An automatic medicine delivery robot

Abstract

The present invention belongs to the field of robot technology, and specifically relates to an automatic medicine delivery robot, including a robot body and a medicine storage mechanism, the medicine storage mechanism includes a medicine storage box and a closing component, the medicine storage box has a plurality of medicine storage slots on the front side, each medicine storage slot is provided with a closing component, the closing component includes a slide plate, a carrier plate, a closing plate, a first guide rod, a second guide member, a pull rope and a driver, the slide plate is assembled in the medicine storage slot for forward and backward sliding, the carrier plate is elastically hinged to the front end of the slide plate through an elastic member, the closing plate is hinged to the front end of the carrier plate, the first guide rod is rotatably connected to the upper front inner side of the medicine storage slot, and the second guide member is rotatably connected to the upper side of the slide plate, the medicine storage mechanism of the automatic medicine delivery robot can allow patients with low vision to see the medicines intuitively, so that the patients can directly take the medicines, achieve accurate medicine taking, and avoid missing medicines, in addition, the automatic medicine delivery robot has a simple medicine taking method, does not require patients to perform complicated taking operations, and has a high medicine taking efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to an automatic medicine delivery robot. Background Art

[0002] Delivering oral medicine to patients is a job that needs to be done frequently in hospitals and sanatoriums. Since this job is relatively mechanical, relevant units will consider using medicine delivery robots to deliver medicine to patients to reduce manpower consumption. In some current medicine delivery robots, the medicine storage mechanism is often an independent small drawer with an opening at the top. After the medicine delivery robot moves to the patient's side, the robot body controls the small drawer corresponding to the patient to pop out for the patient to take the medicine. The patient needs to reach into the small drawer from top to bottom to take the medicine. However, the patient usually lies on the bed and the height that the eyes can observe is limited. The obstruction of the side wall of the small drawer will cause the patient to be unable to directly see the medicine. When the patient takes the medicine, he or she mostly senses the position of the medicine by touch. This touch perception method cannot intuitively judge the position of the medicine, making it difficult for the patient to accurately take the medicine, and there is a possibility that the medicine will be missed. Therefore, in response to the above problems, we propose an automatic medicine delivery robot. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present invention discloses an automatic medicine delivery robot.

[0004] To achieve the above object, a technical solution adopted by the present invention is:

[0005] An automatic medicine delivery robot comprises a robot body and a medicine storage mechanism, wherein the medicine storage mechanism comprises a medicine storage box and a sealing component, wherein the front of the medicine storage box has a plurality of medicine storage slots, and each of the medicine storage slots is provided with a sealing component;

[0006] The closure assembly comprises a slide plate, a carrier plate, a sealing plate, a first guide rod, a second guide member, a pull rope and a driver. The slide plate is slidably assembled in the medicine storage tank. The carrier plate is elastically hinged to the front end of the slide plate through an elastic member. When the carrier plate is parallel to the slide plate, it cannot be turned upward relative to the slide plate. The elastic member is used to drive the carrier plate to turn upward relative to the slide plate until it is parallel to the slide plate.

[0007] The sealing plate is hinged to the front end of the carrier plate. When the sealing plate is parallel to the carrier plate, it cannot be flipped downward relative to the carrier plate. The maximum angle of the sealing plate flipping upward relative to the carrier plate is perpendicular to the slide plate. When the sealing plate is flipped to a vertical state, the center of gravity of the sealing plate is located in front of the rotation axis of the sealing plate.

[0008] The first guide rod is rotatably connected to the upper front inner side of the medicine storage tank, the second guide member is rotatably connected to the upper side of the slide, the rear end of the pull rope is fixedly connected to the slide, the front end of the pull rope passes around the first guide rod and the second guide member in turn and is fixedly connected to the sealing plate, and the driver is used to drive the slide to slide forward or backward under the control of the robot body.

[0009] Furthermore, the upper end of the slide plate has a vertical plate protruding upward, the second guide member is rotatably connected to the upper end of the vertical plate, and the rear end of the pull rope is fixedly connected to the vertical plate.

[0010] Furthermore, each of the closure components has two draw cords, and the two draw cords are spaced apart and distributed left and right in the same installation manner.

