Medicine taking robot

Abstract

The invention relates to the technical field of pharmacy automation equipment, in particular to a medicine taking robot which comprises a walking mechanism, a track, a bottom plate and a first driving device, the track is of an I-shaped steel structure, first rolling wheels are installed at the four corners of the top face of the bottom plate, and the wheel faces of the first rolling wheels press the upper surface of a lower side wing plate of the track in a contact mode; four second rollers are mounted on the top surface of the bottom plate, every two of the four second rollers are distributed on the two sides of the track, annular grooves are formed in the wheel surfaces of the second rollers, the annular grooves in the second rollers are clamped on side edges of a lower side wing plate of the track, and the first driving device is connected with the bottom plate and the track; the shear fork lifting mechanism is vertically connected to the bottom plate; the traction mechanism is arranged on the bottom plate; the medicine filling mechanism is mounted at the lifting movable end of the scissor lifting mechanism; and the medicine basket is connected below the medicine filling mechanism and is used for receiving the medicines grabbed by the medicine filling mechanism. The problem of congestion of the drugstore can be effectively relieved, and the operation efficiency of the drugstore is improved.

Description

Technical Field

[0001] The present application relates to the technical field of pharmacy automation equipment, and in particular to a medicine dispensing robot. Background Art

[0002] With the rapid development of the medical industry, the workload of hospital pharmacies is increasing day by day. The traditional manual drug collection method has many problems such as low efficiency, high error rate, and high labor cost. At present, there are many kinds of automated drug storage and retrieval equipment on the market, including traditional shelf systems that require manual walking to retrieve drugs, ground-type automatic drug dispensers that move on fixed tracks to retrieve drugs by mechanical arms, and vertical automatic storage and retrieval medicine cabinets that use vertical lifting to store and retrieve drugs. However, these existing technologies generally have the problem of occupying a large amount of ground space, which often causes equipment congestion during peak hours in hospitals, affecting the operating efficiency of pharmacies. Summary of the invention

[0003] The present application aims to solve at least one of the above-mentioned technical problems in the prior art to a certain extent. To this end, the present application provides a medicine-taking robot, which effectively solves the problems of space occupation and equipment congestion in the prior art, significantly improves the operating efficiency of the pharmacy, and the robot is more stable in the process of taking and delivering medicines.

[0004] A medicine taking robot, comprising The walking mechanism includes a track, a base plate and a first driving device, wherein the track is an I-beam structure, the upper side wing plate of the track is used to connect to the ceiling, first rollers are installed at the four corners of the top surface of the base plate, the wheel surface of the first roller presses against the upper surface of the lower side wing plate of the track, four second rollers are installed on the top surface of the base plate, the four second rollers are distributed on both sides of the track in pairs, the wheel surface of the second roller is provided with an annular groove, the annular groove on the second roller is clamped on the side ridge of the lower side wing plate of the track, and the first driving device includes a first power unit The first power component is fixed on the lower surface of the bottom plate, the gear is connected to the power output end of the first power component, the chain is laid on the lower surface of the lower wing plate of the track, the chain extends along the length direction of the track, the bottom plate is provided with a strip hole corresponding to the position of the gear, the gear extends into the strip hole and meshes with the chain, four third rollers are installed on the lower surface of the bottom plate, the four third rollers are distributed in pairs on both sides of the chain, and the wheel surface of the third roller presses against the lower surface of the lower wing plate of the track; A scissor lift mechanism is vertically connected to the base plate; A traction mechanism, arranged on the bottom plate, and used to drive the scissor lift mechanism to move up and down; A medicine grabbing mechanism is installed at the lifting and lowering movable end of the scissor lift mechanism; The medicine basket is connected below the medicine grabbing mechanism and is used for receiving the medicines grabbed by the medicine grabbing mechanism.

[0005] In an optional or preferred embodiment, the traction mechanism includes a second driving device, a winding drum and a traction rope, the winding drum is connected to the power output end of the second driving device, one end of the traction rope is connected to the lifting end of the scissors lifting mechanism, and the other end is wound around the winding drum.

[0006] In an optional or preferred embodiment, the second driving device includes a second power component, a driving wheel, a driven wheel, a second synchronous belt, a transmission shaft, a first transmission gear and a second transmission gear, the second power component is fixed to the base plate, the driving wheel is installed on the power output end of the second power component, the transmission shaft is installed on the base plate through a bearing seat, the winding drum is fixed on the transmission shaft and is coaxially arranged with the transmission shaft, the driven wheel is installed at one end of the transmission shaft, and the second synchronous belt connects the driving wheel and the driven wheel.

[0007] In an optional or preferred embodiment, a reciprocating screw is arranged on one side of the winding drum, the reciprocating screw is parallel to the transmission shaft, a reciprocating spiral groove is provided on the reciprocating screw, a slider is mounted on the reciprocating screw, the slider cooperates with the reciprocating screw, a guide block cooperating with the reciprocating spiral groove is provided on the slider, the first transmission gear is installed on the end of the transmission shaft opposite to the driven wheel, the second transmission gear is installed on the end of the reciprocating screw, when the reciprocating screw rotates, the guide block can move in the reciprocating spiral groove so that the slider moves back and forth on the reciprocating screw along the axial direction, a winding roller is installed on the slider, and for every rotation of the winding drum, the slider moves on the reciprocating screw a distance equal to the winding area on the winding drum.

[0008] In an optional or preferred embodiment, a positioning roller is installed on the slider, a guide plate is arranged on one side of the slider, the wheel surface of the positioning roller presses against the guide plate, and the positioning roller can roll on the guide plate along the axial direction of the transmission shaft.

[0009] In an optional or preferred embodiment, a first guide device is arranged between the scissors-type lifting mechanism and the walking mechanism, and a second guide device is arranged between the scissors-type lifting mechanism and the medicine grabbing mechanism, and the first guide device and the second guide device are used for guiding along the lifting direction of the scissors-type lifting mechanism.

[0010] In an optional or preferred embodiment, a fixed seat is installed on the upper surface of the base plate, and the second roller is hinged to the fixed seat via a roller mounting seat, and the roller mounting seat can rotate horizontally around the hinge point as the axis, and a limit plate is arranged on the base plate, and the limit plate and the roller mounting seat are connected by a second spring, and the second spring is used to apply a force to the roller mounting seat so that the second roller is pressed against the side ridge of the lower side wing plate of the track, and an adjusting bolt is installed on the limit plate, one end of the adjusting bolt is connected to the second spring, and the other end is located on the outside of the limit plate.

