Household intelligent medicine dispensing robot

Abstract

The invention provides a household intelligent medicine dispensing robot, and relates to the technical field of household medicine dispensing equipment, the household intelligent medicine dispensing robot comprises an outer shell, an embedded controller and a three-degree-of-freedom mechanical arm, a medicine dispensing tray is mounted on the inner side of the outer shell through a driving assembly, a plurality of groups of medicine placing cavities are formed in the medicine dispensing tray, and color blocks are mounted on the inner sides of the medicine placing cavities; a bearing plate is installed on the inner side of the medicine placing cavity, a weighing sensor is installed below the bearing plate, a three-degree-of-freedom mechanical arm is installed on one side in the outer shell, a fixing block is installed on the three-degree-of-freedom mechanical arm, a vacuum suction cup is installed on the fixing block, an industrial camera is installed on one side of the fixing block through a support, and a shell cover is installed above the outer shell. A vacuum assembly is mounted on the inner side of the shell cover; by means of automatic medicine distribution, application of a color recognition algorithm and containing and precise management of various medicines, the life quality of old people or long-term patients is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of household medicine dispensing equipment, and in particular to a household intelligent medicine dispensing robot. Background Art

[0002] With the accelerated pace of life in modern society, many people are facing time pressure and high pressure. Especially among the elderly, many people often forget to take medicine on time due to physical inconvenience or memory loss, which leads to reduced drug efficacy or even worsening of the condition. Especially for those elderly people who live alone and recover at home, the irregularity of taking medicine is more serious. Forgetting or confusing the dosage of medicine not only has adverse effects on health, but also may cause a series of side effects and complications, greatly affecting the physical recovery process of the elderly.

[0003] At present, although some portable medicine boxes have been launched on the market to help patients take medicine on time, the functions of these devices are relatively simple and the level of intelligence is low. Most portable medicine boxes only provide the function of storing medicines, and do not really realize the intelligence and personalization of medicine distribution. Patients often need to take pills out of the medicine box manually, and it cannot automatically identify the dosage or type required each time, which is easy to cause accidental taking.

[0004] In addition, there are still many problems with existing automatic medicine box devices. Current devices are often only suitable for a single type of medicine and cannot meet the needs of patients taking multiple medicines at the same time. For the elderly and patients who need to take medicine for a long time, they usually need to take multiple different types of medicines. This device cannot provide a variety of medicine options, which limits its scope of application in real life.

[0005] Especially when dealing with bulk tablets, the error of the amount of medicine taken is a common problem. Because bulk tablets do not have clear packaging, and the shapes and sizes of tablets are different, it is difficult for the automatic medicine box to accurately determine the required dosage, which often leads to the amount of medicine taken not matching the actual amount required by the patient. This will not only affect the treatment effect of the patient, but may also cause overdose or underdose, thus posing a serious risk to the patient's health. Therefore, the present invention proposes a household intelligent medicine dispensing robot to solve the problems existing in the prior art. Summary of the invention

[0006] In response to the above problems, the purpose of the present invention is to propose a household intelligent medicine dispensing robot, which has the advantages of helping the elderly to easily manage their medication through scientific and technological means, ensuring that they take medicines on time and in the right amount, and protecting their health, and can solve the problems existing in the prior art.

[0007] To achieve the purpose of the present invention, the present invention is implemented through the following technical solutions: a household intelligent medicine dispensing robot, comprising an outer shell, an embedded controller and a three-degree-of-freedom robotic arm, a medicine dispensing tray is installed on the inner side of the outer shell through a driving component, a medicine dispensing tray is provided on the medicine dispensing tray, and the medicine dispensing chamber is provided with several groups, a color block is installed on the inner side of the medicine dispensing chamber, a loading plate is installed on the inner side of the medicine dispensing chamber, a weighing sensor is installed below the loading plate, and the weighing sensor is electrically connected to the embedded controller, a three-degree-of-freedom robotic arm is installed on one side of the outer shell, and a fixed block is installed on the three-degree-of-freedom robotic arm, a vacuum suction cup is installed on the fixed block, and an industrial camera is installed on one side of the fixed block through a bracket, a shell cover is installed above the outer shell, and a vacuum assembly is installed on the inner side of the shell cover, the vacuum assembly is connected to the vacuum suction cup, and the three-degree-of-freedom robotic arm and the industrial camera are both electrically connected to the embedded controller.

