Intelligent medicine-taking robot and working method thereof

Abstract

The present invention discloses an intelligent medicine-taking robot and a working method thereof. The present invention comprises a mobile chassis, a main body arranged on the mobile chassis, and two mechanical arms arranged on the main body. A placement cavity is provided on the main body, a medicine dispensing component is arranged in the placement cavity, and a medicine pushing component connected to the medicine dispensing component and used for pushing the medicine out of the placement cavity; a reset spring is arranged, so that when a subsequent medicine impacts a previous pill, the reset spring is deformed to generate an opposite force, so that the spring pieces can approach each other, so that the subsequent medicine can be prevented from falling into the medicine, wherein the second spring piece, the gasket, the spring and the connecting column can also play the above-mentioned effect, so that only one pill can be dropped at a time, so that the number of medicines can be controlled, and it is ensured that the patient can take the prescribed number of medicines.

Description

Technical Field

[0001] The invention relates to a robot, in particular to an intelligent medicine-taking robot, and relates to the technical field of medicine-feeding robots. Background Art

[0002] There are 500,000 new cases of myocardial infarction in my country every year, and the current number of patients exceeds 2 million. If a myocardial infarction is not treated promptly and effectively within the golden hour after the onset of the disease, the patient may suffer from heart failure or even die.

[0003] Especially for patients living alone, there is a great need for a smart home guardian that can perform first aid, feed medicine and send emergency signals. According to research, there is a gap in the market for home robots that can perform emergency rescue.

[0004] With the continuous advancement of science and technology, robots have begun to enter thousands of households. Through the emergency medicine-feeding robots for myocardial infarction, patients can be quickly rescued, and delivered when they fall ill, thus avoiding tragedies in tens of thousands of families. However, when patients are sick, they cannot take the correct amount of medicine accurately, which can easily lead to the problem of overdose, thereby endangering the patient's health.

[0005] Therefore, how to use robots to assist in taking medicine is a problem that needs to be solved at present. Summary of the invention

[0006] Purpose of the invention: To provide an intelligent medicine-taking robot to solve the above-mentioned problems existing in the prior art.

[0007] Technical solution: An intelligent medicine-taking robot, comprising:

[0008] A mobile chassis, a main body arranged on the mobile chassis, two mechanical arms arranged on the main body, a placement cavity is provided on the main body, a medicine dispensing component is arranged in the placement cavity, and a medicine pushing component connected to the medicine dispensing component and used for pushing the medicine out of the placement cavity.

[0009] In a further embodiment, the medicine dispensing assembly includes a bottle loading portion disposed in the placement cavity and connected to the body, and a plurality of medicine loading portions disposed on the bottle loading portion;

[0010] The medicine feeding part includes a lower feeding piece, which is used to limit and distribute the tablet medicines. At the same time, during the distribution process, the number of medicines dropped each time is the same, which is convenient for counting;

[0011] The bottle loading part is used to transport the bottle and place it at a predetermined position, and then put a predetermined medicine into the medicine bottle through the medicine loading part to complete the patient's medication work.

[0012] In a further embodiment, the medicine loading part includes a support platform connected to the body, a vibrating material plate and a conveyor arranged on the support platform, a guide seat connected to the output end of the vibrating material plate, an L-shaped adjustment rod away from one end of the vibrating material plate and located on the guide seat, a feeding port provided between the adjustment rod and the connection end between the vibrating material plate and the guide seat, and a limit tube connected to the feeding port;

[0013] The position limiting tube is a hollow structure, and one end of the conveyor extends into the position limiting tube, so that the bottle body passes through the position limiting tube and falls onto the conveyor.

[0014] In a further embodiment, at least two limit rods are provided on both sides of the conveyor, a limit motor connected to the conveyor, a drive block provided at an output end of the limit motor, and a limit plate connected to the drive block;

[0015] The limit plate is located between the two limit rods and is used to block the movement of the bottle body. When the length direction of the limit plate is perpendicular to the length direction of the limit rod, the position of the bottle body abutting against the limit plate is the dosing area of ​​the bottle body.