[0011] Furthermore, one side of the slide plate has a plurality of transmission teeth arranged in an array from front to rear, and the driver includes a stepper motor fixed on the side wall of the medicine storage tank and a driving gear arranged at the output end of the stepper motor and meshing with the transmission teeth.

[0012] Furthermore, the front end of the skateboard has two first hinge seats distributed on the left and right, and the rear end of the carrier plate has two second hinge seats distributed on the left and right. The two first hinge seats and the two second hinge seats are hinged through a first hinge axis. The upper side of the rear end of the second hinge seat is a first abutment plane, and the lower side of the rear end of the second hinge seat is a first rotation yielding surface. When the carrier plate and the skateboard are in a parallel state, the first abutment plane will abut against the front end of the skateboard to limit the carrier plate from flipping upward relative to the skateboard, and the elastic member is assembled on the first hinge axis.

[0013] Furthermore, the carrier plate and the skateboard have torsion arm grooves at opposite ends, the elastic member is a torsion spring, and the torsion arms in two directions of the torsion spring are respectively assembled in the torsion arm grooves of the carrier plate and the skateboard.

[0014] Furthermore, the front end of the carrier plate has two third hinge seats distributed on the left and right, and the rear end of the closing plate has two fourth hinge seats distributed on the left and right. The two third hinge seats and the two fourth hinge seats are hinged by a second hinge axis. The lower side of the rear end and the front side of the upper end of the fourth hinge seat are respectively a second abutment plane and a third abutment plane. The second abutment plane and the third abutment plane are connected by a second rotation yielding surface. When the closing plate and the carrier plate are in a parallel state, the second abutment plane will abut against the front end of the carrier plate to limit the closing plate from flipping downward relative to the carrier plate. When the closing plate and the carrier plate are in a vertical state, the third abutment plane will abut against the front end of the carrier plate to limit the closing plate from flipping backward relative to the carrier plate.

[0015] Furthermore, the left and right sides of the upper end of the carrier plate are provided with first guide side plates, and the rear side of the upper end of the carrier plate is provided with a limiting side plate connected to the two first guide side plates.

[0016] Furthermore, the left and right sides of the upper end of the sealing plate are provided with second guide side plates.

[0017] Furthermore, a weighted handle is provided at the lower end of the sealing plate, and the weighted handle has an insertion groove for the user's fingers to be inserted.

[0018] The present invention discloses an automatic medicine delivery robot. The medicine storage mechanism of the automatic medicine delivery robot allows patients with low vision to directly see the medicines, so that the patients can directly take the medicines, achieve accurate medicine taking and avoid medicine leakage. In addition, the automatic medicine delivery robot has a simple medicine taking method and does not require patients to perform complicated taking operations. It has a high medicine taking efficiency and can improve the medicine delivery efficiency to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0020] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0021] Figure 2 for Figure 1 A schematic diagram of the structure enlargement at the center A;

[0022] Figure 3 It is a structural schematic diagram of a sealing component in one embodiment of the present invention;

[0023] Figure 4 for Figure 3 A schematic diagram of the structure enlarged at B in the middle;

[0024] Figure 5 for Figure 3 A schematic diagram of the structure enlarged at C in the middle;

[0025] Figure 6 It is a schematic structural diagram of a sliding plate connected to an elastic member in one embodiment of the present invention;

[0026] Figure 7 It is a schematic diagram of the structure of an elastic member in one embodiment of the present invention;

[0027] Figure 8 It is a structural schematic diagram of a carrier board in one embodiment of the present invention;

[0028] Fig. 9 Schematic diagram of the structure of a sealing plate in one embodiment of the present invention.

[0029] The meanings of the symbols in the accompanying drawings are:

[0030] Robot body 1, medicine storage mechanism 2, medicine storage box 21, medicine storage tank 211, closing component 22, slide plate 221, vertical plate 2211, transmission gear 2212, first hinge seat 2213, carrier plate 222, second hinge seat 2221, first abutment plane 22211, first rotational clearance surface 22212, third hinge seat 2222, first guide side plate 2223, limiting side plate 2224, sealing plate 223, fourth hinge seat 2231, second abutment plane 22311, third abutment plane 22312, second rotational clearance surface 22313, second guide side plate 2232, counterweight handle 2233, first guide rod 224, second guide member 225, pull rope 226, driver 227, elastic member 228. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] Reference Figure 1-Figure 9 As shown, the automatic medicine delivery robot of this embodiment includes a robot body 1 and a medicine storage mechanism 2. The robot body 1 includes a body, a mobile base and a control panel. The mobile base is arranged at the lower end of the body, and the control panel is arranged at the upper end of the body. The mobile base can drive the entire robot to move along a predetermined route under the control of the control panel so that the robot can move to the target patient position. The control panel integrates components such as a processor, a touch display, a camera, a loudspeaker and a microphone. The control panel is used to control the operation of the medicine delivery robot, and the control panel is also used to interact with the user. There is also an assembly groove for assembling the medicine storage mechanism 2 on the front side of the middle part of the body, and the medicine storage mechanism 2 is assembled in the assembly groove.

