Liquid preparation robot for medicine preparation

Abstract

The invention belongs to the technical field of medicine preparation, and discloses a liquid preparation robot for medicine preparation, which comprises a liquid preparation mechanism, the liquid preparation mechanism comprises a first turntable, four liquid storage cabins are clamped on the first turntable, fixed blocks are fixedly connected to the bottoms of the liquid storage cabins, two first sliding grooves are formed in the inner walls of the fixed blocks, and two second sliding grooves are formed in the inner walls of the fixed blocks. Sliding blocks are slidably connected into the two first sliding grooves, springs are fixedly connected to the tops of the sliding blocks, and the sides, close to each other, of the two sliding blocks are fixedly connected with a connecting frame. Through cooperation of structures such as a sealing plug and a spring, the liquid storage tank which does not work can be conveniently sealed, the side face of the sealing plug abuts against the inner wall of a fixing block, the liquid storage tank is in a sealed state, pollutants in air are prevented from polluting the interior of the liquid storage tank, meanwhile, liquid medicine left in the liquid storage tank can be prevented from dripping, and the liquid storage tank is convenient to use. The pollution to the interior of the device is caused or the liquid preparation process is influenced.

Description

Technical Field

[0001] The invention belongs to the technical field of medicine preparation, in particular to a liquid preparation robot for medicine preparation. Background Art

[0002] In recent years, with the development of technology, liquid dispensing robots based on robotic arms have appeared in some hospitals. Among them, liquid dispensing robots for pharmaceutical preparation, as an indispensable high-tech product in the modern pharmaceutical industry, are rooted in the demand for continuous improvement of drug safety, quality and production efficiency.

[0003] In the process of dispensing different batches of liquid medicine by the existing liquid dispensing robot for medicine preparation, the residual liquid medicine in the liquid storage tank will cause cross-infection to the next batch of liquid dispensing. At the same time, when the liquid dispensing head at the bottom of the liquid storage tank is replaced, the residual liquid medicine inside the liquid storage tank is easy to drip into the inside of the device, causing contamination to the device. Therefore, a liquid dispensing robot for medicine preparation is proposed. Summary of the invention

[0004] In order to solve the problem raised in the above background technology that during the process of dispensing different batches of medicine liquid, the medicine liquid remaining in the liquid storage tank will cause cross-infection to the dispensing of the next batch, and at the same time, when the dispensing head at the bottom of the liquid storage tank is replaced, the medicine liquid remaining in the liquid storage tank is easy to drip into the inside of the device and cause contamination to the device, the present invention provides a dispensing robot for medicine preparation.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: A liquid dispensing robot for medicine preparation, comprising a liquid dispensing mechanism, the liquid dispensing mechanism is arranged inside a main body mechanism, a lifting mechanism is arranged inside the main body mechanism, a mounting mechanism is arranged below the liquid dispensing mechanism, the mounting mechanism is located below the main body mechanism, and the lifting mechanism is located on the side of the liquid dispensing mechanism;

[0006] The liquid dispensing mechanism includes a first turntable, four liquid storage tanks are clamped on the first turntable, the bottom of the liquid storage tank is fixedly connected to a fixed block, the inner wall of the fixed block is provided with two first sliding grooves, the interiors of the two first sliding grooves are slidably connected with sliders, the tops of the sliders are fixedly connected with springs, the sides of the two sliders close to each other are fixedly connected to a connecting frame, the top of the connecting frame is fixedly connected to a sealing plug, and the tops of the four liquid storage tanks are fixedly connected to the exhaust pipe.

[0007] Preferably, a plurality of teeth are fixedly connected to the side of the first turntable, the top of the slider is slidably connected to the inner wall of the first slide groove through a spring, the connecting frame and the sealing plug are both located inside the fixed block, the connecting frame is slidably connected to the inner wall of the sealing plug, and the size of the sealing plug is adapted to the size inside the fixed block.