[0011] In an optional or preferred embodiment, switches are installed at both ends of the base plate along the length direction of the track, and the switches include a photoelectric switch, a fixed block, a sliding shaft and a third spring. The fixed block and the photoelectric switch are both fixed on the lower surface of the base plate, the photoelectric switch is located on the inner side of the fixed block and is spaced apart from the fixed block, the photoelectric switch is connected to the power component, a through hole extending along the length direction of the track is provided inside the fixed block, the sliding shaft is assembled in the through hole, a first baffle is provided at one end of the sliding shaft facing the photoelectric switch, the first baffle is used to trigger the photoelectric switch, a third spring is sleeved on the sliding shaft, one end of the third spring is connected to the fixed block, and the other end is connected to the end of the sliding shaft.

[0012] In an optional or preferred embodiment, the third roller is installed on the lower surface of the base plate through a mounting mechanism, and the mounting mechanism includes a T-block, a connecting rod and a fourth spring, the T-block is fixedly connected to the lower surface of the base plate, the middle part of the connecting rod is hinged to the T-block, the third roller is installed on one end of the connecting rod, and the fourth spring is installed on the other end of the connecting rod, the fourth spring is connected to the lower surface of the base plate, and the fourth spring is used to apply a force to the connecting rod so that the connecting rod drives the third roller to press against the lower surface of the lower side wing plate of the track.

[0013] In an optional or preferred embodiment, the medicine grabbing mechanism includes a fixed plate, a third driving device, a slide seat and an adsorption device. A mounting seat is horizontally arranged on the fixed plate, and slide rails are arranged on both sides of the mounting seat. The slide rails extend along the length direction of the mounting seat. The third driving device includes a third power component and a transmission mechanism. The third power component is installed on the fixed plate. The transmission mechanism is connected to the power output end of the third power component. The slide seat is connected to the slide rail through a sliding block. The slide seat is connected to the transmission mechanism. The transmission mechanism can drive the slide seat to move along the slide rail. The adsorption device includes a connecting seat and a suction nozzle. The connecting seat is connected to the slide seat, and the suction nozzle is installed on the connecting seat.

[0014] Based on the above technical scheme, the embodiments of the present application have at least the following beneficial effects: the medicine picking robot is installed on the ceiling, and the walking mechanism and the scissors-type lifting mechanism are used to move the medicine picking mechanism to different layers of the medicine shelf to take out medicines. Compared with the traditional medicine picking robot set on the ground, the medicine picking robot of the present application will not occupy the ground space, can effectively alleviate the congestion problem in the pharmacy, and improve the operating efficiency of the pharmacy. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present application is further described below with reference to the accompanying drawings and embodiments; Figure 1 is a schematic diagram of the structure of the medicine dispensing robot provided in an embodiment of the present application; Figure 2 yes Figure 1 A structural schematic diagram of another viewing angle of the illustrated embodiment; Figure 3 yes Figure 1 A schematic diagram of the structure of the walking mechanism in the illustrated embodiment; Figure 4 yes Figure 3 A structural diagram from another perspective; Figure 5 yes Figure 3 A schematic diagram of the structure of the third perspective; Figure 6 yes Figure 3 A partial enlarged view of the middle A; Figure 7 yes Figure 3 A partial enlarged view of point B in the middle; Figure 8 yes Figure 4 A partial enlarged view of point C in the middle; Fig. 9 yes Figure 1 A schematic diagram of the structure of the medicine picking mechanism in the illustrated embodiment; Fig.10 yes Fig. 9 A structural diagram from another perspective; Fig.11 yes Fig. 9 A schematic diagram of the structure of the third perspective; Fig.12 yes Fig. 9 A schematic diagram of the structure of the fourth perspective; Fig.13 yes Figure 1 A schematic diagram of the structure of the medicine basket in the illustrated embodiment. DETAILED DESCRIPTION

[0016] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0017] The following is a further detailed description of the implementation of the present application in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application but cannot be used to limit the scope of the present application.

[0018] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0019] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0020] In the embodiments of the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0021] With the rapid development of the medical industry, the workload of hospital pharmacies is increasing day by day. The traditional manual drug collection method has many problems such as low efficiency, high error rate, and high labor cost. At present, there are many kinds of automated drug storage and retrieval equipment on the market, including traditional shelf systems that require manual walking to retrieve drugs, ground-type automatic drug dispensers that use mechanical arms to move on fixed tracks to retrieve drugs, and vertical automatic storage and retrieval medicine cabinets that use vertical lifting to store and retrieve drugs. However, these existing technologies generally occupy a large amount of ground space, which may cause equipment congestion during peak hours in hospitals and affect drug retrieval efficiency.

[0022] Reference Figures 1 to 13 The present application provides a medicine picking robot, including a walking mechanism 100, a scissor lift mechanism 200, a traction mechanism 300, a medicine grabbing mechanism 400 and a medicine basket 500.

[0023] The walking mechanism 100 includes a track 101, a base plate 102 and a first driving device 103. The track 101 is an I-beam structure. The upper side wing plate 104 of the track 101 is used to connect to the ceiling. First rollers 105 are installed at the four corners of the top surface of the base plate 102. The wheel surface of the first roller 105 presses on the upper surface of the lower side wing plate 106 of the track 101. Four second rollers 107 are installed on the top surface of the base plate 102. The four second rollers 107 are distributed on both sides of the track 101 in pairs. The wheel surface of the second roller 107 is provided with an annular groove. The annular groove on the second roller 107 is stuck on the side ridge of the lower side wing plate 106 of the track 101. The first driving device 103 includes a first power component 109, a gear 110 and a chain 111. The first power component 109 is fixed to the lower surface of the base plate 102. The gear 110 is connected to the power output of the first power component 109. The chain 111 is laid on the lower surface of the lower side wing plate 106 of the track 101, and the chain 111 extends along the length direction of the track 101. The bottom plate 102 is provided with a strip hole corresponding to the position of the gear 110, and the gear 110 extends into the strip hole and meshes with the chain 111. Four third rollers 132 are installed on the lower surface of the bottom plate 102. The four third rollers 132 are distributed in pairs on both sides of the chain. The wheel surface of the third roller 132 presses on the lower surface of the lower side wing plate 106 of the track 101. The scissor lift mechanism 200 is vertically connected to the bottom plate 102, and the traction mechanism 300 is arranged on the bottom plate 102. The traction mechanism 300 is used to drive the scissor lift mechanism 200 to move up and down. The medicine grabbing mechanism 400 is installed at the lifting and lowering end of the scissor lift mechanism 200. The medicine basket 500 is connected below the medicine grabbing mechanism 400 to receive the medicine grabbed by the medicine grabbing mechanism 400.

