Automatic weighing medicine-taking machine and automatic weighing medicine-taking method

Abstract

An automatic weighing medicine grabbing machine and an automatic weighing medicine grabbing method, the medicine grabbing machine comprising a rotary medicine cabinet and a medicine grabbing manipulator, the rotary medicine cabinet comprising a rotary base and a rotary cabinet body rotatably arranged on the rotary base, the rotary cabinet body comprising a plurality of medicine boxes for placing different medicines; the medicine grabbing manipulator grabbing medicines in corresponding medicine boxes as required, comprising a base, a grabbing device arranged on the base for grabbing medicines, a first driving device connected and driving the base to move left and right, and a second driving device arranged on the base and connected and driving the grabbing device to move up and down, through specific limitation of the structure of the medicine grabbing manipulator and the grabbing device, automatic grabbing of medicines is realized, and the weight of medicines can be accurately controlled, so as to save labor, greatly improve the efficiency of medicine grabbing, and achieve the effect of small weighing error.

Description

Technical Field

[0001] This invention belongs to the field of medicinal material preparation, specifically relating to an automatic weighing and dispensing machine and an automatic weighing and dispensing method for medicinal materials. Background Technology

[0002] Traditional Chinese medicine (TCM) is a traditional Chinese medical technique, a summary of theories and experiences accumulated by the Chinese people over thousands of years. Chinese herbal medicines have made a significant contribution to the survival and reproduction of the Chinese nation and are a treasure of traditional Chinese health culture. Currently, when hospitals prepare TCM prescriptions, the corresponding medicinal materials are manually located according to the prescription and then weighed by hand. This method is inefficient and prone to errors, and needs further improvement. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatic weighing and dispensing machine for medicines. Another purpose is to provide an automatic weighing and dispensing method for medicines using the above-mentioned dispensing machine.

[0004] The present invention adopts the following technical solution:

[0005] An automatic weighing and dispensing medicine machine includes a rotating medicine cabinet and a dispensing robotic arm.

[0006] A rotating medicine cabinet includes a rotating base and a rotating cabinet body rotatably mounted on the rotating base, wherein the rotating cabinet body includes multiple medicine boxes for placing different medicinal materials;

[0007] The medicine-dispensing robot arm can grasp the medicines in the corresponding medicine box as needed. It includes a base, a gripping device set on the base for grasping the medicines, a first drive device connected to and driving the base to move left and right, and a second drive device set on the base connected to and driving the gripping device to move up and down.

[0008] The gripping device includes a gripper for gripping medicinal materials, a mounting base on the machine base for mounting the gripper, a linear reciprocating mechanism on the mounting base that connects to and drives the gripper to move linearly back and forth, a rotating mechanism on the linear reciprocating mechanism that connects to and drives the gripper to rotate horizontally, a rotating mechanism on the rotating mechanism that connects to and drives the gripper to rotate up and down, and a sensor on the mounting base for detecting the amount of medicine dispensed by the gripper. The gripper includes a gripper body and a medicine outlet on the gripper body. The gripper body includes two scoops that can open and close relative to each other and an opening and closing mechanism that drives the two scoops to open and close relative to each other.

[0009] Furthermore, the linear reciprocating mechanism includes a positioning seat on the mounting base, a movable plate movably mounted on the positioning seat, and a reciprocating drive component mounted on the positioning seat and connected to drive the movable plate to perform linear reciprocating motion. The rotating mechanism is mounted on the movable plate and connected to the drug claw.

[0010] Furthermore, the mounting base includes a mounting body and a balancing deformation metal component. The mounting body is used to mount a positioning seat, which is rotatably mounted on the mounting body. The balancing deformation metal component is mounted on the mounting body, with one end connected to the end of the positioning seat away from the rotating mechanism. The sensor is a stress sensor mounted on the balancing deformation metal component.

[0011] Furthermore, the claw spoon includes an arc-shaped shell, a receiving cavity formed inside the shell for holding medicinal materials, a relief groove extending inward from the upper end of the receiving cavity, and a guide surface inclined inward from the lower end of the receiving cavity to guide the medicinal materials in. When the two claw spoons are closed and connected, the two relief grooves are spliced ​​together to form the medicine outlet.

[0012] Furthermore, the opening and closing mechanism includes a pneumatic gripper seat connected to the rotating mechanism for assembling the gripper spoon, two movable blocks that can move towards or away from each other on the pneumatic gripper seat, and an opening and closing cylinder connected to the pneumatic gripper seat to drive the two movable blocks to move. The gripper spoon is connected to the opposite movable block.