[0008] Further improvements are: the drive assembly includes a connecting shaft, the lower end of the medicine dispensing disk is provided with an extension portion, and a first gear is installed on the outer side of the extension portion, a cavity is provided on the inner side of the extension portion, the connecting shaft is located on the inner side of the cavity, and is clamped with the medicine dispensing disk, the lower end of the connecting shaft is connected to the outer shell through a bearing, a motor is installed on the inner side of the outer shell, the output end of the motor is meshed with the first gear through a second gear, and the motor is electrically connected to the embedded controller.

[0009] A further improvement is that a hollow support seat is installed on the inner side of the outer shell, a through opening is provided in the middle of the hollow support seat, and an annular slide rail is installed on the hollow support seat, and the annular slide rail is connected to the medicine dispensing plate through an arc-shaped slider.

[0010] A further improvement is that: a sensing point is provided at the lower end of the medicine dispensing plate, and the number and position of the sensing point correspond to the medicine placing cavity, and two groups of laser sensors are installed on the hollow support seat, and the positions of the laser sensors correspond to the sensing points.

[0011] Further improvements are: the vacuum assembly includes a partition, the shell cover is hollow, the partition is located inside the shell cover and fixedly connected to the shell cover, a vacuum pump and a battery assembly are installed on the partition, an extension end is provided on one side of the shell cover, and the inner cavity of the extension end is connected to the inner cavity of the shell cover, and the position of the extension end corresponds to the position of the three-degree-of-freedom robotic arm.

[0012] A further improvement is that: a picking port is provided at one end of the outer shell away from the three-degree-of-freedom robotic arm, a protective plate is installed on the outside of the outer shell, and one end of the protective plate is hinged to the outer shell, the other end of the protective plate is connected to the outer shell by magnetic attraction, and a recess is provided on the protective plate, and the position of the protective plate corresponds to the picking port.

[0013] A further improvement is that a shielding cover is provided above the medicine dispensing tray, and the shielding cover is fixedly connected to the outer shell, and the position of the shielding cover corresponds to the taking port.

[0014] A further improvement is that: a display control panel is provided on the embedded controller, a visual controller is built into the embedded controller, a color recognition algorithm is provided in the visual controller, and the visual controller is electrically connected to the industrial camera.

[0015] A further improvement is that load-bearing frames are installed on both sides of the outer shell, a medicine storage box is installed above the load-bearing frame, and the medicine storage box is connected to the load-bearing frame by magnetic attraction, a medicine storage cavity is provided in the medicine storage box, and the medicine storage cavity is provided with several groups, and the number of the medicine storage cavities corresponds to the number of the medicine placing cavities.

[0016] The beneficial effects of the present invention are:

[0017] (1) The present invention can accommodate a variety of different drugs, ensuring that users can manage and take a variety of drugs according to their own needs. Whether it is common bulk drugs, tablets, or other drug forms, the robot can accurately distribute drugs according to preset distribution rules to meet the user's complex needs for drug management. This provides great convenience for the elderly and patients who take long-term medication, ensuring that they can take medication on time and avoid missing or taking the wrong medication.

[0018] (2) The present invention adopts a color classification recognition algorithm to automatically identify the location of the drug through industrial cameras and color recognition technology. This method is more intuitive, easier to understand and operate than the traditional digital recognition algorithm, and does not require processing of complex character or digital recognition problems, thereby improving the efficiency and accuracy of recognition.

[0019] (3) Users only need to put the medicine into the robot once a week, and the robot will automatically dispense the required medicine at each medication time, ensuring the precise dosage and correct order of medication. This automated process greatly reduces the burden on the elderly or family members and avoids medication problems caused by memory loss or manual operation errors.

[0020] (4) The present invention greatly improves the quality of life of the elderly or patients with chronic diseases through the application of automated drug distribution, color recognition algorithms, and the accommodation and precise management of multiple drugs. The system not only improves the accuracy of drug management, but also provides an easy-to-operate, intuitive and efficient solution, allowing users to easily cope with multiple daily medication tasks, thereby reducing life pressure and ensuring the correct use of drugs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a front view structural schematic diagram of the present invention.

[0022] Figure 2 It is a schematic diagram of the top view of the outer shell structure of the present invention.

[0023] Figure 3 It is a schematic diagram of the top view of the medicine dispensing tray of the present invention.