[0024] In the present application, the upper side wing plate 104 of the track 101 is fixed on the ceiling, thereby fixing the track 101, and using four first rollers 105 to press against the upper surface of the lower side wing plate 106 of the track 101 to achieve the vertical positioning of the bottom plate 102, and using four second rollers 107 to press against the side ridges of the lower side wing plate 106 of the track 101 to achieve the horizontal positioning of the bottom plate 102. When the bottom plate 102 moves along the track 101, the four third rollers 132 will roll synchronously on the lower surface of the lower side wing plate 106 of the track 101, so that the first roller 105 is pressed on the upper surface of the lower side wing plate 106 of the track 101, the third roller 132 is pressed on the lower surface of the lower side wing plate 106 of the track 101, and the second roller 107 is pressed on the side edge of the lower side wing plate 106. The first roller 105, the second roller 107 and the third roller 132 can ensure the stability of the entire walking mechanism 100 during the walking process along the track 101. Therefore, the medicine taking robot is very stable during the moving medicine taking process.

[0025] The first power component 109 drives the gear 110, and the gear 110 drives the entire walking mechanism 100 to move along the chain 111 by meshing with the chain 111. This mode of moving by meshing the gear 110 with the chain 111 will not slip.

[0026] During operation, the base plate 102 drives the scissor lift mechanism 200 to move to the position where the medicine is to be taken, and then the medicine grabbing mechanism 400 on the scissor lift mechanism 200 starts to work to take the medicine from the medicine shelf and put it into the medicine basket 500, and then the first drive device 103 continues to drive the base plate 102 to move on the track 101, so that the base plate 102 drives the scissor lift mechanism 200 and the medicine basket 500 to move to the doctor's side, making it convenient for the doctor to directly take out the medicine.

[0027] This medicine-taking robot is installed on the ceiling. Through the walking mechanism 100 and the scissor-type lifting mechanism 200, the medicine-grabbing mechanism 400 is moved to different layers of the medicine shelf to take out medicines. Compared with the traditional medicine-taking robot set on the ground, the medicine-taking robot of the present application does not occupy the ground space, can effectively alleviate the congestion problem in the pharmacy, and improve the efficiency of medicine-taking.

[0028] A connecting column 108 is installed on the upper wing plate 104 of the I-beam, and the connecting column 108 is fixed on the ceiling, thereby fixing the track 101.

[0029] The bottom plate 102 is a rectangular flat plate structure, and the four first rollers 105 are respectively installed at the four corners of the upper surface of the bottom plate 102 through four first roller 105 mounting seats 138 .

[0030] In order to increase the friction between the first roller 105 and the upper surface of the lower wing plate 106 of the track 101 , a transverse groove is provided on the wheel surface of the first roller 105 .

[0031] In some other embodiments, the first power component 109 is fixed to the lower surface of the base plate 102 through the mounting plate 112, the gear 110 is rotatably mounted on the mounting plate 112, the first pulley 114 is mounted on the power output shaft of the first power component 109, the second pulley 115 is mounted on the rotating shaft of the gear 110, and the first pulley 114 and the second pulley 115 are connected through the first synchronous belt 116. During operation, the first power component 109 drives the first pulley 114, the first pulley 114 drives the second pulley 115 to rotate through the first synchronous belt 116, and the second pulley 115 drives the gear 110 to rotate.

[0032] Reference Figure 8 In some embodiments, a conductive strip is laid on the inner side of the track 101, and the conductive strip extends along the length direction of the track 101. A conductive device 117 is provided on the base plate 102, and the conductive device 117 is connected to the first power component 109. The conductive device 117 includes a U-shaped seat 118, a wire contact fixing rod 119 and a conductive contact 120. The U-shaped seat 118 is installed on the base plate 102 and is located on one side of the track 101. The wire contact fixing rod 119 is installed in the U-shaped seat 118. One end of the wire contact fixing rod 119 extends close to the conductive strip. The conductive contact 120 is installed on the wire contact fixing rod 119 and contacts the conductive strip. The conductive contact 120 is connected to the first power component 109.

[0033] Specifically, two conductive strips are installed on the middle vertical plate 130 of the track 101, one is the neutral line and the other is the live line. Two wire contact fixing rods 119 are provided, and both wire contact fixing rods 119 are arranged inside the U-shaped seat 118. One of the wire contact fixing rods 119 is provided with a conductive contact 120 for contacting the live wire conductive strip, and the other wire contact fixing rod 119 is provided with a conductive contact 120 for contacting the neutral wire conductive strip. During operation, when the bottom plate 102 moves along the track 101, the two conductive contacts 120 will also contact and move synchronously on the two conductive strips, thereby providing power for the entire walking mechanism 100.

[0034] In order to keep the conductive contact 120 pressed against the conductive bar at all times, and to ensure that the conductive contact 120 can also contact the conductive bar when the walking mechanism 100 turns, in some embodiments, the wire contact fixing rod 119 is hinged to the U-shaped seat 118, and the wire contact fixing rod 119 can rotate horizontally with the hinge point as the center of the circle, and the end of the wire contact fixing rod 119 away from the conductive contact 120 is located inside the U-shaped seat 118, and the end of the wire contact fixing rod 119 located inside the U-shaped seat 118 is connected to the inner wall of the U-shaped seat 118 through a horizontally arranged first spring 121.

[0035] Specifically, one end of the two wire contact fixing rods 119 located inside the U-shaped seat 118 is connected to the inner wall of the U-shaped seat 118 through a horizontal first spring 121. In this way, under the elastic force of the first spring 121, the wire contact fixing rod 119 will always press the conductive contact 120 against the conductive strip to prevent the conductive contact 120 from being detached from the conductive strip and powering off.

[0036] In the present application, the wire contact fixing rod 119 is a bent rod structure, and the bent part of the wire contact fixing rod 119 is fixed inside the U-shaped seat 118 through a rotating shaft. The two wire contact fixing rods 119 share a rotating shaft, and the two wire contact fixing rods 119 are arranged in the up and down direction to reduce space occupancy.