[0013] Furthermore, the rotating mechanism includes a rotating component connected to a linear reciprocating mechanism and a rotating seat disposed at the front end of the rotating component and connected to the rotating mechanism.

[0014] Furthermore, the rotating mechanism includes a rotating seat rotatably connected to the rotating seat and a rotating component disposed in the rotating seat and connected to drive the rotating seat to rotate up and down, and the medicine claw is disposed on the rotating seat.

[0015] Furthermore, the first driving device includes a gear set rotatably disposed in the base, a first rack extending along the length direction of the rotating medicine cabinet and cooperating with the gear set, and a sliding guide disposed on the base. The sliding guide enables the base to move back and forth stably along the length direction of the rotating medicine cabinet, and includes a plurality of guide wheels slidably disposed on the top of the first rack and a mounting bracket disposed on the base for mounting the guide wheels.

[0016] Furthermore, the second drive device includes a gimbal that can move up and down and is connected to the gripping device, a lead screw and nut assembly mounted on the base and connected to the gimbal, a drive motor mounted on the base to drive the lead screw and nut assembly, a bevel gear set connected between the lead screw and nut assembly and the drive motor, and a connecting plate connected between the lead screw and nut assembly and the gimbal.

[0017] Furthermore, it also includes a medicine receiving box for receiving the medicine poured out by the medicine claw and a conveying mechanism for carrying and driving the medicine receiving box to move back and forth along the length of the rotating cabinet.

[0018] An automatic weighing and dispensing method for medicines, using any of the dispensing machines described above, specifically includes the following steps:

[0019] Step 1: Determine the location of the required medicinal materials, control the rotating cabinet to rotate so that the corresponding medicine box is opposite to the medicine-grabbing robot arm; then ensure that the medicine outlet of the claw is facing upward, and control the first drive device to move the gripping device to the front of the corresponding medicine box;

[0020] Step 2: First, the second drive device controls the medicine claw to move downwards to the top of the corresponding medicine box. Then, the linear reciprocating mechanism controls the medicine claw to move in the direction close to the medicine box. Next, the rotating mechanism controls the medicine claw to rotate downwards into the medicine box. Then, the opening and closing mechanism controls the two claw spoons to open and close to complete the grasping of the medicine and the sensor obtains the weight of the grasped medicine.

[0021] Step 3: The linear reciprocating mechanism, the rotating mechanism and the second drive device work together to move the medicine claw to the medicine pouring point. Then, the rotating mechanism controls the medicine claw to rotate 180° so that the medicine outlet faces downward. Then, the rotating mechanism controls the medicine claw to rotate up and down, and the sensor works together to pour out the required amount of medicine from the medicine outlet.

[0022] As can be seen from the above description of the present invention, compared with the prior art, the beneficial effects of the present invention are: the present application specifically defines the structure of the medicine-grabbing robot and the gripping device, realizes the automated gripping of medicinal materials, and can accurately control the weight of medicinal materials, so as to save labor, greatly improve the efficiency of gripping medicinal materials, and have small weighing errors. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the clearly defined internal structure;

[0024] Figure 2 This is a schematic diagram of the structure of a drug-dispensing robotic arm;

[0025] Figure 3 This is a partial structural diagram of a drug-dispensing robotic arm;

[0026] Figure 4 This is a schematic diagram of the gripping device.

[0027] Figure 5 This is a schematic diagram of the second drive device;

[0028] Figure 6 This is a schematic diagram of the overall structure of the present invention;

[0029] In the diagram, 1-rotating medicine cabinet, 2-medicine-grabbing robot, 3-base, 4-grabbing device, 5-first drive device, 6-second drive device, 7-medicine receiving box, 8-conveying mechanism, 11-rotating seat, 111-rotating disk, 112-rotating shaft, 12-rotating cabinet body, 13-medicine box assembly, 131-assembly rod, 132-medicine box, 41-medicine claw, 411-medicine claw body, 412-medicine outlet, 413-claw spoon, 4131-shell, 4132-accepting cavity, 4133-gap groove, 4134-guide surface, 414-opening and closing mechanism, 4141-pneumatic gripper seat, 4142-moving block, 4143-opening and closing cylinder, 42-mounting seat, 421-mounting seat body, 42 2-Balanced Deformation Metal Part; 43-Linear Reciprocating Mechanism; 431-Positioning Seat; 432-Moving Plate; 433-Reciprocating Motor; 434-Reciprocating Screw and Nut Pair; 44-Rotating Mechanism; 441-Rotating Component; 442-Rotating Seat; 45-Rotating Mechanism; 451-Rotating Seat; 46-Sensor; 51-Gear Set; 52-First Rack; 53-Gear Motor; 54-Guide Component; 541-Guide Wheel; 542-Mounting Frame; 61-Gimbal; 62-Screw and Nut Pair; 63-Drive Motor; 64-Bevel Gear Set; 65-Connecting Plate; 81-Base; 82-Bearing Platform; 83-Conveying Component; 831-Conveying Rack; 832-Conveying Gear; 833-Conveying Motor. Detailed Implementation

