case, and can overturn to the traditional chinese medicine case of multiple specification size, and the commonality is strong, reduces artifical intensity of labour, improves the efficiency that traditional chinese medicine was delivered.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a side view of the present invention.

Fig. 3 is an enlarged view of fig. 2 at B.

Fig. 4 is a schematic front view of the present invention.

Fig. 5 is an enlarged view of a portion a in fig. 4.

Fig. 6 is a sectional view taken along line a-a of fig. 4.

Fig. 7 is a partial sectional view taken along line B-B of fig. 6.

Fig. 8 is a partial sectional view taken along line C-C of fig. 4.

Fig. 9 is a partial sectional view taken along line E-E of fig. 4.

Fig. 10 is a cross-sectional view taken along line D-D of fig. 4.

Fig. 11 is an enlarged view of fig. 10 at C.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The block supply chain comprises an intelligent robot, the intelligent robot scans logistics codes of the transported traditional Chinese medicines to acquire logistics information of the transported traditional Chinese medicines, the intelligent robot acquires destination geographic positions of the transported traditional Chinese medicines from a cloud server, the intelligent robot acquires the positions through a self-contained positioning module and uploads the positions to the cloud server, and the cloud server is not explained in the prior art.

As shown in fig. 1-11, an intelligent robot for delivering traditional Chinese medicine based on a block supply chain comprises a conveyor belt 1, an electric guide rail 2 arranged above the conveyor belt, a first slider 3 movably arranged on the electric guide rail, a hydraulic cylinder 4 fixedly arranged on the first slider, a frame body 5 fixedly arranged on the hydraulic cylinder, two first guide rods 6 with two ends fixedly arranged on the frame body, a first base 7 and a second base 8 movably sleeved on the two first guide rods, a first manipulator 9 arranged on the first base, a second manipulator 10 symmetrically arranged on the second base with the first manipulator, a first driving device 11 for driving the first manipulator and the second manipulator to rotate, a second driving device 12 for driving the first base and the second base to move relatively, and a camera 13 fixedly arranged on the frame body; firstly, a traditional Chinese medicine box to be delivered is placed on a conveyor belt, the conveyor belt is started to drive the traditional Chinese medicine box to move, the traditional Chinese medicine box moves towards a first base and a second base, a first sliding block is driven by an electric guide rail to move, the first sliding block moves to a position right above the conveyor belt, the first sliding block stops moving after moving to a position right above the conveyor belt, namely the traditional Chinese medicine box moves to a position right below a hydraulic cylinder, a frame body is driven by the hydraulic cylinder to descend, the first base and the second base are driven by the hydraulic cylinder to be positioned at two sides of the traditional Chinese medicine box, namely the traditional Chinese medicine box is positioned at the middle position between the first base and the second base, the first base and the second base are driven by a second driving device to move relatively close, a first mechanical arm on the first base and a second mechanical arm on the second base move relatively close to each other, the traditional Chinese medicine box is clamped by the first mechanical arm and the second mechanical arm, can carry out the centre gripping to the traditional chinese medicine case of multiple specification size through first manipulator and second manipulator setting, the commonality is strong, and rethread first drive arrangement rotates first manipulator and second manipulator, and the centering medical kit overturns promptly, can overturn automatically to the centering medical kit, scans the discernment through the commodity circulation code on the traditional chinese medicine case through the camera, and the commodity circulation code on the traditional chinese medicine case is convenient for discern, reduces artifical intensity of labour, improves the efficiency that traditional chinese medicine was delivered, to sum up can overturn automatically to the centering medical kit, is convenient for discern the commodity circulation code on the traditional chinese medicine case, and can overturn to the traditional chinese medicine case of multiple specification size, and the commonality is strong, reduces artifical intensity of labour, improves the efficiency that traditional chinese medicine was delivered.