[0033] In this embodiment, the medicine storage mechanism 2 includes a medicine storage box 21 and a closing component 22. The front of the medicine storage box 21 is provided with a plurality of medicine storage slots 211. In this embodiment, there are eighteen medicine storage slots 211 distributed in three columns and six rows. Each medicine storage slot 211 is provided with a closing component 22. The closing component 22 can close the opening of the medicine storage slot 211 and also serves as a carrier for placing medicines. In addition, it is also used to push the medicines out of the medicine storage slot 211.

[0034] In this embodiment, the closure assembly 22 includes a slide plate 221, a carrier plate 222, a sealing plate 223, a first guide rod 224, a second guide member 225, a pull rope 226 and a driver 227. The slide plate 221 is slidably assembled in the medicine storage tank 211. The carrier plate 222 is elastically hinged to the front end of the slide plate 221 through an elastic member 228. When the carrier plate 222 is in a parallel state with the slide plate 221, it cannot be flipped upward relative to the slide plate 221. The elastic member 228 is used to drive the carrier plate 222 to flip upward relative to the slide plate 221 until it is parallel to the slide plate 221. In the initial state, the elastic member 228 will drive the carrier plate 222 to flip upward under the action of its own elastic force until it is parallel to the slide plate 221. In this state, the front end of the slide plate 221 will be aligned with the rear end of the carrier plate 222. The carrier plate 222 is used to place medicines to serve as a carrier for supporting medicines.

[0035] In this embodiment, the sealing plate 223 is hinged to the front end of the carrier plate 222. When the sealing plate 223 and the carrier plate 222 are in a parallel state, the sealing plate 223 cannot be flipped downward relative to the carrier plate 222. The maximum angle of the sealing plate 223 flipping upward relative to the carrier plate 222 is perpendicular to the slide plate 221. When the sealing plate 223 flips to a vertical state, the center of gravity of the sealing plate 223 is located in front of the rotation axis of the sealing plate 223. When the carrier plate 222 is in a state parallel to the slide plate 221, if the sealing plate 223 is in a vertical state relative to the carrier plate 222, the sealing plate 223 will close the opening of the medicine storage tank 211. In this state, if the robot body 1 is placed flat on the ground, the sealing plate 223 will be in a vertical state relative to the ground. In this state, the sealing plate 223 has a tendency to flip toward the front side under the action of gravity.

[0036] In this embodiment, the first guide rod 224 is rotatably connected to the upper front inner side of the medicine storage tank 211, the second guide member 225 is rotatably connected to the upper side of the slide plate 221, the rear end of the pull rope 226 is fixedly connected to the slide plate 221, and the front end of the pull rope 226 is successively passed around the first guide rod 224 and the second guide member 225 and fixedly connected to the sealing plate 223, and the driver 227 is used to drive the slide plate 221 to slide forward or backward under the control of the robot body 1.