[0008] Preferably, the lifting mechanism comprises a motor, the bottom of the motor is rotatably connected to a driving gear, a first groove is provided on the side of the driving gear, a first bevel gear is fixedly connected to the bottom of the driving gear, a second groove is provided on the side of the first bevel gear, and a second bevel gear is meshed on the side of the first bevel gear;

[0009] A driven gear is fixedly connected to the side of the second bevel gear away from the second groove, a rack is meshed on the side of the driven gear, an elastic clamp is fixedly connected to the bottom of the rack via a connecting rod, and a plurality of anti-slip pads are fixedly connected to the inner wall of the elastic clamp.

[0010] Preferably, the size of the first groove is larger than that of the second groove, the second groove is located below the first groove, and a plurality of the anti-slip pads are evenly distributed on the inner wall of the elastic clamping plate.

[0011] Preferably, the side surface of the driving gear meshes with the teeth of the first rotating disk, the elastic clamping plate is located below the fixing block, and the rack is located on a side of the driven gear close to the first rotating disk.

[0012] Preferably, the main mechanism includes a fixed frame, a rotating frame is fixedly connected to the fixed frame, the fixed frame is rotatably connected to the mechanical arm on a side away from the fixed frame, a second slide groove is opened inside the fixed frame, the top of the rotating frame is rotatably connected to a second turntable, the bottom of the second turntable is fixedly connected to a cylinder, the bottom of the cylinder is slidably connected to a telescopic rod, the bottom of the telescopic rod is rotatably connected to a clamping plate, the second turntable is located inside the rotating frame, the cylinder penetrates the inner wall of the rotating frame and extends to the bottom of the rotating frame, and the clamping plate has a cross-shaped appearance.

[0013] Preferably, the first turntable is rotatably connected to the inner wall of the rotating frame, the liquid storage tank is located below the second turntable, the exhaust pipe extends to the top of the second turntable, the surface of the cylinder is fixedly connected to the center position of the first turntable, the clamping plate is located below the first turntable, the first turntable is located on the side of the driving gear away from the robotic arm, the cylinder is located between the four liquid storage tanks, and the four ends of the clamping plate are respectively clamped with four fixed blocks.

[0014] Preferably, the motor is fixedly connected to the top of the fixed frame, the driving gear passes through the top of the fixed frame and extends to the inside of the fixed frame, the driving gear, the first bevel gear, the second bevel gear and the driven gear are all rotatably connected to the inner wall of the fixed frame, the rack is slidably connected to the second slide groove, and the lower end of the rack passes through the inner wall of the second slide groove and extends to the bottom of the fixed frame.

[0015] Preferably, the mounting mechanism comprises a liquid dispensing head, the top of the liquid dispensing head is fixedly connected to a mounting seat, a slot is provided on the top of the mounting seat, and a top block is fixedly connected to the inner wall of the mounting seat.

[0016] Preferably, the bottom of the fixed block is clamped with the slot, the top of the top block is slidably connected with the inner wall of the fixed block, the top of the top block is abutted against the bottom of the connecting frame, the liquid dispensing head is clamped with the inner wall of the elastic splint, and the surface of the liquid dispensing head is abutted against the anti-slip pad.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention facilitates sealing of the non-working liquid storage tank by providing the cooperation of the sealing plug and the spring and other structures. When the mounting seat and the fixing block are released from the clamping connection, the side of the sealing plug abuts against the inner wall of the fixing block, so that the liquid storage tank is in a sealed state, thereby preventing pollutants in the air from polluting the interior of the liquid storage tank, and at the same time preventing the liquid medicine left in the liquid storage tank from dripping, thereby polluting the interior of the device or affecting the liquid preparation process.

[0019] The present invention facilitates the replacement of the dispensing head by arranging the coordination of structures such as the rack and the clamping plate. The telescopic rod is driven downward by the cylinder to drive the clamping plate to push the used dispensing head downward on the surface of the fixed block, and the new dispensing head clamped in the elastic clamping plate can be clamped with the fixed block by the rack upward to complete the replacement of the dispensing head, thereby avoiding the situation that the used dispensing head causes contamination to the next batch of dispensing liquid, thereby preventing cross contamination.

