The main body of the screw conveyor system is a self-positioning weighing conveyor, and above the screw conveyor, there are medicine boxes with weighing functions. Scan the QR code on the traditional Chinese medicine list through the camera on the vehicle to obtain the type and dosage of the medicine. Match it according to the name of the medicine and the corresponding position of the traditional Chinese medicine, and automatically calculate the optimal path for getting the medicine. After moving to the designated position, scan the QR code below the medicine to confirm the type of medicine again. Once confirmed to be correct, the intelligent vehicle sends a Bluetooth signal to the traditional Chinese medicine hopper. The screw conveyor below the funnel then pushes the traditional Chinese medicine to the medicine box below. The bottom of the medicine box is equipped with a weighing module (capable of detecting sperm skin up to 0.1g), which can accurately detect the weight of the falling medicine. Moreover, the smart vehicle can carry 7 medicine trays and can simultaneously pick up and dispense medicine at one time. Once the medicine in the box reaches the given mass, immediately move it to the next medicine box. After all the medicine has been filled, immediately send a signal to the traditional Chinese medicine hopper to reverse the screw conveyor and send the excess medicine into the sliding hopper to prevent contamination caused by prolonged contact with air. The intelligent vehicle moves to the bottom of the next traditional Chinese medicine hopper along the calculated optimal path to continue to pick up the medicine. After all the medicines on the medicine list have been picked up, it returns to the same starting position. The picked medicines can be placed in the traditional Chinese medicine bag through the holes at the bottom of the medicine box. The dispenser can then label the packaged traditional Chinese medicine bags and distribute them to the patients.

The screw conveyor system uses a driver board module to program control four stepper motors. This driver board, as a DMOS digital stepper motor driver with a converter and overcurrent protection, can be used to control bipolar stepper motors to operate in stepper mode, with an output drive capacity of 35V and ± 2A, ensuring precise control of the cutting of the McNave wheel, as well as longitudinal, bidirectional and oblique movement ports. The trolley will reach the designated coordinate position based on the calculation result of the optimal path program. The medicine will be placed in the medicine box at the bottom equipped with a weighing module. The single-chip microcomputer recognizes the data of the weighing module and then, based on the calculation result of the data, promptly takes the designated action. The entire movement process is independently carried out by the conveyor for recognition, calculation, weighing and other series of actions. Complete the task of picking up traditional Chinese medicine quickly and efficiently.

The traditional Chinese medicine grasping conveyor can move forward and backward, left and right, or translational along the specified Angle through the differential rotation of the McCam wheel. The trolley uses 8 line inspection sensors for route identification, reducing the square deviation of the trolley during driving. The two sensors on the left and right record the actual distance traveled by the conveyor and feed it back to the control system for real-time correction Ensure that the position for grasping the medicine can be precisely reached under the drive of the stepping motor. According to the program specified by the computer, the optimal path is planned. After reaching the designated product position, the QR code below the medicine funnel is scanned again to confirm whether the target medicine is correct. After verification, the controller sends a Bluetooth signal to the traditional Chinese medicine sliding hopper for communication. The funnel motor cutter receives the Bluetooth signal, turns on the screw conveyor switch, and starts to prepare the medicine. The weighing module at the bottom of the medicine box detects the pressure value and sends it to the main controller. The sent data is an analog quantity. Through the A/D conversion interface, the analog quantity is converted into a digital quantity. When the specified quantity is reached, the controller sends a Bluetooth signal to make the traditional Chinese medicine funnel control screw conveyor reverse. In this way, the excess medicine is collected into the unloading hopper, ensuring that the medicine is not contaminated by air.