The invention provides a tabletop dispensing robot and a dispensing method thereof. The tabletop dispensing robot comprises a cabinet body, wherein a control panel and an operation window which are used by an operator are arranged on the cabinet body; a supporting plate is arranged in the cabinet body, the space in the cabinet body is separated through the supporting plate, and the upper space andthe lower space are formed; an injector conveying module, a rotary manipulator module, a needle cap collecting module, an infusion bag conveying module, a penicillin bottle conveying module, an uncapping disinfection module, a penicillin bottle rotating module, a laser scanning module, an empty penicillin bottle pushing-out module, an oscillation dissolution module and a needle cylinder and needle head separation and collection module are arranged in the upper space of the cabinet body; a needle cap recycling opening, a needle cylinder and needle head recycling opening and a penicillin bottlerecycling opening are further formed at the supporting plate, and a needle cap recycling barrel, a needle cylinder and needle head recycling barrel and a penicillin bottle recycling barrel are correspondingly arranged in the lower space of the cabinet body. According to the tabletop dispensing robot and the dispensing method thereof, the labor intensity of operators can be effectively reduced, the dispensing efficiency is improved, and the error rate is reduced.