A drug dispensing robot

Abstract

The present application provides a drug dispensing robot, comprising a housing, a central control processor, a travel device, and a control panel, with a drug dispensing port provided on the top of the housing; a plurality of drug racks arranged in a circular array within the housing; a tray placed on the drug rack, the tray being used to place drugs; a drug dispensing and receiving mechanism arranged within the housing, the drug dispensing and receiving mechanism comprising: a clamping mechanism for clamping the tray; a support frame mounted on the inner bottom surface of the housing; a rotating seat rotatably connected to the support frame; a rotating assembly mounted on the support frame, the rotating assembly being used to control the rotation angle of the rotating seat; the support seat being arranged above the rotating seat; a lifting assembly mounted between the support seat and the rotating seat, the lifting assembly being used to control the height of the support seat. The present application can accurately deliver drugs to a plurality of patients, improves the accuracy and convenience of drug delivery to a plurality of patients, and makes the work of nurses more labor-saving and convenient.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a drug dispensing robot. Background Art

[0002] In hospitals, nurses typically prepare daily medications for inpatients according to doctor's orders. Wards typically have centralized medication dispensing times. After reviewing the doctor's orders in the treatment room, nurses dispense medications according to dosage, such as removing tablets from a box and placing them in a cup. They then accurately label the tablets with patient information and deliver the dispensed medications to the patient's bedside on schedule. When dispensing medication, nurses carefully verify the patient's name, hospitalization number, and other identifying information to ensure the correct medication is dispensed.

[0003] However, since there are generally many inpatients in hospitals, many patients need to take medicine every day. If nurses prepare medicine for several patients at one time and deliver the medicine, it will not only be inconvenient to carry but also there is a risk of delivery errors; if nurses deliver the medicine one by one, it will be very laborious and troublesome. Summary of the Invention

[0004] In order to solve at least one of the technical problems mentioned in the background technology, the purpose of this application is to provide a drug dispensing robot that can accurately deliver medicine to several patients, improve the accuracy and convenience of delivering medicine to several patients, and make the work of nurses more labor-saving and convenient.

[0005] To achieve the above objectives, this application provides the following technical solutions:

[0006] A medicine dispensing robot includes a housing, a central control processor, a travel device installed at the bottom of the housing, and a control panel installed at the top of the housing. A medicine dispensing port is provided on the top surface of the housing.

[0007] A plurality of medicine racks are installed in a circular array inside the casing;

[0008] A tray is placed on the medicine rack, and is used to place medicines;

[0009] The medicine sending and receiving mechanism is arranged in the housing, and the medicine sending and receiving mechanism includes:

[0010] A clamping mechanism for clamping the pallet;

[0011] A support frame is installed on the bottom surface of the casing;

[0012] A rotating seat, rotatably connected to the supporting frame;

[0013] A rotating assembly is mounted on the support frame, and is used to control the rotation angle of the rotating seat;

[0014] A supporting seat, arranged above the rotating seat;

[0015] A lifting assembly is installed between the support base and the rotating base, and is used to control the height of the support base;

[0016] The transverse movement component is installed on the support seat, and the transverse movement component is used to control the horizontal movement of the clamping mechanism.

[0017] Preferably, the control panel includes control buttons and a display screen.

[0018] Preferably, the tray is rectangular;

[0019] The medicine rack comprises:

[0020] Two U-shaped frames, mounted on the inner wall of the casing;

[0021] A fixed wheel frame is fixedly connected to the U-shaped frame, and the fixed wheel frame has several parts;

[0022] The first roller is rotatably connected to the fixed wheel frame, and the first roller abuts against the bottom surface of the tray.

[0023] Preferably, a plurality of clamping members are installed on the medicine rack to fix the position of the tray, and the clamping members include:

[0024] Two sliding columns, vertically slidingly connected to the top of the U-shaped frame;

[0025] A limit bolt, threadedly connected to the top of the sliding column;

[0026] The movable wheel frame is fixed to the bottom ends of the two sliding columns;

[0027] A compression spring is looped around the outside of the sliding column, one end of the compression spring is fixed to the movable wheel frame, and the other end is fixed to the U-shaped frame;

[0028] The second roller is rotatably connected to the movable wheel frame, and the second roller abuts against the top surface of the tray.