The first manipulator and the second manipulator have the same structure, the first manipulator comprises a first belt pulley 91 rotatably arranged on a first base, a clamping seat 92 fixedly arranged on the first belt pulley in a penetrating way, a first rack 93 and a second rack 94 movably arranged on the clamping seat, a first gear 95 rotatably arranged on the clamping seat and respectively meshed with the first rack and the second rack, a first clamping block 96 fixedly arranged on the first rack, and a second clamping block 97 fixedly arranged on the second rack, the clamping device comprises a first fastening component 98 arranged on a first clamping block, a second fastening component 99 which is symmetrical to the first fastening component and is fixedly arranged on a second clamping block, two third racks 910 which are movably arranged on a clamping seat and are meshed with a first gear, a top plate 920 fixedly arranged on the third racks, and two first springs 930 with two ends respectively fixedly arranged on the top plate and the clamping seat; when the first base approaches the direction of the traditional Chinese medicine box, the top plate firstly props against the traditional Chinese medicine box to clamp the traditional Chinese medicine box, the first base is continuously driven to move towards the direction of the traditional Chinese medicine box, the first spring is compressed, the third rack is moved to rotate the first gear, the first rack and the second rack are arranged in a meshed mode with the first gear, so that the first rack and the second rack move relatively close to each other, the first clamping block and the second clamping block move relatively close to each other to clamp two ends of the traditional Chinese medicine box and fix the traditional Chinese medicine box again, the first clamping block and the second clamping block move relatively close to each other in the moving process to enable the first fastening assembly and the second fastening assembly to clamp and fix the traditional Chinese medicine again through the first fastening assembly and the second fastening assembly, the traditional Chinese medicine box with various specifications and sizes can be fixed through the integral arrangement, the universality is strong.

The first fastening assembly and the second fastening assembly have the same structure, the first fastening assembly 98 comprises a slide rail 981 fixedly arranged on the first clamping block, a first rotating rod 982 with one end rotatably arranged on one end of the slide rail, a second rotating rod 983 which is symmetrical to the first rotating rod and with one end rotatably arranged on one end of the slide rail, a second sliding block 984 movably arranged on the slide rail, two second guide rods 985 and two third guide rods 986 with one end fixedly arranged on the second sliding block, a third sliding block 987 movably sleeved on the two second guide rods, a fourth sliding block 988 movably sleeved on the two third guide rods, a first rotating shaft 989 with two ends rotatably arranged on the first rotating rod and the third sliding block, a second rotating shaft 990 with two ends rotatably arranged on the second rotating rod and the fourth sliding block, a second spring 991 with two ends fixedly arranged on the third sliding block and the second sliding block, a third spring 992 with two ends fixedly arranged on the fourth sliding block and the second sliding block, Two fourth springs 993 with two ends fixedly arranged on the second slider and the slide rail, a first moving plate 994 movably arranged on the top plate, a second moving plate 995 movably arranged on the slide rail and with one end fixedly arranged on the first moving plate, a first pull rope 996 with two ends fixedly arranged on the third slider and the second moving plate, and a second pull rope 997 with two ends fixedly arranged on the fourth slider and the second moving plate; the first base moves towards the direction of the traditional Chinese medicine box, when the top plate is contacted with the traditional Chinese medicine box, the top plate and the first clamping block move relatively, the first moving plate drives the second moving plate to move, the second moving plate moves relatively to the first clamping block, namely the second moving plate pulls the first pull rope and the second pull rope, the third slider and the fourth slider move relatively close to each other, the second slider moves, the first rotating rod and the second rotating rod rotate relatively close to each other, the first rotating rod and the second rotating rod push the traditional Chinese medicine box, the first rotating rod and the second rotating rod rotate relatively to generate a relatively close force on the traditional Chinese medicine box, the first rotating rod and the second rotating rod can fix the pushing force on the traditional Chinese medicine box and can also fix the traditional Chinese medicine box, the top plate of the traditional Chinese medicine box is pushed in the direction, the fixing effect is greatly improved, and meanwhile, the first rotating rod and the second rotating rod can improve the contact area of the traditional Chinese medicine box centering, the third sliding block is reset through the second spring, the fourth sliding block is reset through the third spring, and the second sliding block is reset through the fourth spring.