[0016] In a further embodiment, the medicine loading part includes a loading tray arranged on the support platform, a belt conveyor located on the loading tray, a plurality of guide plates evenly arranged on the belt of the belt conveyor, a guide member connected to the belt conveyor, an adjustment plate arranged on the loading tray, and a U-shaped limit seat arranged at the discharge end of the guide member;

[0017] A medicine discharge port is provided on the U-shaped limit seat;

[0018] The guide member passes through the loading tray, and the adjustment plate is located at the position where the guide tube passes through the loading tray, and is used to block the passage of the upper medicine of the two overlapping medicines, so that it is located behind the lower medicine or falls into the loading tray;

[0019] The guide plate has a predetermined angle with the length direction of the belt, so that the medicine moves to the lower end of the guide plate.

[0020] In a further embodiment, the unloading part includes a mounting plate arranged at the discharge end of the guide part, two rotating shafts arranged on the mounting plate, a rotating block sleeved on the rotating shaft, a first spring sheet and a limit column arranged on the rotating block, and a return spring for connecting the two limit columns.

[0021] In a further embodiment, the blanking member further comprises two second spring sheets arranged on the mounting plate, and the mounting plate is further provided with two connecting columns, the two connecting columns respectively penetrate the second spring sheets, a gasket sleeved on the connecting column, and a spring abutting against the gasket and the top of the connecting column;

[0022] One end of the second elastic piece is connected to the mounting plate.

[0023] In a further embodiment, the medicine pushing assembly includes a mounting seat provided on the body, a driving motor connected to the mounting seat, a first gear provided at the output end of the driving motor, a second gear meshing with the first gear, a transmission screw connected to the second gear and passing through the mounting seat, a driving member sleeved on the transmission screw, a moving plate connected to the driving member, a limiting rod provided on the mounting seat, a transmission member sleeved on the limiting rod, two support tubes provided on the moving plate, and a placement plate for connecting the other end of the support tube;

[0024] The placement plate is provided with a groove for placing the bottle body;

[0025] The transmission member is connected with the moving plate.

[0026] In a further embodiment, the body is further provided with a control device, and a bracelet detection module, a visual detection module, a voice broadcast module, a control screen, a servo motor and an alarm module are connected to the control device respectively;

[0027] The servo motor is connected to the mechanical arm;

[0028] The wristband detection module is used to receive information transmitted by the patient's wristband and feed it back to the control device;

[0029] The visual detection module is used to collect image information of the patient and feed it back to the control device;

[0030] The control device causes the voice broadcast module and the alarm module to play predetermined information or sound an alarm according to the received information;

[0031] The control panel is used to control the control device to perform corresponding operations.

[0032] A working method based on the above-mentioned intelligent medication taking robot comprises the following steps:

[0033] S1: When the patient needs to take medicine, the vibrating plate starts to work, so that the bottle body moves horizontally on the guide seat;

[0034] S2: When the bottle body is located on the guide seat, when the top of the bottle body is closer to the adjusting rod relative to the bottom of the bottle body, at this time, during its movement, the adjusting rod can penetrate into the bottle body, and then the bottom of the bottle body is located above the discharge port. At this time, under its own gravity, the bottle body can be made vertical and fall onto the conveyor through the limiting tube, and when the top of the bottle body is closer to the adjusting rod relative to the bottom of the bottle body, the bottle body can be made vertical and fall onto the conveyor through the limiting tube when passing through the discharge port. When located on the conveyor, the conveyor can drive the bottle body to move on the conveyor and make it abut against the limiting plate. After the loading work is completed, the limiting motor starts to work, which can drive the driving block to move, and then the limiting plate can be away from the conveyor, and then the medicine can be driven by the conveyor to move to the placement plate, and then the manipulator places the medicine in the groove on the placement plate;

[0035] S3: When the bottle is at a predetermined position, the belt conveyor starts to work, so that the medicine is placed on the guide plate. When one end of the guide plate contacts the feed port of the guide member, the medicine falls through the guide member to the unloading member under the influence of gravity.

[0036] S4: When the medicine is located at the unloading piece, the first spring sheet and the second spring sheet can cooperate to clamp it, and when the next medicine moves to the unloading piece, the next medicine collides with the clamped medicine, so that the first spring sheet and the second spring sheet can be deformed, so that the previous medicine can fall into the medicine bottle located below it, and the medicine inlet of the medicine bottle can accommodate at least three unloading pieces, so that a variety of medicines can be placed;

[0037] S5: When the medicine bottle is located in the predetermined groove, the driving motor can move the movable plate in the length direction of the limiting rod, so that the placement plate can be extended, and then the medicine can be taken with the cooperation of the medical staff or the patient.