[0037] In the initial state, the carrier plate 222 and the sealing plate 223 are both received in the medicine storage tank 211. The sealing plate 223 is in a vertical state perpendicular to the carrier plate 222 under the tension of the pull rope 226. The sealing plate 223 in the vertical state will close the opening of the medicine storage tank 211. The pull rope 226 in this state will be straightened into a three-layer structure of upper, middle and lower layers. The upper end of the sealing plate 223 and the upper side of the second guide member 225 are the first layer, the lower side of the second guide member 225 and the upper side of the first guide rod 224 are the second layer, and the lower side of the first guide rod 224 and the slide plate 221 are the third layer. In the above state, if the medicine is placed on the carrier plate 222, the medicine will be sealed in the medicine storage tank 211. When the robot body 1 controls the sealing component 22 to open for the patient to take medicine, the robot body 1 controls the driver 227 to drive the slide plate 221 to slide forward. When the slide plate 221 slides forward, the slide plate 221 will drive the various components connected thereto to move forward together. On the one hand, this will drive the rear end of the pull rope 226 and the second guide member 225 to move forward, so that the front end of the pull rope 226 can be released, and on the other hand, it can drive the carrier plate 222 and the sealing plate 223 to extend forward from the medicine storage tank 211. Since the rear end of the pull rope 226 and the second guide member 225 move forward together, the pull rope 226 between the lower side of the second guide member 225 and the upper side of the first guide rod 224 is 6 and the length of the pull rope 226 between the lower side of the first guide rod 224 and the slide 221 will be shortened synchronously, so that the length of the pull rope 226 released forward is twice the distance the slide 221 moves forward. Therefore, when the sealing plate 223 slides forward with the slide 221, the pull rope 226 can release a sufficient length for the sealing plate 223 to unfold forward, so that the sealing plate 223 will gradually turn forward and downward under the action of gravity until it is flush with the slide 221, so that the medicine storage tank 211 is in an open state, and the patient lying on the bed can directly see the medicine, so that the patient can directly take the medicine, realize accurate medicine taking, and avoid medicine leakage.

[0038] It is worth mentioning that when the sealing plate 223 is flattened, the carrier plate 222 will also extend out of the medicine storage slot 211. In this state, the patient can press down the front end of the sealing plate 223 when taking medicine, so that the sealing plate 223 drives the carrier plate 222 to overcome the elastic force of the elastic member 228 and tilt downward, so that the medicine on the carrier plate 222 can slide down along the carrier plate 222 and the sealing plate 223, and the patient can catch it. In this way, the medicine can be taken quickly, further improving the convenience of taking medicine.

[0039] In this embodiment, the lower end of the sealing plate 223 has a counterweight handle 2233, and the counterweight handle 2233 can stabilize the center of gravity of the sealing plate 223, so that when the sealing plate 223 is turned to a vertical state, the center of gravity of the sealing plate 223 is located in front of the axis of rotation of the sealing plate 223, so that it has a tendency to turn forward. In addition, the counterweight handle 2233 has an insertion groove for the user's fingers to insert. When the patient takes the medicine, this design can flatten the palm with the palm facing up, and then place the palm on the lower side of the sealing plate 223, and insert at least one finger into the insertion groove, while keeping the palm at the front end of the sealing plate 223, and then move the palm downward, and press the counterweight handle 2233 with the inserted finger, so that the sealing plate 223 and the carrier plate 222 are tilted, so that the medicine on the carrier plate 222 can slide to the palm of the patient. This way of taking medicine is simple and fast, and does not require the patient to perform complex picking operations, and has a high efficiency of taking medicine, which can improve the efficiency of drug delivery to a certain extent.

[0040] It is worth mentioning that when the robot body 1 controls the driver 227 to drive the slide plate 221 to slide backward, the slide plate 221 will drive the various components connected to it to move backward together, so that the carrier plate 222 and the sealing plate 223 can be driven into the medicine storage tank 211. At the same time, the sealing plate 223 will be pulled up to a vertical state through the pull rope 226 to close the opening of the medicine storage tank 211.

[0041] In the present embodiment, the upper end of the slide plate 221 has a vertical plate 2211 protruding upward, the second guide member 225 is rotatably connected to the upper end of the vertical plate 2211, the height of the second guide member 225 is close to the height of the first guide rod 224, the rear end of the pull rope 226 is fixedly connected to the vertical plate 2211, and the fixed height of the rear end of the pull rope 226 is also close to the height of the first guide rod 224. This arrangement allows the pull rope 226 to be in a high position to make room for the carrier plate 222 to place medicine.

[0042] In this embodiment, each closure component 22 has two pull ropes 226, and the two pull ropes 226 are spaced apart on the left and right in the same installation manner. This arrangement ensures that the sealing plate 223 is stable in force and can also make way for the removal and placement of medicines, so that the medicines can be removed and placed smoothly.