[0037] In some embodiments, a fixing seat 122 is installed on the upper surface of the base plate 102, and the second roller 107 is hinged to the fixing seat 122 through a roller mounting seat 123. The roller mounting seat 123 can rotate horizontally with the hinge point as the axis. A limit plate 124 is set on the base plate 102, and the limit plate 124 and the roller mounting seat 123 are connected by a second spring 125. The second spring 125 is used to apply a force to the roller mounting seat 123 so that the second roller 107 is pressed against the side ridge of the lower side wing plate 106 of the track 101. An adjusting bolt 126 is installed on the limit plate 124, and one end of the adjusting bolt 126 is connected to the second spring 125, and the other end is located on the outer side of the limit plate 124.

[0038] During the movement of the bottom plate 102, under the force of the second spring 125, the second roller 107 will always remain pressed against the side ridge of the lower wing plate 106 of the track 101, so that the second roller 107 moves more flexibly, ensuring that the walking mechanism 100 turns smoothly on the track 101 and will not be stuck by the four second rollers 107. The preload force of the second spring 125 can be adjusted by rotating the adjustment bolt 126, so that the force applied by the second spring 125 to the second roller 107 remains stable.

[0039] Reference Figure 6In some embodiments, switches 127 are installed at both ends of the bottom plate 102 along the length direction of the track 101. The switches 127 include a photoelectric switch 128, a fixed block 129, a sliding shaft 130, and a third spring 140. The fixed block 129 and the photoelectric switch 128 are both fixed on the lower surface of the bottom plate 102. The photoelectric switch 128 is located on the inner side of the fixed block 129 and is arranged at an interval with the fixed block 129. The photoelectric switch 128 is connected to the first power component 109. A through hole extending along the length direction of the track 101 is provided inside the fixed block 129. The sliding shaft 130 is assembled in the through hole. A first baffle 131 is provided at one end of the sliding shaft 130 facing the photoelectric switch 128. The first baffle 131 is used to trigger the photoelectric switch 128. A third spring 140 is sleeved on the sliding shaft 130. One end of the third spring 140 is connected to the fixed block 129, and the other end is connected to the end of the sliding shaft 130.

[0040] When the walking mechanism 100 moves into position, the end of the sliding shaft 130 will be squeezed, causing the sliding shaft 130 to slide in the through hole, and the third spring 140 will be compressed. When the sliding shaft 130 moves to the first blocking piece 131 to trigger the photoelectric switch 128, the photoelectric switch 128 sends a signal to the first power component 109. At this time, the first power component 109 stops driving, thereby achieving the precise positioning of the entire walking mechanism 100.

[0041] In some embodiments, the third roller 132 is installed on the lower surface of the base plate 102 through an installation mechanism 133. The installation mechanism 133 includes a T-block 134, a connecting rod 135 and a fourth spring 136. The T-block 134 is fixedly connected to the lower surface of the base plate 102, the middle part of the connecting rod 135 is hinged to the T-block 134, the third roller 132 is installed at one end of the connecting rod 135, and the fourth spring 136 is installed at the other end of the connecting rod 135. The fourth spring 136 is connected to the lower surface of the base plate 102, and the fourth spring 136 is used to apply a force to the connecting rod 135 so that the connecting rod 135 drives the third roller 132 to be pressed against the lower surface of the lower side wing plate 106 of the track 101.

[0042] During walking, under the action of the fourth spring 136, the third roller 132 is always kept pressed against the lower surface of the lower side wing plate 106 of the track 101. Therefore, the third roller 132 can prevent the base plate 102 from jumping during the movement along the track 101, thereby ensuring the stability of the entire walking mechanism 100.

[0043] Reference Figure 7 In some embodiments, the traction mechanism 300 includes a second driving device 301, a winding drum 302 and a traction rope, the winding drum 302 is connected to the power output end of the second driving device 301, one end of the traction rope is connected to the lifting end of the scissors lift mechanism 200, and the other end is wound around the winding drum 302.

[0044] During operation, the second driving device 301 drives the winding drum 302 to rotate, and the winding drum 302 drives the scissor lift mechanism 200 to move up and down by retracting and releasing the traction rope.

[0045] Reference Figure 7 In some embodiments, the second driving device 301 includes a second power component 303, a driving wheel 304, a driven wheel 305, a second synchronous belt, a transmission shaft 306, a first transmission gear 307 and a second transmission gear 308. The second power component 303 is fixed on the base plate 102, the driving wheel 304 is installed at the power output end of the second power component 303, the transmission shaft 306 is installed on the base plate 102 through a bearing seat 309, the winding drum 302 is fixed on the transmission shaft 306 and is coaxially arranged with the transmission shaft 306, the driven wheel 305 is installed at one end of the transmission shaft 306, and the second synchronous belt connects the driving wheel 304 and the driven wheel 305.

[0046] Specifically, the second power component 303 is fixed to the lower surface of the bottom plate 102, and the second power component 303 drives the driving wheel 304 to rotate, and the driving wheel 304 drives the driven wheel 305 to rotate through the second synchronous belt, so that the driven wheel 305 drives the transmission shaft 306 to rotate, and the transmission shaft 306 drives the winding drum 302 to rotate to reel in and release the wire. When the scissor lift mechanism 200 needs to rise, the second power component 303 drives the driving wheel 304 to rotate forward, and when the scissor lift mechanism 200 needs to descend, the second power component 303 drives the driving wheel 304 to rotate reversely.

[0047] In order to make the traction rope evenly wound on the winding drum 302, in some embodiments, a reciprocating screw 310 is set on one side of the winding drum 302, the reciprocating screw 310 and the transmission shaft 306 are parallel to each other, a reciprocating spiral groove 311 is provided on the reciprocating screw 310, a slider 312 is assembled on the reciprocating screw 310, the slider 312 cooperates with the reciprocating screw 310, a guide block cooperating with the reciprocating spiral groove 311 is provided on the slider 312, and the transmission shaft 306 is connected to the driven wheel 306. 05 A first transmission gear 307 is installed at the opposite end, and a second transmission gear 308 is installed at the end of the reciprocating screw 310. When the reciprocating screw 310 rotates, the guide block can move in the reciprocating spiral groove 311, so that the slider 312 reciprocates on the reciprocating screw 310 along the axial direction. The winding roller 313 is installed on the slider 312. For each rotation of the winding drum 302, the slider 312 moves on the reciprocating screw 310 a distance equal to the winding area on the winding drum 302.