[0024] Figure 4 It is a front view structural schematic diagram of the shielding cover of the present invention after installation.

[0025] Figure 5 It is a schematic diagram of the structure of the shielding cover of the present invention after installation, viewed from above.

[0026] Figure 6 It is a top view schematic diagram of the position distribution of the three-degree-of-freedom mechanical arm of the present invention.

[0027] Figure 7 It is a schematic front view of the outer shell of the present invention.

[0028] Figure 8 It is a bottom view schematic diagram of the sensing point distribution of the present invention.

[0029] Fig. 9 It is a side view schematic diagram of the medicine storage box of the present invention after installation.

[0030] Among them: 1. outer shell; 2. embedded controller; 3. three-degree-of-freedom robotic arm; 4. medicine dispensing tray; 5. medicine placing chamber; 6. color block; 7. load-bearing plate; 8. weighing sensor; 9. fixing block; 10. vacuum suction cup; 11. industrial camera; 12. shell cover; 13. connecting shaft; 14. motor; 15. hollow support seat; 16. annular slide rail; 17. sensing point; 18. laser sensor; 19. partition; 20. vacuum pump; 21. battery assembly; 22. extension end; 23. protective plate; 24. notch; 25. shielding cover; 26. load-bearing frame; 27. medicine storage box. DETAILED DESCRIPTION

[0031] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with examples. The examples are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.

[0032] At present, the treatment of various chronic diseases is still mainly oral medication. When patients are discharged from the hospital, they still need to take medication for a long time. Regularly taking medication according to doctor's orders is particularly important in controlling symptoms, preventing recurrence and preventing complications. Outside the hospital, patients often cannot take medication regularly due to work, life and other reasons, resulting in missed doses, inaccurate medication time, or even stopping medication, which affects the efficacy and delays the condition.

[0033] The limitations of existing technologies mean that many patients face considerable challenges when using traditional medication dispensing systems, especially when precise dosages and simultaneous administration of multiple medications are required, and existing equipment often cannot meet the needs.

[0034] Therefore, according to Figure 1-Figure 9 As shown, this embodiment proposes a household intelligent medicine dispensing robot, including an outer shell 1, an embedded controller 2 and a three-degree-of-freedom mechanical arm 3. In this embodiment, the embedded controller 2 is an Arduino Nano, which is a small development board suitable for various embedded projects, automation systems and electronic prototyping. The embedded controller 2 is provided with a display control panel, which has a touch screen, and the user can control and set the operation through the touch screen interface. Correspondingly, it has a built-in wireless connection chip, which is connected to the home gateway through a wireless network to realize the user's remote control. Further, a Bluetooth chip is provided to facilitate the user to interact with the device with a handheld mobile device. A visual controller is built into the embedded controller 2, and a color recognition algorithm is provided in the visual controller, and the visual controller is electrically connected to the industrial camera 11. The visual controller is responsible for the execution of the color recognition algorithm to ensure that the system can automatically identify the position and color of the medicine, and control the action of the mechanical arm based on this information to achieve accurate medicine dispensing.

[0035] In this embodiment, a color recognition algorithm is involved, and its specific steps are as follows:

[0036] First, the image of the color block 6 is obtained by the industrial camera 11, and it is transmitted to the visual controller for reading, and the image is converted from the RGB color space to the HSV (hue, saturation, brightness) space, and then the specific color area in the image is extracted by the preset color threshold (hue range), and then the exact position of the color block 6 is determined by edge detection (Canny edge detection). Then, the area is extracted and marked based on the shape or edge of the block. After the block is identified, the algorithm will match the color block and the preset medicine, and determine the corresponding position of the medicine through the preset color-drug binding relationship. Among them, when the user places the medicine, a medicine is placed, that is, it is set on the display control panel, and then the medicine is bound to the color of a color block 6. Correspondingly, a medicine placement cavity 5 corresponding to the color is set as a medicine taking cavity, and the initial position of the medicine taking cavity is the position of the taking port, and then the medication time is set. Under the medication time, the medicine to be taken, before the medication time is reached, the robot transfers the medicine to the medicine taking cavity and waits for the medicine to be taken.

[0037] Furthermore, the display control panel is provided with a speaker, and a reminder module is built into the display control panel. When the medication time arrives, a sound reminder is issued through the speaker.