[0043] In the present embodiment, one side of the skateboard 221 has a plurality of transmission teeth 2212 arranged in an array from front to rear, and the driver 227 includes a stepper motor fixed on the side wall of the medicine storage tank 211 and a driving gear arranged at the output end of the stepper motor and meshing with the transmission teeth 2212. The stepper motor drives the driving gear to rotate under the control of the robot body 1, and when the driving gear rotates, it can cooperate with the transmission teeth 2212 meshing with it to drive the skateboard 221 to slide forward or backward.

[0044] In this embodiment, the elastic hinge method between the skateboard 221 and the carrier plate 222 is as follows. Specifically, the front end of the skateboard 221 has two first hinge seats 2213 distributed on the left and right, and the rear end of the carrier plate 222 has two second hinge seats 2221 distributed on the left and right. The two first hinge seats 2213 and the two second hinge seats 2221 are hinged through a first hinge axis. The upper side of the rear end of the second hinge seat 2221 is a first abutting plane 22211, and the lower side of the rear end of the second hinge seat 2221 is a first rotation yielding surface 22212. When the carrier plate 222 and the skateboard 221 are in a parallel state, the first abutting plane 22211 will abut against the front end of the skateboard 221 to limit the carrier plate 222 from flipping upward relative to the skateboard 221, and the elastic member 228 is assembled on the first hinge axis. Furthermore, the carrier plate 222 and the slide plate 221 have a torsion arm groove at one end opposite to the other, and the elastic member 228 is a torsion spring. The torsion arms of the torsion spring in two directions are respectively assembled in the torsion arm grooves of the carrier plate 222 and the slide plate 221 .

[0045] In this embodiment, the elastic hinge connection between the sealing plate 223 and the carrier plate 222 is as follows. Specifically, the front end of the carrier plate 222 has two third hinge seats 2222 distributed on the left and right, and the rear end of the sealing plate 223 has two fourth hinge seats 2231 distributed on the left and right. The two third hinge seats 2222 and the two fourth hinge seats 2231 are hinged through a second hinge axis. The lower side of the rear end and the front side of the upper end of the fourth hinge seat 2231 are respectively the second abutment plane 22311 and the third abutment plane 22312. The second abutting plane 22311 is connected to the third abutting plane 22312 via the second rotating yielding plane 22313. When the closing plate 223 and the carrier plate 222 are in a parallel state, the second abutting plane 22311 will abut against the front end of the carrier plate 222 to limit the closing plate 223 from flipping downward relative to the carrier plate 222. When the closing plate 223 and the carrier plate 222 are in a vertical state, the third abutting plane 22312 will abut against the front end of the carrier plate 222 to limit the closing plate 223 from flipping backward relative to the carrier plate 222.

[0046] In this embodiment, both left and right sides of the upper end of the carrier plate 222 have first guide side plates 2223, which can guide the oblique discharge of the medicine. In addition, the rear side of the upper end of the carrier plate 222 has a limiting side plate 2224 connected to the two first guide side plates 2223, and the two first guide side plates 2223 cooperate with the limiting side plates 2224 to limit the position of the medicine, so that the medicine can be kept on the carrier plate 222. In addition, both left and right sides of the upper end of the sealing plate 223 have second guide side plates 2232, and after the medicine slides onto the sealing plate 223, the second guide side plates 2232 can guide the medicine on the sealing plate 223, so that the medicine can slide directionally on the sealing plate 223.

[0047] To sum up, the present invention discloses an automatic medicine delivery robot. The medicine storage mechanism of the automatic medicine delivery robot allows patients with low vision to see the medicines intuitively, so that the patients can directly take the medicines, achieve accurate medicine retrieval, and avoid missing medicines. In addition, the automatic medicine delivery robot has a simple medicine taking method, does not require patients to perform complicated taking operations, has a high medicine taking efficiency, and can improve the medicine delivery efficiency to a certain extent.