[0020] The present invention facilitates the rotation of different liquid storage tanks by arranging the cooperation of structures such as the driving gear and the first rotating disk. The four liquid storage tanks can correspond to four different liquid preparation batches. The motor is started to rotate the driving gear. The rotation of the driving gear will drive the first rotating disk to rotate inside the rotating frame through the teeth on the side of the first rotating disk, and drive the four liquid storage tanks clamped on the first rotating disk to rotate. Different liquid storage tanks can be rotated according to different batches to match them with the upcoming liquid preparation tasks, avoiding frequent cleaning of the inside of the liquid storage tanks, which is time-consuming and labor-intensive. In addition, the entire replacement and switching process is highly automated, without the need for manual intervention, thereby improving efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the cross-sectional structure of the jacking mechanism of the present invention;

[0023] Figure 3 A schematic diagram of the structural relationship between the driven gear and the rack of the present invention;

[0024] Figure 4 It is a schematic diagram of the structural relationship between the air extraction pipe and the second rotating disk of the present invention;

[0025] Figure 5 It is a schematic diagram of the structural relationship between the fixing block and the clamping plate of the present invention;

[0026] Figure 6 For the present invention Figure 5 The enlarged structural diagram at A in the middle;

[0027] Figure 7 It is a schematic diagram of the structural relationship between the driving gear and the first rotating disk of the present invention;

[0028] Figure 8 It is a schematic diagram of the structural relationship between the driving gear and the first bevel gear of the present invention;

[0029] Fig. 9 A schematic diagram of the structural relationship between the slider and the connecting frame of the present invention;

[0030] Fig.10 It is a schematic diagram of the structural relationship between the elastic clamp and the liquid dispensing head of the present invention.

[0031] In the figure: 1. Lifting mechanism; 101. Motor; 102. Driving gear; 103. First groove; 104. First bevel gear; 105. Second groove; 106. Second bevel gear; 107. Driven gear; 108. Rack; 109. Elastic splint; 110. Anti-skid pad; 2. Liquid dispensing mechanism; 201. First rotating disk; 202. Liquid storage tank; 203. First slideway; 204. Sliding block; 205. Connecting mechanism Connecting frame; 206, sealing plug; 207, spring; 208, exhaust pipe; 209, fixed block; 3, main body mechanism; 301, fixed frame; 302, rotating frame; 303, second turntable; 304, cylinder; 305, telescopic rod; 306, clamping plate; 307, mechanical arm; 308, second slide groove; 4, installation mechanism; 401, dispensing head; 402, mounting seat; 403, clamping groove; 404, top block. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] like Figures 1 to 10As shown, the present invention provides a liquid dispensing robot for medicine preparation, comprising a liquid dispensing mechanism 2, which is arranged inside a main body mechanism 3, and a lifting mechanism 1 is arranged inside the main body mechanism 3, and a mounting mechanism 4 is arranged below the liquid dispensing mechanism 2, and the mounting mechanism 4 is located below the main body mechanism 3, and the lifting mechanism 1 is located on the side of the liquid dispensing mechanism 2;

[0034] The liquid dispensing mechanism 2 includes a first turntable 201, on which four liquid storage tanks 202 are clamped, a fixed block 209 is fixedly connected to the bottom of the liquid storage tank 202, and two first slide grooves 203 are provided on the inner wall of the fixed block 209, and sliders 204 are slidably connected inside the two first slide grooves 203, and a spring 207 is fixedly connected to the top of the slider 204, and the sides of the two sliders 204 close to each other are fixedly connected to the connecting frame 205, and the top of the connecting frame 205 is fixedly connected to the sealing plug 206, and the tops of the four liquid storage tanks 202 are fixedly connected to the exhaust pipe 208.

[0035] A plurality of teeth are fixedly connected to the side of the first turntable 201, and the top of the slider 204 is slidably connected to the inner wall of the first slide groove 203 through a spring 207. The connecting frame 205 and the sealing plug 206 are both located inside the fixed block 209. The connecting frame 205 is slidably connected to the inner wall of the sealing plug 206, and the size of the sealing plug 206 is adapted to the size inside the fixed block 209.