[0029] Preferably, the clamping mechanism includes a support plate and an electromagnet installed on the top of the support plate, and the electromagnet is used to adsorb the tray.

[0030] Preferably, the support plate is L-shaped;

[0031] The traverse assembly comprises:

[0032] A first polished rod is horizontally fixed to the support plate, and the first polished rod is slidably connected to the support seat;

[0033] A first screw rod is horizontally fixed to the support plate;

[0034] A first sliding sleeve is coaxially threadedly connected to the outer side of the first screw rod, and the first sliding sleeve is rotatably connected to the support seat through a bearing;

[0035] The first motor is installed on the support seat, and the first motor is used to drive the first sliding sleeve to rotate.

[0036] Preferably, the lifting assembly includes:

[0037] A second polished rod is vertically fixed to the bottom of the support base, and the second polished rod is slidably connected to the rotating base;

[0038] A second screw rod is vertically fixed to the bottom of the support base;

[0039] A second sliding sleeve is coaxially threadedly connected to the outer side of the second screw rod, and the second sliding sleeve is rotatably connected to the rotating seat via a bearing;

[0040] The second motor is installed on the rotating seat, and is used to drive the second sliding sleeve to rotate.

[0041] Preferably, the rotating assembly includes:

[0042] a third motor, mounted on the support frame;

[0043] A driving gear is fixedly connected to the shaft end of the third motor;

[0044] The driven gear is coaxially fixed to the rotating seat, and the driving gear is meshed with the driven gear.

[0045] Preferably, the cup groove is opened in the middle of the top surface of the tray;

[0046] The medicine cup is placed in the cup groove and is used for placing medicine.

[0047] Preferably, it further includes an auxiliary cup placement component; the auxiliary cup placement component includes:

[0048] A plurality of chutes are provided on the top surface of the tray in a circular array;

[0049] A clamping block, slidably connected to the slide groove;

[0050] A guide slope is provided on the top edge of the clamping block close to the medicine cup;

[0051] A connecting plate is installed on the side of the slide away from the medicine cup;

[0052] One end of the spring is fixed to the side of the clamping block away from the medicine cup, and the other end is fixed to the connecting plate.

[0053] Compared with the prior art, this application has the following beneficial effects:

[0054] The present application arranges a medicine rack, a tray, a clamping mechanism, a support frame, a rotating seat, a support seat, a rotating assembly, a lifting assembly, a transverse movement assembly, and a central control processor in the casing, arranges a control panel on the top of the casing, and installs a travel device at the bottom of the casing, so that nurses can prepare and store medicines for patients in several different beds and wards at one time, and can automatically drive the robot to the patient's bed to accurately deliver medicines to different patients, thereby improving the overall accuracy and convenience of delivering medicines to several patients, making the nurse's work more labor-saving and convenient.

[0055] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The above and other objects, features and advantages of the exemplary embodiments of the present application will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present application are shown in an illustrative and non-limiting manner, in which:

[0057] In the drawings, the same or corresponding reference numerals denote the same or corresponding parts.

[0058] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present application;

[0059] Figure 2 This is a first cross-sectional schematic diagram of the overall structure of an embodiment of the present application;

[0060] Figure 3 This is a second cross-sectional schematic diagram of the overall structure of the embodiment of the present application;

[0061] Figure 4 for Figure 3 A schematic diagram of the structure at center A;

[0062] Figure 5 This is a schematic diagram of the structure of the internal components of the casing of the embodiment of the present application;

[0063] Figure 6 This is a schematic diagram of the structure of the medicine receiving and sending mechanism according to an embodiment of the present application;

[0064] Figure 7 This is a structural assembly diagram of the support seat, transverse movement assembly and clamping mechanism of the embodiment of the present application;

[0065] Figure 8 This is a schematic structural diagram of the medicine rack and the clamping member according to an embodiment of the present application;

[0066] Figure 9This is a schematic structural diagram of the tray and auxiliary cup placement assembly according to an embodiment of the present application.