[0038] Beneficial effect: The present invention discloses an intelligent medicine-taking robot, in order to enable the robot to assist in medicine-taking work; by using a medicine dispensing component, when the bottle body is located on the guide seat, relative to the bottom of the bottle body, the top of the bottle body is closer to the adjusting rod, at this time, during its movement, the adjusting rod can penetrate into the bottle body, and then the bottom of the bottle body is located above the discharge port, at this time, the bottle body can be upright under its own gravity and fall onto the conveyor through the limiting tube, and relative to the bottom of the bottle body, the top of the bottle body is closer to the adjusting rod, at this time, when passing through the discharge port, the bottle body can be upright and fall onto the conveyor through the limiting tube, when located on the conveyor After the medicine is put on, the bottle body can be driven to move on the conveyor under the operation of the conveyor and be in contact with the limit plate; at the same time, when the medicine is located at the unloading piece, it can be clamped with the cooperation of the first spring sheet and the second spring sheet, and when the latter medicine moves to the unloading piece, the latter medicine will collide with the clamped medicine, which can cause the first spring sheet and the second spring sheet to deform, so that the former medicine can fall into the medicine bottle located below it, and at the same time, the medicine inlet of the medicine bottle can accommodate at least three unloading pieces, so that a variety of medicines can be placed; then a predetermined number of medicines can be taken according to demand, ensuring the smooth progress of the medication work. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of the present invention.

[0040] Figure 2 It is a structural schematic diagram of the bottle loading part of the present invention.

[0041] Figure 3 It is a schematic structural diagram of the medicine feeding part of the present invention.

[0042] Figure 4 It is a schematic diagram of the blanking structure of the present invention.

[0043] Figure 5 It is a schematic diagram of the structure of the medicine pushing component of the present invention.

[0044] Figure 6 It is a schematic diagram of the process of the present invention.

[0045] The accompanying drawings are marked as follows: mobile chassis 1, mechanical arm 2, main body 3, medicine dispensing component 4, bottle loading part 41, support platform 411, vibration material plate 412, guide seat 413, adjustment rod 414, limit tube 415, conveyor 416, limit motor 417, drive block 418, limit plate 419, medicine loading part 42, loading plate 421, belt conveyor 422, guide plate 423, guide member 424, adjustment plate 425, limit seat 426, unloading member 427, mounting plate 4271, rotating shaft 4272, rotating block 4273, first spring piece 4274, limiting column 4275, return spring 4276, second spring piece 4277, connecting column 4278, gasket 4279, spring 42710, medicine pushing assembly 5, driving motor 51, first gear 52, mounting seat 53, second gear 54, transmission screw 55, moving plate 56, limiting rod 57, transmission member 58, support tube 59, placement plate 510. DETAILED DESCRIPTION

[0046] After the applicant's research and analysis, the reason for this problem (endangering the patient's health) is that when the patient is ill, he cannot take the correct amount of medicine accurately, which easily leads to the problem of overdose of medicine, thereby endangering the patient's health. In order to use a robot to assist in medication, the present invention uses a medicine dispensing component, and then when the bottle body is located on the guide seat, relative to the bottom of the bottle body, the top of the bottle body is closer to the adjusting rod. At this time, during its movement, the adjusting rod can penetrate into the bottle body, and then the bottom of the bottle body is located above the discharge port. At this time, the bottle body can be upright under its own gravity and fall onto the conveyor through the limiting tube. Compared with the bottom of the bottle body, the top of the bottle body is closer to the adjusting rod. At this time, When passing through the discharge port, the bottle body can be made upright and fall onto the conveyor through the limiting tube. When it is on the conveyor, the bottle body can be driven to move on the conveyor under the operation of the conveyor and be in contact with the limiting plate. At the same time, when the medicine is located at the discharge part, it can be clamped with the cooperation of the first spring sheet and the second spring sheet. When the latter medicine moves to the discharge part, the latter medicine will collide with the clamped medicine, which can cause the first spring sheet and the second spring sheet to deform, so that the former medicine can fall into the medicine bottle below it. At the same time, the medicine inlet of the medicine bottle can accommodate at least three discharge parts, so that a variety of medicines can be placed. Then, a predetermined amount of medicine can be taken according to demand to ensure the smooth progress of the medication.