[0036] The above solution is adopted: by setting the cooperation of the sealing plug 206 and the spring 207 and other structures, it is convenient to seal the non-working liquid storage chamber 202. During the rotation of the first turntable 201, the telescopic rod 305 is moved downward by the cylinder 304, so that the clamping plate 306 moves downward on the surface of the fixed block 209 and squeezes the used liquid dispensing head 401, so that the mounting seat 402 on the top is released from the clamping block 209 and falls to the collection area next to the replacement area during the rotation. During the downward movement of the liquid dispensing head 401, the top block 404 and the connecting frame 205 is released from the abutment, at which time the slider 204 will move downward under the action of the elastic force of the spring 207, and drive the sealing plug 206 to move downward to the inside of the fixed block 209 through the connecting frame 205. When the mounting seat 402 and the fixed block 209 are released from the clamping connection, the side of the sealing plug 206 abuts against the inner wall of the fixed block 209, so that the liquid storage tank 202 is in a sealed state, preventing pollutants in the air from contaminating the inside of the liquid storage tank 202, and at the same time preventing the liquid medicine left in the liquid storage tank 202 from dripping, causing pollution to the inside of the device or affecting the liquid preparation process.

[0037] like Figure 2 , Figure 3 , Figure 5 , Figure 7 and Figure 8As shown, the lifting mechanism 1 includes a motor 101, the bottom of the motor 101 is rotatably connected to a driving gear 102, a first groove 103 is provided on the side of the driving gear 102, a first bevel gear 104 is fixedly connected to the bottom of the driving gear 102, a second groove 105 is provided on the side of the first bevel gear 104, a second bevel gear 106 is meshed on the side of the first bevel gear 104, a driven gear 107 is fixedly connected to the side of the second bevel gear 106 away from the second groove 105, a rack 108 is meshed on the side of the driven gear 107, the bottom of the rack 108 is fixedly connected to an elastic clamp 109 through a connecting rod, and a plurality of anti-slip pads 110 are fixedly connected to the inner wall of the elastic clamp 109.

[0038] The size of the first groove 103 is larger than that of the second groove 105. The second groove 105 is located below the first groove 103. Several anti-slip pads 110 are evenly distributed on the inner wall of the elastic clamp 109. The side of the driving gear 102 is meshed with the teeth of the first turntable 201. The elastic clamp 109 is located below the fixed block 209. The rack 108 is located on the side of the driven gear 107 close to the first turntable 201.

[0039] The main mechanism 3 includes a fixed frame 301, to which a rotating frame 302 is fixedly connected. The fixed frame 301 is rotatably connected to a mechanical arm 307 at one side away from the fixed frame 301. A second slide groove 308 is provided inside the fixed frame 301. The top of the rotating frame 302 is rotatably connected to a second turntable 303. The bottom of the second turntable 303 is fixedly connected to a cylinder 304. The bottom of the cylinder 304 is slidably connected to a telescopic rod 305. The bottom of the telescopic rod 305 is rotatably connected to a clamping plate 306. The second turntable 303 is located inside the rotating frame 302. The cylinder 304 passes through the inner wall of the rotating frame 302 and extends to the bottom of the rotating frame 302. The outer shape of the clamping plate 306 is cross-shaped.

[0040] The above scheme is adopted: by setting the coordination of structures such as the rack 108 and the card plate 306, it is convenient to replace the dispensing head 401. The telescopic rod 305 is moved downward by the cylinder 304, which can drive the card plate 306 to move downward on the surface of the fixed block 209 to push the used dispensing head 401 down. The driving gear 102 continues to rotate and drives the mounting seat 402 upward through the transmission, so that the bottom of the fixed block 209 moves to the inside of the card slot 403 and is engaged with it. At the same time, the top of the top block 404 squeezes the bottom of the connecting frame 205, so that the connecting frame 205 drives the sealing plug 206 to move upward and separate from the inner wall of the fixed block 209, so that the new dispensing head 401 is connected to the liquid storage tank 202, and the replacement of the dispensing head 401 is completed, so as to avoid the used dispensing head 401 from contaminating the next batch of dispensing liquid and prevent cross contamination.