[0030] The present invention will be further described below through specific embodiments.

[0031] Reference Figures 1 to 6 As shown, an automatic weighing and dispensing medicine machine includes a rotating medicine cabinet 1, a dispensing robot 2, a medicine receiving box 7, and a conveying mechanism 8.

[0032] The rotating medicine cabinet 1 includes a rotating base 11 and a rotating cabinet body 12 rotatably mounted on the rotating base 11. The rotating base 11 includes two rotating disks 111 arranged opposite each other, a rotating shaft 112 rotatably mounted between the two rotating disks 111, and a rotating device that connects to and drives the rotating shaft 112 to rotate. The rotating cabinet body 12 is located between the two rotating disks 111 and includes multiple medicine box groups 13 distributed circumferentially. Specifically, each medicine box group 13 includes an assembly rod 131 disposed between the two rotating disks 111 and multiple medicine boxes 132 for placing different medicinal materials, spaced apart on the assembly rod 131. When the rotating medicine cabinet 1 is in use, each medicine box 132 is used to hold different medicinal materials. The rotating device drives the rotating shaft 112 to rotate, rotating the medicine box 132 corresponding to the required medicinal material to the front for easy access. Furthermore, the rotating device is a device commonly used in mechanical equipment to drive the rotation of relative components; its specific structure and working principle will not be further elaborated here.

[0033] The medicine-dispensing robot 2, which grasps the medicines in the corresponding medicine box as needed, includes a base 3, a grasping device 4 set on the base 3 for grasping the medicines, a first drive device 5 connected to and driving the base 3 to move left and right, and a second drive device set on the base 3 connected to and driving the grasping device 4 to move up and down.

[0034] The first driving device 5 includes a gear set 51 rotatably mounted on the base 3, a first rack 52 extending along the length of the rotating medicine cabinet 1 and engaging with the gear set 51, a gear motor 53 mounted on the base 3 to drive the gear set 51 to rotate, and a sliding guide 54 mounted on the base 3. Specifically, the gear set 51 includes four gears arranged in a matrix, and four gear motors 53 are provided, each corresponding to one of the four gears, connecting and driving the corresponding gears to rotate. The bottom surface of the first rack 52 is provided with gear teeth, and its top surface is a smooth surface. Furthermore, the sliding guide 54 enables the base 3 to move back and forth stably along the length of the rotating medicine cabinet 1, and includes multiple guide wheels 541 slidably mounted on the top surface of the first rack 52 and a mounting bracket 542 mounted on the base 3 for mounting the multiple guide wheels 541. There are four guide wheels 541, and each of the four guide wheels 541 corresponds one-to-one with one of the four gears to ensure that the base 3 can move back and forth stably.

[0035] The second drive device 6 includes a gimbal 61 that can move up and down and is connected to the gripping device 4; a lead screw and nut assembly 62 mounted on the base 3 and connected to the gimbal 61; a drive motor 63 mounted on the base 3 that drives the lead screw and nut assembly 62; a bevel gear set 64 connected between the lead screw and nut assembly 62 and the drive motor 63; and a connecting plate 65 connected between the lead screw and nut assembly 62 and the gimbal 61. When gripping medicine, the drive motor 63, in conjunction with the bevel gear set 64 and the lead screw and nut assembly 62, drives the gimbal 61 to move up and down, so that the gripping device 4 reaches the designated position. Specifically, in actual use, a shock-absorbing mechanism can be set between the lead screw and nut assembly 62 and the base 3 to reduce the load on the gimbal 61 during the movement of the gripping device 4, while improving the weighing accuracy and stability of the gripping device 4. Furthermore, the shock-absorbing mechanism can be selected according to actual usage requirements.