[0048] During operation, the traction rope is wound around the winding roller 313, and the second power component 303 drives the driving wheel 304 to rotate, so that the driven wheel 305 drives the winding drum 302 and the transmission shaft 306 to rotate. When the winding drum 302 rotates to drive the traction rope to be retracted and released, the transmission shaft 306 drives the first transmission gear 307 to rotate, and the first transmission gear 307 drives the second transmission gear 308 to rotate, and the second transmission gear 308 drives the reciprocating screw rod 310 to rotate, so that the slider 312 drives the traction rope to be reciprocated and wound around the winding drum 302. In this way, the traction rope is more evenly wound around the winding drum 302, preventing the traction rope from being continuously wound at the same position, resulting in inconsistent retraction and release lengths of the traction rope.

[0049] In some embodiments, a positioning roller 314 is installed on the slider 312, and a guide plate 315 is provided on one side of the slider 312. The wheel surface of the positioning roller 314 presses against the guide plate 315, and the positioning roller 314 can roll on the guide plate 315 along the axial direction of the transmission shaft 306. When the reciprocating screw 310 drives the slider 312 to move along the axial direction, the positioning roller 314 will also move synchronously on the guide plate 315, and the slider 312 is limited by the guide plate 315 to prevent the slider 312 from rotating together with the reciprocating screw 310.

[0050] In the present application, two winding drums 302 are arranged on the transmission shaft 306, two sections of reciprocating spiral grooves 311 are arranged on the reciprocating screw rod 310, and two sliders 312 are arranged on the reciprocating screw rod 310. The traction ropes on the two winding drums 302 are respectively wrapped around the winding rollers 313 on the sliders 312 and then connected to the scissors-fork lifting movable end of the scissors-fork lifting mechanism 200, and the lifting movable end of the scissors-fork lifting mechanism 200 is driven to rise and fall by the two traction ropes.

[0051] In some embodiments, the medicine grabbing mechanism 400 includes a fixing plate 401 , a third driving device 402 , a sliding seat 403 and an adsorption device 404 .

[0052] A positioning seat 405 is horizontally arranged on the fixed plate 401, and slide rails 406 are arranged on both sides of the positioning seat 405. The slide rails 406 extend along the length direction of the positioning seat 405. The third driving device 402 includes a third power component 407 and a transmission mechanism. The third power component 407 is installed on the fixed plate 401. The transmission mechanism is connected to the power output end of the third power component 407. The slide seat 403 is connected to the slide rail 406 through a sliding block 408. The slide seat 403 is connected to the transmission mechanism. The transmission mechanism can drive the slide seat 403 to move along the slide rail 406. The adsorption device 404 includes a connecting seat 411 and a suction nozzle 412. The connecting seat 411 is connected to the slide seat 403, and the suction nozzle 412 is installed on the connecting seat 411.

[0053] During operation, the third power component 407 drives the transmission mechanism, so that the transmission mechanism drives the slide 403 to move along the slide rail 406. When the slide 403 drives the suction nozzle 412 of the adsorption device 404 to dock with the medicine on the medicine rack, the suction nozzle 412 starts to absorb the medicine, and then the third power component 407 reverses, so that the transmission mechanism drives the adsorption device 404 to move along the slide rail 406 to a predetermined position, and the adsorption device 404 releases the medicine, thereby completing the medicine picking action. This medicine grabbing mechanism 400 adopts a mechanical structure to grab medicine, does not need manual medicine grabbing, saves manpower, and improves medicine grabbing efficiency.

[0054] The fixing plate 401 is a horizontal plate structure. In order to reduce weight, a plurality of strip holes are provided on the fixing plate 401 .

[0055] The positioning seat 405 is formed by two rectangular plates vertically fixed to the middle of the lower surface of the fixing plate 401, and the two rectangular plates are parallel to each other and arranged at intervals.

[0056] The slide rail 406 is horizontally fixed on the outer sides of the two rectangular plates.

[0057] The third power component 407 is a motor, which is mounted on the upper surface of the fixing plate 401 .

[0058] In some embodiments, the transmission mechanism includes a first synchronous wheel 409, a second synchronous wheel 410 and a third synchronous belt. The first synchronous wheel 409 is installed at the power output end of the third power component 407, the second synchronous wheel 410 is installed at both ends of the positioning seat 405, the third synchronous belt connects the first synchronous wheel 409 and the second synchronous wheel 410, and the third synchronous belt connects the slide 403.

[0059] Specifically, the two second synchronous wheels 410 are respectively installed at both ends of the positioning seat 405 through the rotating shaft, a through hole is set in the middle of the fixing plate 401 corresponding to the position of the first synchronous wheel 409, and the third synchronous belt is sleeved on the first synchronous wheel 409 and the two second synchronous wheels 410.

[0060] In order to prevent the belt from scratching the inner wall of the through hole, auxiliary wheels are arranged on both sides of the through hole on the lower surface of the fixing plate 401, and the third synchronous belt passing through the through hole is pressed against the two auxiliary wheels.

[0061] In some other embodiments, the transmission mechanism can also be configured as a ball screw. The third power component 407 is mounted on the lower surface of the fixed plate 401 , the screw is connected to the power output end of the third power component 407 , the nut is assembled on the screw, and the nut is fixedly connected to the slide 403 .

[0062] In some embodiments, two adsorption devices 404 are provided, and along the length direction of the positioning seat 405, the two adsorption devices 404 are respectively located on both sides of the positioning seat 405. In this way, in the length direction of the positioning seat 405, whether to the left or to the right, there is a nearest adsorption device 404 to adsorb the medicine, which reduces the moving distance of the slide 403 and improves the efficiency of picking up medicine.

[0063] In order to improve the adsorption force, a plurality of suction nozzles 412 are installed on the connection base 411 , and each suction nozzle 412 is arranged side by side on the connection base 411 .

[0064] In some embodiments, a negative pressure device 413 is installed on the fixing plate 401 , and the negative pressure device 413 is connected to the suction nozzle 412 through a pipeline.

[0065] In some embodiments, a cavity 414 is provided inside the connection base 411, one end of the suction nozzle 412 extends into the cavity 414, and a connector 415 is installed at one end of the suction nozzle 412 extending into the cavity 414. The connector 415 for connecting the suction nozzle 412 to the negative pressure device 413 is provided inside the connection base 411, thereby improving space utilization.