[0041] like Figures 2 to 5 as well as Fig.10 As shown, the first turntable 201 is rotatably connected to the inner wall of the rotating frame 302, the liquid storage tank 202 is located below the second turntable 303, the exhaust pipe 208 extends to the top of the second turntable 303, the surface of the cylinder 304 is fixedly connected to the center position of the first turntable 201, the clamping plate 306 is located below the first turntable 201, the first turntable 201 is located on the side of the driving gear 102 away from the mechanical arm 307, the cylinder 304 is located between the four liquid storage tanks 202, and the four ends of the clamping plate 306 are respectively clamped between the four fixed blocks 209.

[0042] The motor 101 is fixedly connected to the top of the fixed frame 301, the driving gear 102 passes through the top of the fixed frame 301 and extends to the inside of the fixed frame 301, the driving gear 102, the first bevel gear 104, the second bevel gear 106 and the driven gear 107 are all rotatably connected to the inner wall of the fixed frame 301, the rack 108 is slidably connected to the second slide groove 308, and the lower end of the rack 108 passes through the inner wall of the second slide groove 308 and extends to the bottom of the fixed frame 301.

[0043] The mounting mechanism 4 includes a liquid dispensing head 401, the top of which is fixedly connected to a mounting seat 402, a slot 403 is provided on the top of the mounting seat 402, a top block 404 is fixedly connected to the inner wall of the mounting seat 402, the bottom of the fixed block 209 is clamped with the slot 403, the top of the top block 404 is slidably connected with the inner wall of the fixed block 209, the top of the top block 404 is abutted against the bottom of the connecting frame 205, the liquid dispensing head 401 is clamped with the inner wall of the elastic splint 109, the surface of the liquid dispensing head 401 is abutted against the anti-slip pad 110, the elastic splint 109 is located in the replacement area, and a collection area is provided next to the replacement area to collect the replaced liquid dispensing head 401.

[0044] The above scheme is adopted: by setting the cooperation of the driving gear 102 and the first turntable 201 and other structures, it is convenient to rotate different liquid storage tanks 202. The four liquid storage tanks 202 can correspond to four different liquid preparation batches. The motor 101 is started to rotate the driving gear 102. The rotation of the driving gear 102 will drive the first turntable 201 to rotate inside the rotating frame 302 through the teeth on the side of the first turntable 201, and drive the four liquid storage tanks 202 connected to the first turntable 201 to rotate. Different liquid storage tanks 202 can be rotated according to different batches to match them with the upcoming liquid preparation tasks, avoiding frequent cleaning of the inside of the liquid storage tank 202, which is time-consuming and labor-intensive. In addition, the entire replacement and switching process is highly automated, without the need for manual intervention, thereby improving efficiency and safety.

[0045] Working principle and use process of the present invention: When one batch of liquid preparation is completed and the next batch of liquid preparation is to be carried out, the fixing frame 301 is first driven by the mechanical arm 307 to move to the area where the liquid preparation head 401 is replaced. At this time, the elastic clamp 109 is in the position as shown in FIG. Figure 1 The position shown in the figure makes the elastic clamping plate 109 clamp a new liquid dispensing head 401 inside. At this time, the motor 101 is started to rotate the driving gear 102. The driving gear 102 rotates, and the first rotating disk 201 rotates inside the rotating frame 302 through the teeth on the side of the first rotating disk 201, and drives the four liquid storage tanks 202 connected to the first rotating disk 201 to rotate. At the same time, the rotation of the first rotating disk 201 drives the cylinder 304 to rotate, and the rotation of the cylinder 304 drives the second rotating disk 303 to rotate synchronously with the first rotating disk 201. During the rotation of the first rotating disk 201, the telescopic rod 305 is moved downward through the cylinder 304, so that the clamping plate 306 moves downward on the surface of the fixed block 209. The used dispensing head 401 is squeezed to release the mounting seat 402 on the top from the fixed block 209 and fall to the collection area next to the replacement area during the rotation process. During the downward movement of the dispensing head 401, the top block 404 is released from the contact with the connecting frame 205. At this time, the slider 204 moves downward under the elastic force of the spring 207, and drives the sealing plug 206 to move downward to the inside of the fixed block 209 through the connecting frame 205. When the mounting seat 402 is released from the fixed block 209, the side surface of the sealing plug 206 is abutted against the inner wall of the fixed block 209, so that the liquid storage tank 202 is in a sealed state, thereby preventing pollutants in the air from contaminating the inside of the liquid storage tank 202.