The first fastening assembly 98 further comprises a third moving plate 998 movably arranged on the first rotating rod, a fourth moving plate 999 movably arranged on the second rotating rod, a first push block 1000 fixedly arranged on the third moving plate, a second push block 1001 fixedly arranged on the fourth moving plate, a fifth spring 1002 with two ends fixedly arranged on the first push block and the first rotating rod, a sixth spring 1003 with two ends fixedly arranged on the second push block and the second rotating rod, a guide plate 1004 fixedly arranged on the first clamping block, a first inclined plane 1005 arranged on the guide plate, a second inclined plane 1006 symmetrical to the first inclined plane and arranged on the guide plate, a first roller 1007 rotatably arranged on the third moving plate, and a second roller 1008 rotatably arranged on the fourth moving plate; in the process that the first rotating rod and the second rotating rod are relatively close to each other and rotate, the first roller is located on the first inclined plane to roll, the second roller is located on the second inclined plane to roll, the third moving plate extends out of the first rotating rod, the fourth moving plate extends out of the second rotating rod, the first pushing block is far away from the first rotating rod, the second pushing block is far away from the second rotating rod, the thrust of the first rotating rod and the second rotating rod for centering the medicine boxes can be prolonged, the first pushing block is reset through the fifth spring, the second pushing block is reset through the sixth spring, the first pushing block and the second pushing block are arranged to generate the thrust for centering the medicine boxes again, the medicine boxes are pushed towards the top plate, and the fixation of the centering medicine boxes is improved again.

The first driving device 11 comprises a second belt pulley 111 rotatably arranged on the first base, a first belt 112 wound on the first belt pulley and the second belt pulley on the first manipulator at the same time, a first motor 113 fixedly arranged on the first base and used for driving the second belt pulley to rotate, a third belt pulley 114 rotatably arranged on the second base corresponding to the second belt pulley, a second belt 115 wound on the third belt pulley and the first belt pulley on the second manipulator at the same time, and an extension rod 116 with one end fixedly arranged on the second belt pulley and the other end penetrating through the third belt pulley and movably arranged on the second belt pulley; rotate through first motor drive second belt pulley, make first belt rotate, make first belt pulley rotate to make first manipulator rotate, the second belt pulley rotates the in-process and makes extension bar rotate, thereby makes the third belt pulley rotate, makes the second belt rotate, finally makes second manipulator and first manipulator syntropy rotate, makes the upset of traditional chinese medicine case.

The second driving device 12 includes a screw 121 with two ends rotatably disposed on the frame body and disposed on the first base and the second base, a fixing ring 122 fixedly disposed on one end of the screw, a first fixing plate 123 fixedly disposed on the fixing ring, a second gear 124 sleeved outside the fixing ring and rotatably disposed on the frame body, a second fixing plate 125 and a third fixing plate 126 fixedly disposed on the second gear, a third gear 127 engaged with the second gear, a second motor 128 fixedly disposed on the frame body and used for driving the third gear to rotate, two guide rings 129 penetrating and movably disposed on the first fixing plate and fixedly disposed on the second fixing plate and the third fixing plate, a first arc spring 130 with two ends respectively fixedly disposed on the first fixing plate and the second fixing plate, a second arc spring 131 with two ends respectively fixedly disposed on the first fixing plate and the third fixing plate, a first touch switch 132 fixedly disposed on the second fixing plate, a second touch switch mounted on the second fixing plate, a third touch switch mounted on the second fixing plate, and a third touch switch mounted on the second touch switch, A second touch switch 133 fixedly disposed on the third fixing plate; one half of the screw is provided with a positive thread and the other half is provided with a reverse thread; the second motor drives the third gear to rotate, so that the second gear rotates, the fixing ring rotates along with the first arc-shaped spring and the second arc-shaped spring, the screw rod rotates, the first base and the second base move relatively close to each other, when the first base and the second base cannot close to each other, the screw rod stops rotating, the second gear continues rotating, the first fixing plate approaches towards the second fixing plate, finally the first fixing plate props against the first touch switch, the first touch switch controls the second motor, so that the second motor is turned off, the second driving device can drive the screw rod to rotate consistently through the arrangement, namely, the rotation force cannot be changed according to the size of the traditional Chinese medicine box, the traditional Chinese medicine box is prevented from being extruded and deformed, all forces for fixing the traditional Chinese medicine box are kept consistent, when the fixing of the traditional Chinese medicine box is loosened, the second motor drives the second gear to rotate reversely, so that the fixing ring rotates reversely, the screw rod is rotated reversely, the first base and the second base are relatively far away, even if the first base and the second base are reset, the second motor continues to drive the second gear to rotate after the first base and the second base are reset, the first fixing plate moves towards the direction of the third fixing plate, the first fixing plate is enabled to prop against the second touch switch, the second control switch controls the second motor, the second motor is enabled to be closed, and the first base and the second base stop moving.

The first motor and the second motor are purchased from the market.