[0048] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. An automatic medicine delivery robot, comprising a robot body and a medicine storage mechanism, characterized in that: The medicine storage mechanism comprises a medicine storage box and a sealing component. The front of the medicine storage box is provided with a plurality of medicine storage slots, and each of the medicine storage slots is provided with a sealing component. The closure assembly comprises a slide plate, a carrier plate, a sealing plate, a first guide rod, a second guide member, a pull rope and a driver. The slide plate is slidably assembled in the medicine storage tank. The carrier plate is elastically hinged to the front end of the slide plate through an elastic member. When the carrier plate is parallel to the slide plate, it cannot be turned upward relative to the slide plate. The elastic member is used to drive the carrier plate to turn upward relative to the slide plate until it is parallel to the slide plate. The sealing plate is hinged to the front end of the carrier plate. When the sealing plate is parallel to the carrier plate, it cannot be flipped downward relative to the carrier plate. The maximum angle of the sealing plate flipping upward relative to the carrier plate is perpendicular to the slide plate. When the sealing plate is flipped to a vertical state, the center of gravity of the sealing plate is located in front of the rotation axis of the sealing plate. The first guide rod is rotatably connected to the upper front portion of the inner side of the medicine storage tank, the second guide member is rotatably connected to the upper side of the slide plate, the rear end of the pull rope is fixedly connected to the slide plate, the front end of the pull rope is sequentially bypassed by the first guide rod and the second guide member and is fixedly connected to the sealing plate, and the driver is used to drive the slide plate to slide forward or backward under the control of the robot body; In the initial state, the pull rope will be straightened into a three-layer structure of upper, middle and lower layers. The upper end of the sealing plate and the upper side of the second guide member are the first layer, the lower side of the second guide member and the upper side of the first guide rod are the second layer, and the lower side of the first guide rod and the slide board are the third layer.

2. The automatic medicine delivery robot according to claim 1, characterized in that: The upper end of the slide plate is provided with a vertical plate protruding upward, the second guide member is rotatably connected to the upper end of the vertical plate, and the rear end of the pull rope is fixedly connected to the vertical plate.

3. The automatic medicine delivery robot according to claim 1, characterized in that: Each of the closure components has two draw cords, and the two draw cords are spaced apart and installed in the same manner.

4. The automatic medicine delivery robot according to claim 1, characterized in that: One side of the slide plate is provided with a plurality of transmission teeth arranged in an array from front to rear, and the driver comprises a stepper motor fixed on the side wall of the medicine storage tank and a driving gear arranged at the output end of the stepper motor and meshing with the transmission teeth.

5. The automatic medicine delivery robot according to claim 1, characterized in that: The front end of the skateboard has two first hinge seats distributed on the left and right, and the rear end of the carrier plate has two second hinge seats distributed on the left and right. The two first hinge seats and the two second hinge seats are hinged via a first hinge axis. The upper side of the rear end of the second hinge seat is a first abutment plane, and the lower side of the rear end of the second hinge seat is a first rotational clearance surface. When the carrier plate and the skateboard are in a parallel state, the first abutment plane will abut against the front end of the skateboard to limit the carrier plate from flipping upward relative to the skateboard, and the elastic member is assembled on the first hinge axis.

6. The automatic medicine delivery robot according to claim 5, characterized in that: The carrier plate and the slide plate have torsion arm slots at opposite ends, the elastic member is a torsion spring, and torsion arms in two directions of the torsion spring are respectively assembled in the torsion arm slots of the carrier plate and the slide plate.

7. The automatic medicine delivery robot according to claim 1, characterized in that: The front end of the carrier plate has two third hinge seats distributed on the left and right, and the rear end of the closing plate has two fourth hinge seats distributed on the left and right. The two third hinge seats and the two fourth hinge seats are hinged via a second hinge axis. The lower side of the rear end and the front side of the upper end of the fourth hinge seat are respectively a second abutment plane and a third abutment plane. The second abutment plane and the third abutment plane are connected via a second rotation yielding surface. When the closing plate and the carrier plate are in a parallel state, the second abutment plane will abut against the front end of the carrier plate to limit the closing plate from flipping downward relative to the carrier plate. When the closing plate and the carrier plate are in a vertical state, the third abutment plane will abut against the front end of the carrier plate to limit the closing plate from flipping backward relative to the carrier plate.

8. The automatic medicine delivery robot according to claim 7, characterized in that: The upper left and right sides of the upper end of the carrier plate are both provided with first guide side plates, and the rear side of the upper end of the carrier plate is provided with a limiting side plate connected with the two first guide side plates.

9. The automatic medicine delivery robot according to claim 7, characterized in that: The upper end of the sealing plate is provided with second guide side plates on both left and right sides.

10. An automatic medicine delivery robot according to any one of claims 1 to 9, characterized in that: The lower end of the sealing plate is provided with a weighted handle, and the weighted handle has an insertion groove for the user's fingers to be inserted.

Images