[0036] The gripping device 4 includes a gripper 41 for gripping medicinal materials, a mounting base 42 on the base 3 for mounting the gripper 41, a linear reciprocating mechanism 43 on the mounting base 43 for connecting to and driving the gripper 41 to perform back-to-back linear reciprocating motion, a rotating mechanism 44 on the linear reciprocating mechanism 43 for connecting to and driving the gripper 41 to rotate horizontally, a rotating mechanism 45 on the rotating mechanism 44 for connecting to and driving the gripper 41 to rotate up and down, and a sensor 46 on the mounting base 41 for detecting the amount of medicine dispensed by the gripper 41.

[0037] The medicine claw 41 includes a medicine claw body 411 and a medicine outlet 412 disposed on the medicine claw body 411. The medicine claw body 411 includes two claw spoons 413 that can be opened and closed relative to each other and an opening and closing mechanism 414 for driving the two claw spoons 413 to open and close relative to each other. Specifically, the claw spoons 413 include an arc-shaped shell 4131, a receiving cavity 132 formed inside the shell 4131 for holding medicine, a relief groove 4133 extending inward from the upper end of the receiving cavity 4132, and a guide surface 4134 inclined inward from the lower end of the receiving cavity 4132 to guide the medicine into the cavity. When the two claw spoons 413 are closed and connected, the two relief grooves 4133 are joined together to form the medicine outlet 412. When the medicine claw 41 grasps medicine, the medicine outlet 412 is opened and closed. The medicine outlet 412 faces upward; when the medicine claw 41 pours medicine, it is driven by the rotating mechanism 44 to rotate horizontally by 180° so that the medicine outlet 412 faces downward; further, the opening and closing mechanism 414 includes a pneumatic gripper seat 4141 connected to the rotating mechanism 45 for assembling the claw spoon 413, two movable blocks 4142 that can move towards or away from each other on the pneumatic gripper seat 4141, and an opening and closing cylinder 4143 that is connected to the pneumatic gripper seat 4141 on the machine base 3 and drives the two movable blocks 4142 to move. The claw spoon 413 is connected to the relative movable blocks 4142, and the opening and closing of the two claw spoons 413 is controlled by the opening and closing cylinder 4143 to grasp the medicine; further, the diameter of the medicine outlet 412 gradually decreases along the medicine discharge direction.

[0038] The linear reciprocating mechanism 43 includes a positioning seat 431 mounted on a mounting base 42, a movable plate 432 movably mounted on the positioning seat 431, and a reciprocating drive component mounted on the positioning seat 431 and connected to drive the movable plate 432 to perform linear reciprocating motion. Specifically, the reciprocating drive component includes a reciprocating motor 433 mounted on the positioning seat 431 and a reciprocating lead screw and nut pair 434 connected between the reciprocating motor 433 and the movable plate 432.

[0039] The mounting base 42 includes a mounting body 421 and a balancing deformation metal component 422. The mounting body 421 is used to mount the positioning seat 431, which is rotatably mounted on the mounting body 421. The balancing deformation metal component 422 is mounted on the mounting body 421, with one end connected to the end of the positioning seat 431 away from the rotating mechanism 44. By mounting the end of the mounting base 42 away from the medicine claw on the balancing deformation metal component 422, the position of the medicine claw 41 on the mounting base 42 is balanced. Specifically, the sensor 46 is a stress sensor mounted on the balancing deformation metal component 422. The amount of medicine dispensed by the medicine claw 41 when pouring medicine is determined by the cooperation of the stress sensor and the balancing deformation metal component 422. Furthermore, the structure used in the field of weighing items to obtain the amount of medicine grasped and dispensed by the medicine claw 41 through the cooperation of the stress sensor and the balancing deformation metal component 422 is a common structure. The specific connection method and working principle will not be further elaborated here.

[0040] The rotating mechanism 44 includes a rotating component 441 connected to the front end of the moving plate 432 and a rotating seat 442 disposed at the front end of the rotating component 441 and connected to the rotating mechanism 45. The rotating component 441 drives the rotating seat 442 to rotate horizontally, thereby driving the medicine claw 41 to rotate horizontally. Specifically, the rotating component 441 is a commonly used device in the field of mechanical equipment that drives relative equipment to rotate. Its specific structure and working principle will not be further described here.