[0066] In some embodiments, the slide seat 403 includes a U-shaped groove plate 416, a connecting plate 417 and a square tube 418. The sliding block 408 is installed on the inner side of the groove walls on both sides of the U-shaped groove plate 416. The connecting plate 417 is horizontally fixed at the bottom of the U-shaped groove plate 416 and extends horizontally to both sides of the U-shaped groove plate 416. The square tube 418 is installed on the connecting plate 417 extending horizontally to both sides of the U-shaped groove plate 416. The square tube 418 extends along the length direction of the slide rail 406, one of the square tubes 418 extends from one side of the fixed plate 401, and the other square tube 418 extends from the other side of the fixed plate 401. The connecting seat 411 is installed at the end of each square tube 418.

[0067] In the present application, the U-shaped groove plate 416, the connecting plate 417 and the square tube 418 are all detachable connection structures. Of course, in other embodiments, the U-shaped groove plate 416, the connecting plate 417 and the square tube 418 can also be set as an integrated structure.

[0068] In some embodiments, the connection seat 411 is hinged to the end of the square tube 418, and a rotating servo 419 is installed on the side of the square tube 418, and the rotating shaft of the rotating servo 419 is connected to the connection seat 411. After the slide 403 drives the connection seat 411 to move to a predetermined position, the rotating servo 419 drives the connection seat 411 to rotate so that the suction nozzle 412 corresponds to the corresponding medicine and then adsorbs it.

[0069] In order to prevent the sliding block 408 from slipping off the two ends of the slide rail 406 , in some embodiments, a limiting column 420 is provided on the side of the positioning seat 405 , and the limiting column 420 is used to prevent the sliding block 408 from detaching from the slide rail 406 .

[0070] Specifically, a limiting column 420 is vertically fixed on the positioning seat 405 above both ends of the slide rail 406 .

[0071] In some embodiments, a reset photoelectric switch 422, a servo rotation photoelectric switch 423, an adsorption photoelectric switch 424 and a controller are provided on the positioning seat 405. The reset photoelectric switch 422, the servo rotation photoelectric switch 423 and the adsorption photoelectric switch 424 are arranged at intervals along the length direction of the positioning seat 405. The controller is connected to the reset photoelectric switch 422, the servo rotation photoelectric switch 423 and the adsorption photoelectric switch 424. The controller is connected to the rotating servo 419, the third power component 407 and the negative pressure device 413. The reset photoelectric switch 422 is located in the middle of the positioning seat 405, the adsorption photoelectric switch 424 is located at the end of the positioning seat 405, the servo rotation photoelectric switch 423 is located between the adsorption photoelectric switch 424 and the servo rotation photoelectric switch 423, and a second baffle 425 for cooperating with the reset photoelectric switch 422, the servo rotation photoelectric switch 423 and the adsorption photoelectric switch 424 is provided on the U-shaped groove plate 416.

[0072] When the transmission mechanism drives the second baffle 425 on the slide 403 to move to the reset photoelectric switch 422, it means that the slide 403 has moved to the origin. When it is necessary to pick up medicine, the transmission mechanism drives the slide 403 to move. When the second baffle 425 moves to the servo rotation photoelectric switch 423, the controller will send a command to the rotating servo 419, so that the rotating servo 419 drives the connecting seat 411 to rotate to the horizontal, and then the transmission mechanism drives the slide 403 to continue to move. When the second baffle 425 moves to the adsorption photoelectric switch 424, the controller controls the negative pressure device 413 to start working, so that the suction nozzle 412 starts to adsorb, thereby The medicine is sucked, and then the controller controls the third power component 407 to reverse, at which time the transmission mechanism drives the slide 403 to move in the opposite direction along the slide rail 406, and when the slide 403 moves to the second baffle 425 to trigger the servo rotation photoelectric switch 423, the rotating servo 419 drives the connecting seat 411 to rotate in the opposite direction, so that the medicine adsorbed on the suction nozzle 412 rotates to the vertical direction, and then the transmission mechanism continues to drive the slide 403 to move, and when the second baffle 425 moves to the reset photoelectric switch 422, the controller sends a signal to the negative pressure device 413, so that the negative pressure device 413 releases the pressure, so that the suction nozzle 412 releases the medicine. Through the reset photoelectric switch 422, the servo rotation photoelectric switch 423, the adsorption photoelectric switch 424 and the controller, each action of picking up medicine is refined and decomposed, so that the picking up of medicine is more accurate.

[0073] Since the present application has two adsorption devices 404 , in addition to one reset photoelectric switch 422 , two servo rotation photoelectric switches 423 and two adsorption photoelectric switches 424 are each provided. The two servo rotation photoelectric switches 423 and the two adsorption photoelectric switches 424 are symmetrically arranged on both sides of the reset photoelectric switch 422 .

[0074] Two first guide rails 140 are arranged on the lower surface of the base plate 102, and two first sliders 139 are mounted on each first guide rail 140. The upper end of the scissors lift mechanism 200 is hinged to the four first sliders 139. Two second guide rails are arranged on the upper surface of the fixed plate 401, and two second sliders are mounted on each second guide rail. The lower end of the scissors lift mechanism 200 is hinged to the four second sliders.

[0075] In some embodiments, the medicine basket 500 includes a frame 501 , a basket body 502 , a pushing device 503 and a transmission device 504 .

[0076] The frame 501 has a cavity 505 inside, and the basket body 502 includes a first rotating basket 506 and a second rotating basket 507. One side of the first rotating basket 506 is hinged to one side of the frame 501, and the second rotating basket 507 is hinged to the other side of the frame 501. The first rotating basket 506 and the second rotating basket 507 are arranged opposite to each other below the frame 501. The first rotating basket 506 and the second rotating basket 507 can be connected to each other to form a trough body for receiving medicines below the cavity 505. The pushing device 503 is installed on the frame 501, and the pushing device 503 has a lifting movable push rod 508. The transmission device 504 includes a first pulley 50 9. The second pulley 510 and the pull rope 511. The first pulley 509 and the second pulley 510 are installed on the frame 501 and are respectively located on both sides of the pushing device 503. The middle part of the pull rope 511 is connected to the lifting movable push rod 508. One end of the pull rope 511 passes around the first pulley 509 and is connected to the side of the first rotating basket 506. The other end of the pull rope 511 passes around the second pulley 510 and is connected to the side of the second rotating basket 507. The lifting movable push rod 508 descends and pulls the pull rope 511, so that the first rotating basket 506 and the second rotating basket 507 are docked and closed with each other, and the first rotating basket 506 and the second rotating basket 507 are separated from each other under the action of gravity.