[0067] Description of the numbers in the figure:

[0068] 100. housing; 101. medicine dispensing port;

[0069] 200, traveling device;

[0070] 300, control panel; 301, display screen; 302, control buttons;

[0071] 400, medicine rack; 410, U-shaped frame; 420, fixed wheel frame; 430, first roller;

[0072] 500, tray; 510, cup slot; 520, auxiliary cup placement assembly; 521, slide; 522, clamping block; 523, guide slope; 524, connecting plate; 525, spring;

[0073] 600, drug delivery and receiving mechanism; 610, clamping mechanism; 611, support plate; 612, electromagnet; 620, support frame; 630, rotating seat; 640, rotating assembly; 641, third motor; 642, driving gear; 643, driven gear; 650, support seat; 660, lifting assembly; 661, second polished rod; 662, second lead screw; 663, second sliding sleeve; 664, second motor; 665, second gear set; 670, transverse movement assembly; 671, first polished rod; 672, first lead screw; 673, first sliding sleeve; 674, first motor; 675, first gear set;

[0074] 700, clamping member; 710, sliding column; 720, limiting bolt; 730, movable wheel frame; 740, compression spring; 750, second roller;

[0075] 800, medicine cup;

[0076] 900. Bearings. DETAILED DESCRIPTION

[0077] In order to make the purpose, features, and advantages of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of this application.

[0078] Reference Figure 1 - Figure 9, a drug dispensing robot provided by an embodiment of the present application includes a housing 100, a traveling device 200 installed at the bottom of the housing 100, and a control panel 300 installed at the top of the housing 100. The control panel 300 includes a display screen 301 and control buttons 302. Specifically, the control buttons 302 are provided with four types of buttons, namely, numeric keys, medicine release keys, medicine take-out keys, and confirmation keys. The display screen 301 is mainly used to display which trays 500 are blank trays 500 and which trays 500 already have medicines stored. In addition, it also includes a central control processor, which is electrically connected to the travel device 200 and the control panel 300. A medicine removal port 101 is provided on the top of the casing 100, and a number of medicine racks 400 are installed in a circular array on the inner wall of the casing 100. These medicine racks 400 have multiple layers and are equidistantly linearly distributed in the vertical direction; a tray 500 is placed on the medicine rack 400, and the tray 500 is mainly used to place medicines; a medicine receiving and sending mechanism 600 is provided in the casing 100, and the medicine receiving and sending mechanism 600 is mainly used to directly store the medicines prepared by the nurse on the tray 500, and to move the tray 500 containing the medicines for the designated patient to the medicine outlet when the patient takes the medicine.

[0079] Furthermore, the medicine receiving and sending mechanism 600 includes a clamping mechanism 610 for clamping the tray 500; a support frame 620 is installed on the bottom surface of the bottom of the casing 100, and a rotating base 630 is rotatably connected to the support frame 620, and a rotating component 640 for controlling the rotation angle of the rotating base 630 is also installed on the support frame 620; a support base 650 is provided above the rotating base 630, and a lifting component 660 is installed between the support base 650 and the rotating base 630, and the lifting component 660 is used to control the height of the support base 650; a transverse movement component 670 is installed on the support base 650, and the transverse movement component 670 is used to control the horizontal movement of the clamping mechanism 610.

[0080] Specifically, refer to Figure 7 The clamping mechanism 610 includes a support plate 611 and an electromagnet 612 mounted on the top of the support plate 611. The electromagnet 612 is energized to absorb the tray 500 so that the tray 500 is stably fixed on the support plate 611. Figure 7The support plate 611 is L-shaped, and the transverse movement assembly 670 includes a first light rod 671 horizontally fixed to the support plate 611, and the first light rod 671 is slidably connected to the support seat 650. A first screw rod 672 is also horizontally fixed to the support plate 611, and a first sleeve 673 is coaxially threadedly connected to the outside of the first screw rod 672, and a bearing 900 is installed between the first sleeve 673 and the support seat 650. The first sleeve 673 is rotatably connected to the support seat 650 through the bearing 900, and a first motor 674 is installed on the support seat 650 to drive the first sleeve 673 to rotate. Transmission can be achieved here by installing a first gear set 675 that meshes with each other on the first sleeve 673 and the first motor 674.