[0038] The inner side of the outer shell 1 is equipped with a medicine-dispensing tray 4 through a driving assembly, and the driving assembly includes a connecting shaft 13. The lower end of the medicine-dispensing tray 4 is provided with an extension 9 (columnar design), and the outer side of the extension is provided with a first gear, and the inner side of the extension is provided with a cavity, and the connecting shaft 13 is located inside the cavity and is engaged with the medicine-dispensing tray 4. The lower end of the connecting shaft 13 is connected to the outer shell 1 through a bearing, and a motor 14 is installed inside the outer shell 1. The output end of the motor 14 is meshed with the first gear through the second gear. The motor 14 is electrically connected to the embedded controller 2. The embedded controller 2 not only controls the start and stop of the motor 14, but also adjusts the speed of the motor 14, thereby controlling the angle and time of rotation of the medicine-dispensing tray 4. This is crucial for accurate drug distribution, especially in terms of drug dosage and distribution order. The precise control of the motor 14 ensures that the medicine-dispensing tray 4 can smoothly reach the specified position. A hollow support seat 15 is installed on the inner side of the outer shell 1, and a through hole is provided in the middle of the hollow support seat 15, and an annular slide rail 16 is installed on the hollow support seat 15, and the annular slide rail 16 is connected to the medicine dispensing plate 4 through an arc-shaped slider. During the medicine dispensing operation or medicine placing operation, the connecting shaft 13 is driven to rotate by the control motor 14, so as to rotate the medicine dispensing plate 4 to a specified position. In this process, the design of the annular slide rail 16 and the arc-shaped slider ensures the smooth movement of the medicine dispensing plate, reducing friction and unnecessary vibration.

[0039] The medicine dispensing tray 4 is provided with a medicine dispensing cavity 5, and the medicine dispensing cavity 5 is provided with several groups. In this embodiment, the medicine dispensing cavity 5 is provided with seven groups. The seven groups of medicine dispensing cavities are designed to accommodate a variety of medicines and distribute them in order. The design of the medicine dispensing cavity ensures the reasonable distribution of the medicines and avoids the confusion of distribution caused by too many types of medicines. One group is used as a medicine dispensing cavity, which is specially used to store the medicines that users need to take. A color block 6 is installed on the inner side of the medicine dispensing cavity 5, so the colors of the color blocks 6 in the seven groups of medicine dispensing cavities 6 are inconsistent. For example, the red block corresponds to medicine A, the green block corresponds to medicine B, and so on. Correspondingly, the color block 6 plays an important role as a visual identification mark. A bearing plate 7 is installed on the inner side of the medicine dispensing cavity 5, and a weighing sensor 8 is installed below the bearing plate 7, and the weighing sensor 8 is electrically connected to the embedded controller 2. The weighing sensor 8 is responsible for real-time monitoring of the weight of the medicine in each medicine dispensing cavity to ensure the accuracy of the amount of medicine distributed each time. The specific principle is: the weighing sensor 8 determines whether the medicine reaches the preset distribution standard by measuring the weight of the medicine in the medicine dispensing cavity. When the weight of the medicine changes, the weighing sensor 8 will feed back the data to the embedded controller 2, and the embedded controller 2 will perform further dispensing operations based on the data.

[0040] A three-degree-of-freedom robotic arm 3 is installed on one side of the outer shell 1, which is the core execution part of the robot and is responsible for the precise grasping and movement of the drug. The three degrees of freedom means that the robotic arm can move freely in three independent directions (translation in the X-axis, Y-axis and Z-axis directions). The three-degree-of-freedom robotic arm 3 can realize complex actions such as taking, rotating and positioning of drugs, ensuring that the drugs can be accurately moved from the drug placement cavity to the drug collection cavity. A fixed block 9 is installed on the three-degree-of-freedom robotic arm 3, and a vacuum suction cup 10 is installed on the fixed block 9, and an industrial camera 11 is installed on one side of the fixed block 9 through a bracket. In this device, the vacuum suction cup 10 is used to grab the drug from the drug placement cavity through vacuum suction. The vacuum suction cup 10 is made of soft material. When the embedded controller 2 sends an instruction, the vacuum suction cup 10 is started by the vacuum component, and the suction cup generates negative pressure (vacuum state) to firmly absorb the drug. When the suction cup successfully adsorbs the drug, the robotic arm takes the drug out of the drug placement cavity 5 and moves it to the drug collection cavity. Correspondingly, the industrial camera 11 is used to capture images, which can not only determine the location of the drug, but also help the three-degree-of-freedom robot arm 3 to accurately locate the grabbing point of the drug. Through the feedback information of the industrial camera 11, the three-degree-of-freedom robot arm 3 can adjust its posture to ensure accurate grabbing of the drug. Furthermore, the three-degree-of-freedom robot arm 3 and the industrial camera 11 are both electrically connected to the embedded controller 2.