[0047] A smart medicine-taking robot includes: a mobile chassis 1, a mechanical arm 2, a body 3, a medicine dispensing component 4, a bottle loading part 41, a support platform 411, a vibrating material plate 412, a guide seat 413, an adjusting rod 414, a limiting tube 415, a conveyor 416, a limiting motor 417, a driving block 418, a limiting plate 419, a medicine loading part 42, a loading plate 421, a belt conveyor 422, a guide plate 423, a guide member 424, an adjusting plate 425, a limiting seat 426, Unloading part 427, mounting plate 4271, rotating shaft 4272, rotating block 4273, first spring piece 4274, limiting column 4275, return spring 4276, second spring piece 4277, connecting column 4278, gasket 4279, spring 42710, medicine pushing assembly 5, driving motor 51, first gear 52, mounting seat 53, second gear 54, transmission screw 55, moving plate 56, limiting rod 57, transmission part 58, support tube 59, placement plate 510.

[0048] The device includes a mobile chassis 1, a main body 3 arranged on the mobile chassis 1, two mechanical arms 2 arranged on the main body 3, a placement cavity is provided on the main body 3, a medicine dispensing component 4 is arranged in the placement cavity, and a medicine pushing component 5 connected to the medicine dispensing component 4 and used for pushing the medicine out of the placement cavity.

[0049] The medicine dispensing assembly 4 includes a bottle loading portion 41 disposed in the placement cavity and connected to the main body 3, and a plurality of medicine loading portions 42 disposed on the bottle loading portion 41; the medicine loading portion 42 includes a lower loading piece 427, and the lower loading piece 427 is used to limit and distribute the tablet medicines. At the same time, during the distribution process, the number of medicines dropped each time is the same, which is convenient for counting; the bottle loading portion 41 is used to transport the bottle and place it at a predetermined position, and then the predetermined medicine is put into the medicine bottle through the medicine loading portion 42 to complete the patient's medication; the medicine loading portion 42 includes a support table 411 connected to the main body 3, a vibrating material disk 412 and a transport plate 417 disposed on the support table 411. The conveyor 416 includes a guide seat 413 connected to the output end of the vibrating material disk 412, an L-shaped adjusting rod 414 located on the guide seat 413 and away from one end of the vibrating material disk 412, a feeding port provided between the adjusting rod 414 and the connecting end between the vibrating material disk 412 and the guide seat 413, and a limiting pipe 415 connected to the feeding port; the limiting pipe 415 is a hollow structure, one end of the conveyor 416 extends into the limiting pipe 415, so that the bottle body passes through the limiting pipe 415 and falls onto the conveyor 416; at least two limiting rods 57 are provided on both sides of the conveyor 416, a limiting motor 417 connected to the conveyor 416, a driving block 418 provided at the output end of the limiting motor 417, and a driving block 418 connected to the driving block 418. 18; the limiting plate 419 is located between the two limiting rods 57 and is used to block the movement of the bottle body. When the length direction of the limiting plate 419 is perpendicular to the length direction of the limiting rod 57, the position of the bottle body abutting against the limiting plate 419 is the medicine adding area of ​​the bottle body; when the patient needs to take the medicine, the vibrating plate 412 starts to work, thereby moving the bottle body horizontally on the guide seat 413; when the bottle body is located on the guide seat 413, relative to the bottom of the bottle body, the top of the bottle body is closer to the adjusting rod 414. At this time, during its movement, the adjusting rod 414 can penetrate into the bottle body, and then the bottom of the bottle body is located above the discharge port. At this time, the bottle body can make the bottle body vertical and pass through the guide seat 413 under its own gravity. The limiting tube 415 falls onto the conveyor 416, and when the top of the bottle body is closer to the adjusting rod 414 than the bottom of the bottle body, the bottle body can be made vertical when passing through the discharge port and fall onto the conveyor 416 through the limiting tube 415. When it is on the conveyor 416, the conveyor 416 can drive the bottle body to move on the conveyor 416 and make it abut against the limiting plate 419. After the loading work is completed, the limiting motor 417 starts to work, which can drive the driving block 418 to move, and the limiting plate 419 can be away from the conveyor 416. The medicine can be moved to the placement plate 510 driven by the conveyor 416, and then the medicine is placed in the groove on the placement plate 510 by the manipulator.