[0081] Further, refer to Figure 6 The lifting assembly 660 includes a second light rod 661 vertically fixed to the bottom of the support seat 650, and the second light rod 661 is slidably connected to the rotating seat 630. A second screw rod 662 is also vertically fixed to the bottom of the support seat 650, and a second sleeve 663 is coaxially threadedly connected to the outside of the second screw rod 662. The second sleeve 663 is rotatably connected to the rotating seat 630 through a bearing 900. A second motor 664 is also installed on the rotating seat 630, and the second sleeve 663 is driven to rotate by the second motor 664. Similarly, a second gear set 665 that meshes with each other can be installed on the shaft end of the second motor 664 and the second sleeve 663 for transmission.

[0082] Further, refer to Figure 5 The rotating assembly 640 is installed on the third motor 641 on the support frame 620, and a driving gear 642 is fixed to the shaft end of the third motor 641. A driven gear 643 is coaxially fixed to the rotating base 630, and the driving gear 642 is meshed with the driven gear 643.

[0083] The following is a further introduction to the operation of the drug dispensing robot provided in the embodiment of the present application in combination with specific usage scenarios: First of all, it should be understood that each patient hospitalized in the hospital has a fixed ward number and bed number. Here, this application uses the numbers corresponding to the ward number and bed number to represent the patient living in the ward number and bed number. After the nurse has prepared the medicine for a patient, she observes the information on the display screen 301 to see which tray 500 is the blank tray 500, then clicks the medicine take button, enters the number key corresponding to a blank tray 500, and then clicks the confirm button. After that, the medicine taking and placing mechanism will move the idle tray 500 to the medicine taking port 101 (the blank tray 500 is on the medicine placing rack 400). Specifically, the second motor 664 drives the second sleeve 663 to rotate, and then the second sleeve 663 and the second screw rod 662 are threadedly matched, and the second light rod 661 and the support seat 650 are slidably matched. The support seat 650 and the clamping mechanism 610 are lifted and lowered as a whole to the height of the idle tray 500, and at the same time, the third motor 641, the driving gear 642, and the driven gear 643 are driven to move the medicine to the medicine taking port 101. 43 drives the rotating seat 630 to rotate, so that the support plate 611 of the clamping mechanism 610 is just facing the empty tray 500, and then, by driving the first motor 674, the first sleeve 673 is driven to rotate, and then under the threaded cooperation of the first sleeve 673 and the first screw rod 672 and the sliding cooperation of the first light rod 671 and the support seat 650, the clamping mechanism 610 is driven to move toward the blank tray 500 until the electromagnet 612 of the clamping mechanism 610 is just located directly below the blank tray 500, and then the electromagnet 612 is started so that the electromagnet 612 adsorbs the blank tray 500, and then the blank tray 500 is moved to the medicine dispensing port 101 by controlling the transverse movement component 670 and the lifting component 660 to move. The nurse then places the prepared medication on a blank tray 500, clicks the "Put" button, enters the patient's ward and bed number, and clicks the "Confirm" button. The medication placement mechanism then moves the medication tray 500 to the medicine rack 400 where it resides. In this way, the nurse can prepare medication for several patients at once and store it on different medicine racks 400. The central control processor then controls the robot's movement and delivers the medication to the beds of different patients. This requires pre-entry of the hospital's ward and bed location information into the robot's central control system, and the travel device 200 is equipped with sensors to ensure the robot accurately reaches the designated patient. These methods are commonly used by those skilled in the art and will not be elaborated upon. When the robot arrives at a patient's bed, the patient only needs to click the medicine-taking button, then enter the number of his or her ward and bed, and click the OK button. The medicine-taking and placing mechanism will then drive the clamping mechanism 610 to the medicine rack 400 where the patient's medicine is located, and move the tray 500 containing the patient's medicine from the medicine rack 400 to the medicine-taking port 101, so that the patient can take his or her own medicine.