[0077] During the working process, the lifting and lowering movable push rod 508 of the pushing device 503 pushes downward, and drives the first rotating basket 506 and the second rotating basket 507 to dock under the cavity 505 through the pull rope 511. Then the robot grabs the medicine and puts it into the groove body defined by the first rotating basket 506 and the second rotating basket 507. When the medicine basket moves to the specified position, the lifting and lowering movable push rod 508 of the pushing device 503 moves upward to release the pull rope 511. At this time, the first rotating basket 506 and the second rotating basket 507 lose the traction force of the pull rope 511. Under the action of gravity, the first rotating basket 506 and the second rotating basket 507 are separated from each other, so that the medicines contained therein fall down. When facing fragile medicines, the first rotating basket 506 and the second rotating basket 507 do not need to be separated, and medical staff can directly reach in to take them. Since the first rotating basket 506 and the second rotating basket 507 of this medicine basket can be opened and closed, the use method of the medicine basket is more flexible. Medicines can be dropped directly or without dropping them. Therefore, the efficiency of taking medicines during use is higher.

[0078] The frame 501 is horizontally arranged, and the specific structure of the frame 501 is not limited, and it can be a circular frame, a polygonal frame, a square frame or the like.

[0079] In the present application, the frame 501 is a square frame structure, the first rotating basket 506 and the second rotating basket 507 are respectively hinged on two opposite frame edges of the frame 501, and the middle parts of the other two opposite frame edges of the frame 501 are both installed with inverted triangle plates 512. The first rotating basket 506 and the second rotating basket 507 are both square shovel structures, and the shovel mouth of the first rotating basket 506 and the shovel mouth of the second rotating basket 507 are both provided with bevel edges. The shovel mouth of the first rotating basket 506 is connected to one side of the triangular edge of the inverted triangle plate 512, and the shovel mouth of the second rotating basket 507 is connected to the other side of the triangular edge of the inverted triangle plate 512. In this way, the first rotating basket 506, the second rotating basket 507 and the inverted triangle plate 512 jointly define a trough for holding medicines below the frame 501, and the inverted triangle plate 512 plays the role of transition and docking of the first rotating basket 506 and the second rotating basket 507.

[0080] Of course, the first rotating basket 506 and the second rotating basket 507 can also be provided with other structures. For example, the shovel mouth of the first rotating basket 506 and the shovel mouth of the second rotating basket 507 are cut into grooves that can be connected to each other, and the middle inverted triangle plate 512 is omitted. The lifting movable push rod 508 of the pushing device 503 drives the first rotating basket 506 and the second rotating basket 507 to connect with each other through the pull rope 511.

[0081] In some embodiments, the pushing device 503 is an electric push rod. Of course, the pushing device 503 can also be set as a cylinder or other equipment besides the electric push rod.

[0082] In the present application, the pushing device 503 is vertically installed on the frame edge of the side of the first rotating basket 506 and the second rotating basket 507, and the first pulley 509 and the second pulley 510 are also installed on the frame edge. A through hole is opened at the lower end of the lifting movable push rod 508 of the pushing device 503, and the pull rope 511 is directly passed through the through hole.

[0083] In the present application, only one pushing device 503 is provided. In other embodiments, two pushing devices 503 may be provided, and the two pushing devices 503 are respectively vertically installed on the frame edges on both sides of the first rotating basket 506 and the second rotating basket 507, and each pushing device 503 drives the first rotating basket 506 and the second rotating basket 507 to rotate through the pull rope 511.

[0084] In the present application, the pull rope 511 is a steel wire rope.

[0085] In some embodiments, the medicine basket further includes a horizontal plate 513, and the four corners of the horizontal plate 513 are respectively connected to the frame 501 through connecting rods 514. The horizontal plate 513 is used to be installed on a moving device for moving the medicine basket, while the medicine basket is not directly connected to the moving device.

[0086] In some embodiments, the connecting rod 514 includes a first rod 515 and a second rod 516, one end of the first rod 515 is hinged to one end of the second rod 516, the other end of the first rod 515 is hinged to the horizontal plate 513, and the other end of the second rod 516 is hinged to the frame 501. When the mobile device places the medicine basket on the desktop, the connecting rod 514 plays a buffering role, and the flexibility of the medicine basket is better.

[0087] In some embodiments, a limit block 517 is provided on the side of the second rod 516, and the limit block 517 is used to limit the first rod 515 to prevent the rotation angle between the first rod 515 and the second rod 516 from being too large, causing the medicine basket to tip over.

[0088] In some embodiments, a plurality of first hollow holes are provided on the first rotating basket 506, and a plurality of second hollow holes are provided on the second rotating basket 507. In this way, the weight of the first rotating basket 506 and the second rotating basket 507 can be reduced.

[0089] In some embodiments, the bottom of the first rotating basket 506 and the bottom of the second rotating basket 507 are both installed with pillars 518. When the medicine basket is placed on the table as a whole, the pillars 518 support the table.

[0090] In some embodiments, a first guide device is arranged between the scissors-type lifting mechanism 200 and the walking mechanism 100 , and a second guide device is arranged between the scissors-type lifting mechanism 200 and the medicine grabbing mechanism 400 . The first guide device and the second guide device are used for guiding along the lifting direction of the scissors-type lifting mechanism 200 .

[0091] Specifically, the first guide device includes a first guide rod 137 and a first guide sleeve 201, two first guide rods 137 are vertically installed on the lower surface of the base plate 102, two first guide sleeves 201 are installed on the upper part of the scissors lift 200, and the first guide rod 137 cooperates with the first guide sleeve 201, the second guide device includes a second guide rod 519 and a second guide sleeve 202, two second guide rods 519 are vertically installed on the upper surface of the horizontal plate 513, two second guide sleeves 202 are installed on the upper part of the scissors lift 200, and the second guide rod 519 cooperates with the second guide sleeve 202.

[0092] It should be noted that the present application connects the first power component 109 , the second power component 303 , the third power component 407 and the negative pressure device 413 through the conductive contact 120 , so as to provide power for the entire device.

[0093] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0094] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present application.