[0050] The medicine loading part 42 includes a loading tray 421 arranged on the support platform 411, a belt conveyor 422 located on the loading tray 421, a plurality of guide plates 423 evenly arranged on the belt of the belt conveyor 422, a guide member 424 connected to the belt conveyor 422, an adjustment plate 425 arranged on the loading tray 421, and a U-shaped limit seat 426 arranged at the discharge end of the guide member 424; a medicine discharge port opened on the U-shaped limit seat 426; the guide member 424 passes through the loading tray 421, and the adjustment plate 425 is located at the guide The tube passes through the position of the loading tray 421, which is used to block the passage of the upper medicine of the two overlapping medicines, so that it is located behind the lower medicine or falls into the loading tray 421; the guide plate 423 has a predetermined angle with the length direction of the belt, so that the medicine moves to the lower end of the guide plate 423; when the bottle body is located at a predetermined position, the belt conveyor 422 starts to work, so that the medicine can be located on the guide plate 423, and when one end of the guide plate 423 abuts against the feed port of the guide member 424, the medicine passes through the guide member 424 under the influence of gravity and falls into the unloading member 427.

[0051] The blanking member 427 includes a mounting plate 4271 disposed at the discharge end of the guide member 424, two rotating shafts 4272 disposed on the mounting plate 4271, a rotating block 4273 sleeved on the rotating shaft 4272, a first elastic piece 4274 and a limiting column 4275 disposed on the rotating block 4273, and a return spring 4276 for connecting the two limiting columns 4275; the blanking member 427 also includes two second elastic pieces 4277 disposed on the mounting plate 4271, and two connecting columns 4278 are further disposed on the mounting plate 4271, and the two connecting columns 4278 respectively penetrate the second elastic pieces 4277, and the gasket 427 sleeved on the connecting column 4278 9, and a spring 42710 abutting against the gasket 4279 and the top of the connecting column 4278; one end of the second spring piece 4277 is connected to the mounting plate 4271; when the medicine is located at the unloading piece 427, it can be clamped with the cooperation of the first spring piece 4274 and the second spring piece 4277, and when the latter medicine moves to the unloading piece 427, the latter medicine will collide with the clamped medicine, so that the first spring piece 4274 and the second spring piece 4277 can be deformed, so that the former medicine can fall into the medicine bottle located below it, and at the same time, the medicine inlet of the medicine bottle can accommodate at least three unloading pieces 427, so that a variety of medicines can be placed.

[0052] In a further embodiment, both ends of the return spring 4276 are respectively connected to the limit column 4275, and the limit column 4275 is arranged on the rotating block 4273, and then through the return spring 4276 that is arranged, when the latter medicine impacts the previous pill, the return spring 4276 can generate an opposite force after deformation, so that the spring pieces can approach each other, thereby preventing the latter medicine from falling into the medicine, wherein the second spring piece 4277, gasket 4279, spring 42710 and connecting column 4278 can also achieve the above-mentioned effect, so that only one pill can fall at a time, thereby controlling the number of pills and ensuring that the patient can take the prescribed number of pills.

[0053] The medicine pushing assembly 5 includes a mounting seat 53 provided on the body 3, a driving motor 51 connected to the mounting seat 53, a first gear 52 provided at the output end of the driving motor 51, a second gear 54 meshing with the first gear 52, a transmission screw 55 connected to the second gear 54 and passing through the mounting seat 53, a driving member sleeved on the transmission screw 55, a moving plate 56 connected to the driving member, a limiting rod 57 provided on the mounting seat 53, and a transmission rod sleeved on the limiting rod 57. A movable member 58, two support tubes 59 arranged on the movable plate 56, and a placement plate 510 for connecting the other end of the support tube 59; the placement plate 510 is provided with a groove for placing the bottle body; the transmission member 58 is connected to the movable plate 56; when the medicine bottle is located in the predetermined groove, at this time, under the operation of the driving motor 51, the movable plate 56 can be moved in the length direction of the limiting rod 57, and the placement plate 510 can be extended, and then with the cooperation of medical staff or patients, the work of taking the medicine is completed.

[0054] The body 3 is also provided with a control device, which is respectively connected to a bracelet detection module, a visual detection module, a voice broadcast module, a control screen, a servo motor and an alarm module; the servo motor is connected to the robotic arm 2; the bracelet detection module is used to receive information transmitted by the patient's bracelet and feed it back to the control device; the visual detection module is used to collect the patient's image information and feed it back to the control device; the control device enables the voice broadcast module and the alarm module to play predetermined information or issue an alarm according to the received information; the control screen is used to control the control device to perform corresponding operations.