[0084] It should be noted here that the operating states of the first motor 674, the second motor 664, the third motor 641, and the electromagnet 612 are all controlled by the central control processor; in addition, in order to ensure the accuracy of the equipment operation, the lifting component 660, the transverse movement component 670, and the rotation component 640 should be equipped with appropriate sensors. For example, for the transverse movement component 670, a distance measuring sensor (such as a laser sensor) can be installed on the side of the support plate 611. The distance from the side of the support plate 611 to the side wall of the housing 100 is collected by the distance measuring sensor, thereby reflecting the transverse movement distance of the support plate 611, and the first motor 674 is controlled by the central control processor. The operating state of 674 is controlled to ensure that when the support plate 611 moves laterally with the tray 500 onto the medicine rack 400, the first motor 674 is promptly stopped and the electromagnet 612 is de-energized, so that the electromagnet 612 loses its attraction to the tray 500. For the lifting assembly 660, a distance sensor can also be installed on the support base 650 to detect whether the height of the support base 650 has reached the specified height. For the rotating assembly 640, a sensor for detecting the rotation angle (such as a Hall sensor) can be installed to collect the rotation angle of the rotating base 630, so as to ensure that the support plate 611 is aligned with the appropriate medicine rack 400 for transverse movement. The selection and use of sensors are commonly used by those skilled in the art and will not be elaborated here.

[0085] The present application sets a medicine rack 400, a tray 500, a clamping mechanism 610, a support frame 620, a rotating base 630, a support base 650, a rotating assembly 640, a lifting assembly 660, a transverse movement assembly 670, and a central control processor in the casing 100, sets a control panel 300 at the top of the casing 100, and installs a travel device 200 at the bottom of the casing 100, so that nurses can prepare and store medicines for patients in several different beds and wards at one time, and can automatically drive the robot to the patient's bed to accurately deliver medicine to different patients, thereby improving the overall accuracy and convenience of delivering medicine to several patients, making the nurse's work more labor-saving and convenient.

[0086] Reference Figure 2 - Figure 5 and Figure 8 As a specific implementation of an embodiment of the present application, the medicine rack 400 includes two U-shaped frames 410 installed on the inner wall of the casing 100, and a plurality of fixed wheel frames 420 are fixedly connected in the U-shaped frame 410. A first roller 430 is installed on each fixed wheel frame 420. When the tray 500 is placed on the medicine rack 400, the first roller 430 abuts against the bottom surface of the tray 500.

[0087] Furthermore, a number of clamping members 700 for fixing the position of the tray 500 are installed on the medicine rack 400. The clamping member 700 includes two sliding columns 710 that are vertically slidably connected to the U-shaped frame 410, and a limiting bolt 720 is threadedly connected to the top of the sliding column. The limiting bolt 720 is located at the top of the U-shaped frame 410, and a movable wheel frame 730 is fixed to the bottom end of the two sliding columns 710. A compression spring 740 is ringed on the outer side of the sliding column 710, and one end of the compression spring 740 is fixed to the movable wheel frame 730, and the other end is fixed to the U-shaped frame 410. A second roller 750 is rotatably connected to the movable wheel frame 730. When the tray 500 is placed on the medicine rack 400, the second roller 750 abuts against the top surface of the tray 500.