[0041] The rotating mechanism 45 includes a rotating seat 451 rotatably connected to the rotating seat 442 and a rotating component disposed in the rotating seat 442 and connected to drive the rotating seat 451 to rotate up and down. When the medicine claw 41 pours medicine, the rotating component drives the rotating seat 451 to rotate up and down repeatedly, so that the medicine in the medicine claw 41 is poured out through the medicine outlet 412. Specifically, the rotating component includes a servo motor. Furthermore, the pneumatic gripper seat 4141 is connected to the rotating seat 451.

[0042] Medicine receiving box 7 is used to receive the medicinal materials poured out by medicine claw 41.

[0043] The conveying mechanism 8 is used to carry and drive the medicine receiving box 7 to move back and forth along the length of the rotating cabinet 12. It includes a base 81, a support platform 82 that can move back and forth along the length of the rotating cabinet 12 to carry the medicine receiving box 7, and a conveying component 83 that is set on the base 81 and connected to and drives the support platform 82 to move back and forth. Specifically, the conveying component 83 includes a conveying rack 831 that is set on the base 81 and extends along the length of the rotating cabinet 12, a conveying gear 832 that cooperates with the conveying rack 831, and a conveying motor 833 that is set on the support platform 82 to drive the conveying gear 832 to rotate. The conveying motor 833 cooperates with the conveying rack 831 and the conveying gear 832 to drive the medicine receiving box 7 to move below the medicine grabbing robot 2 so as to receive the medicine poured out by the medicine claw 41.

[0044] The automatic weighing and dispensing method using the above-mentioned weighing and dispensing machine specifically includes the following steps:

[0045] Step 1: Determine the location of the required medicinal materials, control the rotating cabinet 12 to rotate so that the corresponding medicine box 132 rotates to be opposite to the medicine-grabbing robot arm 2; then ensure that the medicine outlet 412 of the medicine claw 41 is facing upward, and control the first drive device 5 to move the gripping device 4 to the front of the corresponding medicine box 132, and then the conveying mechanism 8 will transport the medicine receiving box 7 to the area below the medicine claw 41.

[0046] Step 2: First, the second drive device 6 controls the medicine claw 41 to move downwards to above the corresponding medicine box 132. Then, the linear reciprocating mechanism 43 controls the medicine claw 41 to move in the direction close to the medicine box 132. Next, the rotating mechanism 45 controls the medicine claw 41 to rotate downwards into the medicine box 132. Then, the opening and closing mechanism 414 controls the two claw spoons 413 to open and close to complete the grasping of the medicine and the sensor 46 obtains the weight of the grasped medicine.

[0047] Step 3: The linear reciprocating mechanism 43, the rotating mechanism 45, and the second drive device 6 work together to position the medicine claw 41 directly above the medicine receiving box 7. Then, the rotating mechanism 44 controls the medicine claw 41 to rotate 180° so that the medicine outlet 412 faces downward. Then, the rotating mechanism 45 controls the medicine claw to rotate up and down, cooperating with the stress sensor and the balancing deformation metal part 422 to pour the required amount of medicine from the medicine outlet 412 into the medicine receiving box 7. Finally, the linear reciprocating mechanism 43, the rotating mechanism 45, and the second drive device 6 work together to send the remaining medicine in the medicine claw 41 back to the corresponding medicine box.

[0048] This application specifically defines the structure of the herb-grabbing robot and the gripping device, so as to realize the automated gripping of medicinal materials and accurately control the weight of the medicinal materials, thereby saving labor, greatly improving the efficiency of herb gripping and reducing the weighing error.

[0049] The above description is merely a preferred embodiment of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made in accordance with the scope of the patent application and the contents of the specification of the present invention should still fall within the scope of the patent of the present invention.