[0046] The rotation of the driving gear 102 will drive the first bevel gear 104 to rotate, and the rotation of the first bevel gear 104 will drive the second bevel gear 106 meshing therewith to rotate, and the rotation of the second bevel gear 106 will drive the rack 108 upward through the driven gear 107, and the upward movement of the rack 108 will drive the new liquid dispensing head 401 upward through the elastic clamping plate 109. When the first rotating disk 201 rotates 90°, the second liquid storage tank 202 will rotate to the top of the new liquid dispensing head 401. At this time, the first groove 103 on the driving gear 102 rotates to a position close to the first rotating disk 201, so that the driving gear 102 is disengaged from the first rotating disk 201, and the second groove 105 on the first bevel gear 104 has not yet rotated to The rack 108 drives the top of the mounting seat 402 on the new dispensing head 401 to move to a position aligned with the bottom of the fixed block 209. At this time, the driving gear 102 continues to rotate and drives the mounting seat 402 upward through the transmission, so that the bottom of the fixed block 209 moves to the inside of the card slot 403 and engages with it. At the same time, the top of the top block 404 squeezes the bottom of the connecting frame 205, so that the connecting frame 205 drives the sealing plug 206 upward and separates from the inner wall of the fixed block 209, so that the new dispensing head 401 is connected with the liquid storage tank 202. At this time, the spring 207 is in an extruded state, and the first bevel gear 104 and the second bevel gear 106 are only meshed by one tooth.

[0047] When it is necessary to replace it again, it is only necessary to rotate the first bevel gear 104 by 7.5 degrees to drive the second groove 105 on the first bevel gear 104 to rotate to a position close to the second bevel gear 106, so that the first bevel gear 104 and the second bevel gear 106 are disengaged. At this time, the rack 108 will move downward under the action of gravity to the position as shown in FIG. Figure 1 The driving gear 102 rotates one circle and meshes with the teeth on the first rotating disk 201, and then the above steps are repeated.

[0048] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0049] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A liquid dispensing robot for medicine preparation, comprising a liquid dispensing mechanism (2), characterized in that: The liquid dispensing mechanism (2) is arranged inside the main body mechanism (3), a lifting mechanism (1) is arranged inside the main body mechanism (3), a mounting mechanism (4) is arranged below the liquid dispensing mechanism (2), the mounting mechanism (4) is located below the main body mechanism (3), and the lifting mechanism (1) is located on the side of the liquid dispensing mechanism (2); The liquid dispensing mechanism (2) comprises a first rotating disk (201), four liquid storage tanks (202) are clamped on the first rotating disk (201), the bottom of the liquid storage tank (202) is fixedly connected with a fixed block (209), the inner wall of the fixed block (209) is provided with two first sliding grooves (203), the interiors of the two first sliding grooves (203) are slidably connected with sliders (204), the tops of the sliders (204) are fixedly connected with a spring (207), the sides of the two sliders (204) close to each other are fixedly connected with a connecting frame (205), the top of the connecting frame (205) is fixedly connected with a sealing plug (206), and the tops of the four liquid storage tanks (202) are fixedly connected with an exhaust pipe (208).

2. The liquid dispensing robot for medicine preparation according to claim 1, characterized in that: A plurality of teeth are fixedly connected to the side of the first turntable (201); the top of the slider (204) is slidably connected to the inner wall of the first slide groove (203) via a spring (207); the connecting frame (205) and the sealing plug (206) are both located inside the fixed block (209); the connecting frame (205) is slidably connected to the inner wall of the sealing plug (206); and the size of the sealing plug (206) is adapted to the size inside the fixed block (209).