[0088] In combination with a specific usage scenario, when placing the tray 500, the tray 500 is brought to an empty medicine rack 400 under the cooperation of the lifting assembly 660 and the rotating assembly 640, and then the tray 500 is driven to move toward the medicine rack 400 by the transverse movement assembly 670. During this process, the side of the tray 500 close to the medicine rack 400 will first contact the first roller 430 and the second roller 750 of the medicine rack 400 close to the center of the housing 100. As the transverse movement assembly 670 drives the tray 500 to continue feeding, the force of the tray 500 on the second roller 750 will cause the second roller 750, the movable wheel frame 730 and the sliding column 710 to move along the sliding column 710 as a whole. The axis rises and further compresses the compression spring 740. As the tray 500 continues to go deeper, all the second rollers 750, the movable wheel frames 730 and the sliding columns 710 on the medicine rack 400 are lifted one after another. When the tray 500 is completely placed on the medicine rack 400, the pressure of the compression springs 740 makes the wheel surfaces of the second rollers 750 tightly press against the top surface of the tray 500, and the bottom surface of the tray 500 presses against the first rollers 430. This ensures the stability of the placement of the tray 500, so that the tray 500 will not shake when the robot moves, thereby ensuring that the medicines are not easily scattered, thereby improving the stability and reliability of the use of the drug dispensing robot.

[0089] Reference Figure 4 、 Figure 5 and Figure 9 As a specific implementation of the embodiment of the present application, a cup groove 510 is opened in the middle of the top of the tray 500, and a medicine cup 800 is placed in the cup groove 510. The patient's medicine is specifically placed in the medicine cup 800.

[0090] In combination with specific usage scenarios, after the nurse has prepared the medicine, she will place the prepared medicine for the patient in the medicine cup 800, and then place the medicine cup 800 in the cup slot 510. After that, the medicine cup 800 and the tray 500 are sent to the medicine rack 400 through the medicine receiving and sending mechanism 600. When the patient takes the medicine, the tray 500, the medicine cup 800, and the medicine are sent to the medicine taking port 101 through the medicine receiving and sending mechanism 600. The patient can directly pick up the medicine cup 800 and pour out the medicine. This makes it convenient for the patient to take the medicine and ensures that the medicine will not scatter during the robot's medicine delivery process, thereby improving the convenience of using the drug dispensing robot.

[0091] Further, continue to refer to Figure 4 、 Figure 5 and Figure 9 , and also includes an auxiliary cup placement component 520 arranged on the top of the tray 500. The auxiliary cup placement component 520 includes a plurality of slide grooves 521 arranged in a circular array on the top of the tray 500. A clamping block 522 is slidably connected in each slide groove 521. A guide slope 523 is provided on the top edge of the clamping block 522 close to the medicine cup 800, and a connecting plate 524 is installed on the side of the slide groove 521 away from the medicine cup 800; one end of the spring 525 is fixed to the side of the clamping block 522 away from the medicine cup 800, and the other end is fixed to the connecting plate 524.

[0092] In combination with the specific usage scenario, when the nurse or patient places the medicine cup 800 on the tray 500, the bottom of the medicine cup 800 will first contact the guide slope 523 of the clamping block 522, and then the medicine cup 800 will be pressed down along the guide slope 523 until the medicine cup 800 falls into the cup groove 510. This process will compress the spring 525. When the medicine cup 800 is placed in the cup groove 510, under the elastic force of the spring 525, the several clamping blocks 522 on the sides of the medicine cup 800 all abut against the side of the medicine cup 800, thereby ensuring the stability of the medicine cup 800 on the tray 500. The auxiliary cup placement component 520 can further facilitate the patient or nurse to place the medicine cup 800 in the cup groove 510 in the middle of the tray 500, thereby improving the overall convenience of placing the medicine cup 800 and the stability of the medicine cup 800 on the tray 500 during the movement of the robot.

[0093] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of this application can be achieved. This is not limited herein.

[0094] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "several" means two or more, unless otherwise specifically defined.