Claims

1. An automatic weighing and dispensing machine for medicinal herbs, characterized in that: Including rotating medicine cabinets and robotic medicine dispensers, A rotating medicine cabinet includes a rotating base and a rotating cabinet body rotatably mounted on the rotating base, wherein the rotating cabinet body includes multiple medicine boxes for placing different medicinal materials; The medicine-dispensing robot arm can grasp the medicines in the corresponding medicine box as needed. It includes a base, a gripping device set on the base for grasping the medicines, a first drive device connected to and driving the base to move left and right, and a second drive device set on the base connected to and driving the gripping device to move up and down. The gripping device includes a gripper for gripping medicinal materials, a mounting base on the machine base for mounting the gripper, a linear reciprocating mechanism on the mounting base that connects to and drives the gripper to move linearly back and forth, a rotating mechanism on the linear reciprocating mechanism that connects to and drives the gripper to rotate horizontally, a rotating mechanism on the rotating mechanism that connects to and drives the gripper to rotate up and down, and a sensor on the mounting base for detecting the amount of medicine dispensed by the gripper. The gripper includes a gripper body and a medicine outlet on the gripper body. The gripper body includes two relative opening and closing scoops and an opening and closing mechanism for driving the two relative opening and closing of the scoops. The linear reciprocating mechanism includes a positioning seat on the mounting base, a movable plate movably mounted on the positioning seat, and a reciprocating drive component mounted on the positioning seat and connected to drive the movable plate to perform linear reciprocating motion. The rotating mechanism is mounted on the movable plate and connected to the medicine claw. The mounting base includes a mounting body and a balancing deformation metal component. The mounting body is used to mount a positioning seat, which is rotatably mounted on the mounting body. The balancing deformation metal component is mounted on the mounting body, with one end connected to the end of the positioning seat away from the rotating mechanism. The sensor is a stress sensor mounted on the balancing deformation metal component. The opening and closing mechanism includes a pneumatic gripper seat connected to the rotating mechanism for assembling the gripper spoon, two movable blocks that can move towards or away from each other on the pneumatic gripper seat, and an opening and closing cylinder connected to the pneumatic gripper seat to drive the two movable blocks to move. The gripper spoon is connected to the opposite movable block.

2. The automatic weighing and dispensing machine for medicines according to claim 1, characterized in that: The claw spoon includes an arc-shaped shell, a cavity formed inside the shell for holding medicinal materials, a relief groove extending inward from the upper end of the cavity, and a guide surface inclined inward from the lower end of the cavity to guide the medicinal materials in. When the two claw spoons are closed and connected, the two relief grooves are spliced ​​together to form the medicine outlet.

3. The automatic weighing and dispensing machine for medicines according to claim 1, characterized in that: The rotating mechanism includes a rotating component connected to a linear reciprocating mechanism and a rotating seat disposed at the front end of the rotating component and connected to the rotating mechanism.

4. An automatic weighing and dispensing machine for medicines according to claim 1, characterized in that: The first driving device includes a gear set rotatably disposed in the base, a first rack extending along the length of the rotating medicine cabinet and cooperating with the gear set, and a sliding guide disposed on the base. The sliding guide enables the base to move back and forth stably along the length of the rotating medicine cabinet, and includes a plurality of guide wheels slidably disposed on the top of the first rack and a mounting bracket disposed on the base for mounting the guide wheels.

5. An automatic weighing and dispensing machine for medicines according to claim 1, characterized in that: The second drive device includes a gimbal that can move up and down and is connected to the gripping device, a lead screw and nut assembly mounted on the base and connected to the gimbal, a drive motor mounted on the base to drive the lead screw and nut assembly, a bevel gear set connected between the lead screw and nut assembly and the drive motor, and a connecting plate connected between the lead screw and nut assembly and the gimbal.

6. An automatic weighing and dispensing machine for medicines according to claim 1, characterized in that: It also includes a medicine receiving box for receiving the medicine poured out by the medicine claw and a conveying mechanism for carrying and driving the medicine receiving box to move back and forth along the length of the rotating cabinet.

7. An automatic weighing and dispensing method for medicine, characterized in that: The use of the medicine dispensing machine as described in any one of claims 1 to 6 specifically includes the following steps: Step 1: Determine the location of the required medicinal materials, control the rotating cabinet to rotate so that the corresponding medicine box is opposite to the medicine-grabbing robot arm; then ensure that the medicine outlet of the claw is facing upward, and control the first drive device to move the gripping device to the front of the corresponding medicine box; Step 2: First, the second drive device controls the medicine claw to move downwards to the top of the corresponding medicine box. Then, the linear reciprocating mechanism controls the medicine claw to move in the direction close to the medicine box. Next, the rotating mechanism controls the medicine claw to rotate downwards into the medicine box. Then, the opening and closing mechanism controls the two claw spoons to open and close to complete the grasping of the medicine and the sensor obtains the weight of the grasped medicine. Step 3: The linear reciprocating mechanism, the rotating mechanism and the second drive device work together to move the medicine claw to the medicine pouring point. Then, the rotating mechanism controls the medicine claw to rotate 180° so that the medicine outlet faces downward. Then, the rotating mechanism controls the medicine claw to rotate up and down, and the sensor works together to pour out the required amount of medicine from the medicine outlet.

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