[0055] Working principle description: when the patient needs to take medicine, the vibrating plate 412 starts to work, so that the bottle body moves horizontally on the guide seat 413; when the bottle body is located on the guide seat 413, relative to the bottom of the bottle body, the top of the bottle body is closer to the adjusting rod 414. At this time, during its movement, the adjusting rod 414 can penetrate into the bottle body, and then the bottom of the bottle body is located above the discharge port. At this time, under its own gravity, the bottle body can be made vertical and fall onto the conveyor 416 through the limiting tube 415, and relative to the bottom of the bottle body, the bottle body is When the top is closer to the adjusting rod 414, the bottle body can be made vertical when passing through the discharge port and fall onto the conveyor 416 through the limiting tube 415. When it is on the conveyor 416, the bottle body can be driven to move on the conveyor 416 under the operation of the conveyor 416 and abut against the limiting plate 419. After the medicine loading work is completed, the limiting motor 417 starts to work, which can drive the driving block 418 to move, and then the limiting plate 419 can be away from the conveyor 416, and then the medicine can be driven by the conveyor 416 to move to the placement plate 510, and then The medicine is then placed in the groove on the placement plate 510 by a robot; when the bottle is at a predetermined position, the belt conveyor 422 starts working, so that the medicine can be placed on the guide plate 423. When one end of the guide plate 423 abuts against the feed port of the guide member 424, the medicine passes through the guide member 424 under the influence of gravity and falls into the unloading member 427; when the medicine is at the unloading member 427, it can be clamped with the cooperation of the first spring piece 4274 and the second spring piece 4277, and when the next medicine moves to the unloading member 427, the next medicine is A drug will collide with the clamped drug, which can cause the first spring piece 4274 and the second spring piece 4277 to deform, so that the previous drug can fall into the medicine bottle located below it. At the same time, the drug inlet of the medicine bottle can accommodate at least three unloading pieces 427, so that a variety of medicines can be placed; when the medicine bottle is located in a predetermined groove, at this time, under the operation of the driving motor 51, the movable plate 56 can be moved in the length direction of the limiting rod 57, so that the placement plate 510 can be extended, and then with the cooperation of medical staff or patients, the drug administration is completed.

[0056] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical scheme of the present invention, and these equivalent transformations all belong to the protection scope of the present invention.

Claims

1. An intelligent medicine-taking robot, characterized in that: include: A mobile chassis, a body arranged on the mobile chassis, two mechanical arms arranged on the body, a placement cavity is provided on the body, a medicine dispensing component is arranged in the placement cavity, and a medicine pushing component connected to the medicine dispensing component and used for pushing the medicine out of the placement cavity; The medicine dispensing assembly comprises a bottle loading portion disposed in the placement cavity and connected to the body, and a plurality of medicine loading portions disposed on the bottle loading portion; The medicine feeding part includes a lower feeding piece, which is used to limit and distribute the tablet medicines. At the same time, during the distribution process, the number of medicines dropped each time is the same, which is convenient for counting; The bottle loading part is used to transport the bottle and place it at a predetermined position, and then put the predetermined medicine into the medicine bottle through the medicine loading part to complete the patient's medication work; The bottle loading part includes a support platform connected to the body, a vibrating material plate and a conveyor arranged on the support platform, a guide seat connected to the output end of the vibrating material plate, an L-shaped adjustment rod away from one end of the vibrating material plate and located on the guide seat, a discharge port provided between the adjustment rod and the connection end between the vibrating material plate and the guide seat, and a limit tube connected to the discharge port; The position limiting tube is a hollow structure, and one end of the conveyor extends into the position limiting tube, so that the bottle body passes through the position limiting tube and falls onto the conveyor.

2. The intelligent medicine-taking robot according to claim 1 is characterized in that: At least two limit rods are provided on both sides of the conveyor, a limit motor connected to the conveyor, a drive block provided at the output end of the limit motor, and a limit plate connected to the drive block; The limit plate is located between the two limit rods and is used to block the movement of the bottle body. When the length direction of the limit plate is perpendicular to the length direction of the limit rod, the position of the bottle body abutting against the limit plate is the dosing area of ​​the bottle body.