[0095] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A medicine dispensing robot, comprising a housing (100), a central control processor, a travel device (200) and a control panel (300), characterized in that: A medicine taking port (101) is provided on the top surface of the housing (100); A plurality of medicine racks (400) are installed in a circular array inside the housing (100); A tray (500) is placed on the medicine rack (400), and the tray (500) is used to place medicines; The medicine receiving and sending mechanism (600) is arranged in the housing (100), and the medicine receiving and sending mechanism (600) comprises: A clamping mechanism (610) for clamping the tray (500); A support frame (620) is mounted on the bottom surface of the housing; A rotating seat (630) is rotatably connected to the support frame (620); A rotating assembly (640) is mounted on the support frame (620), and the rotating assembly (640) is used to control the rotation angle of the rotating seat (630); A support seat (650) is provided above the rotating seat (630); A lifting assembly (660) is installed between the support base (650) and the rotating base (630), and the lifting assembly (660) is used to control the height of the support base (650); A transverse movement assembly (670) is mounted on the support seat (650), and the transverse movement assembly (670) is used to control the horizontal movement of the clamping mechanism (610); The tray (500) is rectangular; The medicine rack (400) comprises: Two U-shaped frames (410) are mounted on the inner wall of the housing (100); A fixed wheel frame (420) is fixedly connected to the U-shaped frame (410), and the fixed wheel frame (420) has a plurality of; A first roller (430) is rotatably connected to the fixed wheel frame, and the first roller (430) abuts against the bottom surface of the tray (500); A plurality of clamping members (700) are mounted on the medicine rack (400), wherein the clamping members (700) are used to fix the position of the tray (500), and the clamping members (700) include: Two sliding columns (710) are vertically slidably connected to the top of the U-shaped frame (410); A limit bolt (720) is threadedly connected to the top of the sliding column (710); A movable wheel frame (730) is fixedly connected to the bottom ends of the two sliding columns (710); A compression spring (740) is looped around the outside of the sliding column (710), one end of the compression spring (740) is fixed to the movable wheel frame (730), and the other end is fixed to the U-shaped frame (410); A second roller (750) is rotatably connected to the movable wheel frame (730), and the second roller (750) abuts against the top surface of the tray (500); The clamping mechanism (610) comprises a support plate (611) and an electromagnet (612) mounted on the top of the support plate (611), wherein the electromagnet (612) is used to adsorb the tray (500); The support plate (611) is L-shaped; The traverse assembly (670) includes: A first polished rod (671) is horizontally fixed to the support plate (611), and the first polished rod (671) is slidably connected to the support seat (650); A first screw rod (672) is horizontally fixed to the support plate (611); A first sliding sleeve (673) is coaxially threadedly connected to the outside of the first screw rod (672), and the first sliding sleeve (673) is rotatably connected to the support seat (650); The first motor (674) is mounted on the support base (650), and the first motor (674) is used to drive the first sliding sleeve (673) to rotate.

2. A medicine dispensing robot according to claim 1, characterized in that: The lifting assembly (660) includes: A second polished rod (661) is vertically fixed to the bottom of the support seat (650), and the second polished rod (661) is slidably connected to the rotating seat (630); A second screw rod (662) is vertically fixed to the bottom of the support base (650); A second sliding sleeve (663) is coaxially threadedly connected to the outside of the second screw rod (662), and the second sliding sleeve (663) is rotatably connected to the rotating seat (630); The second motor (664) is mounted on the rotating seat (630), and the second motor (664) is used to drive the second sliding sleeve (663) to rotate.

3. A medicine dispensing robot according to claim 1, characterized in that: The rotating assembly (640) includes: A third motor (641) is mounted on the support frame (620); A driving gear (642) is fixedly connected to the shaft end of the third motor (641); The driven gear (643) is coaxially fixed to the rotating seat (630), and the driving gear (642) is meshedly connected with the driven gear (643).

4. A medicine dispensing robot according to claim 1, characterized in that: A cup groove (510) is provided in the middle of the top surface of the tray (500); The medicine cup (800) is placed in the cup groove (510), and the medicine cup (800) is used to place medicine.

5. A medicine dispensing robot according to claim 4, characterized in that: Also included is an auxiliary cup placement assembly (520); The auxiliary cup placement assembly (520) comprises: A plurality of chutes (521) are provided in a circular array on the top surface of the tray (500); A clamping block (522) is slidably connected to the sliding groove (521); A guide slope (523) is provided on the top edge of the clamping block (522) close to the medicine cup (800); A connecting plate (524) is mounted on a side of the chute (521) away from the medicine cup (800); The spring (525) has one end fixed to the side of the clamping block (522) away from the medicine cup (800), and the other end fixed to the connecting plate (524).

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