Claims

1. A medicine dispensing robot, characterized in that: include The walking mechanism includes a track, a base plate and a first driving device, wherein the track is an I-beam structure, the upper side wing plate of the track is used to connect to the ceiling, first rollers are installed at the four corners of the top surface of the base plate, the wheel surface of the first roller presses against the upper surface of the lower side wing plate of the track, four second rollers are installed on the top surface of the base plate, the four second rollers are distributed on both sides of the track in pairs, the wheel surface of the second roller is provided with an annular groove, the annular groove on the second roller is clamped on the side ridge of the lower side wing plate of the track, and the first driving device includes a first power unit The first power component is fixed on the lower surface of the bottom plate, the gear is connected to the power output end of the first power component, the chain is laid on the lower surface of the lower wing plate of the track, the chain extends along the length direction of the track, the bottom plate is provided with a strip hole corresponding to the position of the gear, the gear extends into the strip hole and meshes with the chain, four third rollers are installed on the lower surface of the bottom plate, the four third rollers are distributed in pairs on both sides of the chain, and the wheel surface of the third roller presses against the lower surface of the lower wing plate of the track; A scissor lift mechanism is vertically connected to the base plate; A traction mechanism, arranged on the bottom plate, and used to drive the scissor lift mechanism to move up and down; A medicine grabbing mechanism is installed at the lifting and lowering movable end of the scissor lift mechanism; The medicine basket is connected below the medicine grabbing mechanism and is used for receiving the medicines grabbed by the medicine grabbing mechanism.

2. The medicine dispensing robot according to claim 1, characterized in that: The traction mechanism includes a second driving device, a winding drum and a traction rope. The winding drum is connected to the power output end of the second driving device. One end of the traction rope is connected to the lifting end of the scissors lift mechanism, and the other end is wound around the winding drum.

3. The medicine dispensing robot according to claim 2, characterized in that: The second driving device includes a second power component, a driving wheel, a driven wheel, a second synchronous belt, a transmission shaft, a first transmission gear and a second transmission gear. The second power component is fixed to the base plate, the driving wheel is installed on the power output end of the second power component, the transmission shaft is installed on the base plate through a bearing seat, the winding drum is fixed on the transmission shaft and is coaxially arranged with the transmission shaft, the driven wheel is installed at one end of the transmission shaft, and the second synchronous belt connects the driving wheel and the driven wheel.

4. The medicine dispensing robot according to claim 3, characterized in that: A reciprocating screw is arranged on one side of the winding drum, and the reciprocating screw is parallel to the transmission shaft. A reciprocating spiral groove is provided on the reciprocating screw, and a slider is assembled on the reciprocating screw, and the slider cooperates with the reciprocating screw. A guide block cooperating with the reciprocating spiral groove is provided on the slider, and the first transmission gear is installed on the end of the transmission shaft opposite to the driven wheel, and the second transmission gear is installed on the end of the reciprocating screw. When the reciprocating screw rotates, the guide block can move in the reciprocating spiral groove so that the slider reciprocates on the reciprocating screw along the axial direction, and a winding roller is installed on the slider. For each rotation of the winding drum, the slider moves on the reciprocating screw a distance equal to the winding area on the winding drum.

5. The medicine dispensing robot according to claim 4, characterized in that: A positioning roller is installed on the slider, a guide plate is arranged on one side of the slider, a wheel surface of the positioning roller is pressed against the guide plate, and the positioning roller can roll on the guide plate along the axial direction of the transmission shaft.

6. The medicine dispensing robot according to claim 1, characterized in that: A first guide device is arranged between the scissor lift mechanism and the walking mechanism, and a second guide device is arranged between the scissor lift mechanism and the medicine grabbing mechanism. The first guide device and the second guide device are used for guiding along the lifting direction of the scissor lift mechanism.

7. The medicine dispensing robot according to claim 1, characterized in that: A fixing seat is installed on the upper surface of the base plate, and the second roller is hinged to the fixing seat through the roller mounting seat. The roller mounting seat can rotate horizontally with the hinge point as the axis. A limit plate is arranged on the base plate, and the limit plate and the roller mounting seat are connected by a second spring. The second spring is used to apply a force to the roller mounting seat so that the second roller is pressed against the side ridge of the lower side wing plate of the track. An adjusting bolt is installed on the limit plate, and one end of the adjusting bolt is connected to the second spring, and the other end is located on the outer side of the limit plate.

8. The medicine dispensing robot according to claim 1, characterized in that: Along the length direction of the track, both ends of the base plate are installed with in-place switches, and the in-place switches include a photoelectric switch, a fixed block, a sliding shaft and a third spring. The fixed block and the photoelectric switch are both fixed on the lower surface of the base plate, the photoelectric switch is located on the inner side of the fixed block and is arranged at an interval with the fixed block, the photoelectric switch is connected to the power component, a through hole extending along the length direction of the track is arranged inside the fixed block, the sliding shaft is assembled in the through hole, a first baffle is arranged at one end of the sliding shaft facing the photoelectric switch, the first baffle is used to trigger the photoelectric switch, a third spring is sleeved on the sliding shaft, one end of the third spring is connected to the fixed block, and the other end is connected to the end of the sliding shaft.

9. The medicine dispensing robot according to claim 1, characterized in that: The third roller is installed on the lower surface of the base plate through an installation mechanism, and the installation mechanism includes a T-block, a connecting rod and a fourth spring. The T-block is fixedly connected to the lower surface of the base plate, and the middle part of the connecting rod is hinged to the T-block. The third roller is installed on one end of the connecting rod, and the fourth spring is installed on the other end of the connecting rod. The fourth spring is connected to the lower surface of the base plate, and the fourth spring is used to apply a force to the connecting rod so that the connecting rod drives the third roller to press against the lower surface of the lower wing plate of the track.

10. The medicine dispensing robot according to claim 1, characterized in that: The medicine grabbing mechanism includes a fixed plate, a third driving device, a slide seat and an adsorption device. A mounting seat is horizontally arranged on the fixed plate. Slide rails are arranged on both sides of the mounting seat. The slide rails extend along the length direction of the mounting seat. The third driving device includes a third power component and a transmission mechanism. The third power component is installed on the fixed plate. The transmission mechanism is connected to the power output end of the third power component. The slide seat is connected to the slide rail through a sliding block. The slide seat is connected to the transmission mechanism. The transmission mechanism can drive the slide seat to move along the slide rail. The adsorption device includes a connecting seat and a suction nozzle. The connecting seat is connected to the slide seat, and the suction nozzle is installed on the connecting seat.

Images