3. The liquid dispensing robot for medicine preparation according to claim 1, characterized in that: The lifting mechanism (1) comprises a motor (101), the bottom of the motor (101) is rotatably connected to a driving gear (102), a side surface of the driving gear (102) is provided with a first groove (103), the bottom of the driving gear (102) is fixedly connected to a first bevel gear (104), a side surface of the first bevel gear (104) is provided with a second groove (105), and a side surface of the first bevel gear (104) is meshed with a second bevel gear (106); A driven gear (107) is fixedly connected to the side of the second bevel gear (106) away from the second groove (105); a rack (108) is meshed on the side of the driven gear (107); an elastic clamp (109) is fixedly connected to the bottom of the rack (108) via a connecting rod; and a plurality of anti-slip pads (110) are fixedly connected to the inner wall of the elastic clamp (109).

4. The liquid dispensing robot for medicine preparation according to claim 3, characterized in that: The size of the first groove (103) is larger than that of the second groove (105); the second groove (105) is located below the first groove (103); and a plurality of anti-slip pads (110) are evenly distributed on the inner wall of the elastic clamping plate (109).

5. The liquid dispensing robot for medicine preparation according to claim 3, characterized in that: The side surface of the driving gear (102) meshes with the teeth of the first rotating disk (201), the elastic clamping plate (109) is located below the fixed block (209), and the rack (108) is located on the side of the driven gear (107) close to the first rotating disk (201).

6. The liquid dispensing robot for medicine preparation according to claim 3, characterized in that: The main body mechanism (3) comprises a fixed frame (301), a rotating frame (302) is fixedly connected to the fixed frame (301), a side of the fixed frame (301) away from the fixed frame (301) is rotatably connected to a mechanical arm (307), a second slide groove (308) is provided inside the fixed frame (301), a second turntable (303) is rotatably connected to the top of the rotating frame (302), a cylinder (304) is fixedly connected to the bottom of the second turntable (303), a telescopic rod (305) is slidably connected to the bottom of the cylinder (304), a clamping plate (306) is rotatably connected to the bottom of the telescopic rod (305), the second turntable (303) is located inside the rotating frame (302), the cylinder (304) passes through the inner wall of the rotating frame (302) and extends to the bottom of the rotating frame (302), and the outer shape of the clamping plate (306) is cross-shaped.

7. The liquid dispensing robot for medicine preparation according to claim 6, characterized in that: The first rotating disk (201) is rotatably connected to the inner wall of the rotating frame (302); the liquid storage tank (202) is located below the second rotating disk (303); the air extraction pipe (208) extends to the top of the second rotating disk (303); the surface of the cylinder (304) is fixedly connected to the center position of the first rotating disk (201); the clamping plate (306) is located below the first rotating disk (201); the first rotating disk (201) is located on a side of the driving gear (102) away from the mechanical arm (307); the cylinder (304) is located between the four liquid storage tanks (202); and the four ends of the clamping plate (306) are respectively clamped with four fixed blocks (209).

8. The liquid dispensing robot for medicine preparation according to claim 6, characterized in that: The motor (101) is fixedly connected to the top of the fixed frame (301); the driving gear (102) penetrates the top of the fixed frame (301) and extends to the inside of the fixed frame (301); the driving gear (102), the first bevel gear (104), the second bevel gear (106) and the driven gear (107) are all rotatably connected to the inner wall of the fixed frame (301); the rack (108) is slidably connected to the second slide groove (308); the lower end of the rack (108) penetrates the inner wall of the second slide groove (308) and extends to the bottom of the fixed frame (301).

9. The liquid dispensing robot for medicine preparation according to claim 6, characterized in that: The mounting mechanism (4) comprises a liquid dispensing head (401), the top of the liquid dispensing head (401) is fixedly connected to a mounting seat (402), a slot (403) is provided on the top of the mounting seat (402), and a top block (404) is fixedly connected to the inner wall of the mounting seat (402).

10. The liquid dispensing robot for medicine preparation according to claim 9, characterized in that: The bottom of the fixed block (209) is snap-fitted to the slot (403), the top of the top block (404) is slidably connected to the inner wall of the fixed block (209), the top of the top block (404) is abutted against the bottom of the connecting frame (205), the liquid dispensing head (401) is snap-fitted to the inner wall of the elastic clamp (109), and the surface of the liquid dispensing head (401) is abutted against the anti-slip pad (110).

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