3. The intelligent medicine-taking robot according to claim 2 is characterized in that: The medicine loading part includes a loading tray arranged on the support platform, a belt conveyor located on the loading tray, a plurality of guide plates evenly arranged on the belt of the belt conveyor, a guide member connected to the belt conveyor, an adjustment plate arranged on the loading tray, and a U-shaped limit seat arranged at the discharge end of the guide member; A medicine discharge port is provided on the U-shaped limit seat; The guide member passes through the loading tray, and the adjustment plate is located at the position where the guide tube passes through the loading tray, and is used to block the passage of the upper medicine of the two overlapping medicines, so that it is located behind the lower medicine or falls into the loading tray; The guide plate has a predetermined angle with the length direction of the belt, so that the medicine moves to the lower end of the guide plate.

4. The intelligent medicine-taking robot according to claim 3 is characterized by: The unloading part includes a mounting plate arranged at the discharge end of the guide part, two rotating shafts arranged on the mounting plate, a rotating block sleeved on the rotating shaft, a first elastic sheet and a limiting column arranged on the rotating block, and a reset spring for connecting the two limiting columns.

5. The intelligent medicine-taking robot according to claim 4 is characterized in that: The blanking piece also includes two second spring pieces arranged on the mounting plate, and the mounting plate is also provided with two connecting posts, the two connecting posts respectively penetrate the second spring pieces, and are sleeved on the gaskets on the connecting posts, and springs abutting against the gaskets and the top ends of the connecting posts; One end of the second elastic piece is connected to the mounting plate.

6. The intelligent medicine-taking robot according to claim 1 is characterized in that: The medicine pushing assembly includes a mounting seat provided on the body, a driving motor connected to the mounting seat, a first gear provided at an output end of the driving motor, a second gear meshing with the first gear, a transmission screw connected to the second gear and passing through the mounting seat, a driving member sleeved on the transmission screw, a moving plate connected to the driving member, a limiting rod provided on the mounting seat, a transmission member sleeved on the limiting rod, two support tubes provided on the moving plate, and a placement plate for connecting the other end of the support tube; The placement plate is provided with a groove for placing the bottle body; The transmission member is connected with the moving plate.

7. The intelligent medicine-taking robot according to claim 1 is characterized in that: The body is also provided with a control device, a bracelet detection module, a visual detection module, a voice broadcast module, a control screen, a servo motor and an alarm module connected to the control device respectively; The servo motor is connected to the mechanical arm; The wristband detection module is used to receive information transmitted by the patient's wristband and feed it back to the control device; The visual detection module is used to collect image information of the patient and feed it back to the control device; The control device causes the voice broadcast module and the alarm module to play predetermined information or sound an alarm according to the received information; The control panel is used to control the control device to perform corresponding operations.

8. A working method of the intelligent medicine-taking robot according to any one of claims 1 to 7, characterized in that: The steps include: S1: When the patient needs to take medicine, the vibrating plate starts to work, so that the bottle body moves horizontally on the guide seat; S2: When the bottle body is located on the guide seat, when the top of the bottle body is closer to the adjusting rod relative to the bottom of the bottle body, at this time, during its movement, the adjusting rod can penetrate into the bottle body, and then the bottom of the bottle body is located above the discharge port. At this time, under its own gravity, the bottle body can be made vertical and fall onto the conveyor through the limiting tube, and when the top of the bottle body is closer to the adjusting rod relative to the bottom of the bottle body, the bottle body can be made vertical and fall onto the conveyor through the limiting tube when passing through the discharge port. When located on the conveyor, the conveyor can drive the bottle body to move on the conveyor and make it abut against the limiting plate. After the loading work is completed, the limiting motor starts to work, which can drive the driving block to move, and then the limiting plate can be away from the conveyor, and then the medicine can be driven by the conveyor to move to the placement plate, and then the manipulator places the medicine in the groove on the placement plate; S3: When the bottle is at a predetermined position, the belt conveyor starts to work, so that the medicine is placed on the guide plate. When one end of the guide plate contacts the feed port of the guide member, the medicine falls through the guide member to the unloading member under the influence of gravity. S4: When the medicine is located at the unloading piece, the first spring sheet and the second spring sheet can cooperate to clamp it, and when the next medicine moves to the unloading piece, the next medicine collides with the clamped medicine, so that the first spring sheet and the second spring sheet can be deformed, so that the previous medicine can fall into the medicine bottle located below it, and the medicine inlet of the medicine bottle can accommodate at least three unloading pieces, so that a variety of medicines can be placed; S5: When the medicine bottle is located in the predetermined groove, the driving motor can move the movable plate in the length direction of the limiting rod, so that the placement plate can be extended, and then the medicine can be taken with the cooperation of the medical staff or the patient.

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