[0041] A shell cover 12 is installed on the top of the outer shell 1, and a vacuum assembly is installed on the inner side of the shell cover 12. The main function of the vacuum assembly is to provide vacuum suction to drive the vacuum suction cup 10 to perform drug grabbing operations. The vacuum assembly is connected to the vacuum suction cup 10, and the vacuum assembly includes a partition 19. The shell cover 12 is hollow, and the partition 19 is located inside the shell cover 12 and is fixedly connected to the shell cover 12. A vacuum pump 20 and a battery assembly 21 are installed on the partition 19. The output end of the vacuum pump 20 is connected to the vacuum suction cup 10 through a pipeline. Furthermore, an exhaust port is provided on the top of the shell cover 12, and an extension end 22 is provided on one side of the shell cover 12, and the inner cavity of the extension end 22 is connected to the inner cavity of the shell cover 12. The position of the extension end 22 corresponds to the position of the three-degree-of-freedom mechanical arm 3. The battery assembly 21 is the power supply device of the device, which also has an external plug for connecting to an external power socket. Part of the control part of the three-degree-of-freedom robot arm 3 is located inside the extension end 22, so that the extension end 22 can protect it and facilitate subsequent wiring. Then, when working, the embedded controller 2 will first activate the vacuum pump 20, and transmit the negative pressure to the vacuum suction cup 10 through the pipeline, so that it can absorb the medicine. The three-degree-of-freedom robot arm 3 determines the specific position of the medicine through visual recognition, and then moves accurately to the target position to grab it.

[0042] The lower end of the medicine dispensing tray 4 is provided with a sensing point 17, and the number and position of the sensing point 17 correspond to the medicine dispensing cavity 5. Two groups of laser sensors 18 are installed on the hollow support seat 15, and the position of the laser sensor 18 corresponds to the sensing point 17. It is mainly used to ensure the position of the medicine dispensing tray 4. When the medicine dispensing cavity is in the initial position, the sensing ends of the two groups of laser sensors 18 correspond to the positions of the two groups of sensing points 17. When the medicine dispensing tray 4 rotates, the cooperation of the laser sensor 18 and the sensing point 17 ensures that the rotation angle of the medicine dispensing tray 4 is consistent. Further, the laser sensor 18 is electrically connected to the embedded controller 2.

[0043] A taking port is provided at one end of the outer shell 1 away from the three-degree-of-freedom robotic arm 3, which is the entrance for users to take medicine. A protective plate 23 is installed on the outside of the outer shell 1, and one end of the protective plate 23 is hinged to the outer shell 1, and the other end of the protective plate 23 is connected to the outer shell 1 by magnetic attraction, and a recess 24 is provided on the protective plate 23, which is convenient for users to pull open the protective plate 23, and the position of the protective plate 23 corresponds to the taking port. A shielding cover 25 is provided above the medicine dispensing tray 4, and the shielding cover 25 is fixedly connected to the outer shell 1, and the position of the shielding cover 25 corresponds to the taking port, and the shielding cover 25 acts as a barrier to ensure that users can only take medicine from the medicine taking cavity.

[0044] The working logic of this device is as follows:

[0045] First, the user places the medicine in advance and makes corresponding settings to confirm which color corresponds to which medicine. The colors are identified in advance and recorded in the display control panel. The display control panel is equivalent to a tablet computer, which has calculation and storage functions. Then the task of taking medicine is set, which includes the time of taking medicine and the medicine needed. The corresponding medicine is replaced by color. Before the time of taking medicine is reached, the robot works, and the medicine in the medicine cavity 5 is placed into the medicine taking cavity in turn through the rotatable and adjustable medicine distribution plate 4 and the three-degree-of-freedom mechanical arm 3, and then the medicine taking cavity returns to the initial position and waits for the medicine to be taken.

[0046] A load-bearing frame 26 is installed on both sides of the outer shell 1, and its function is to provide a stable supporting structure. A medicine storage box 27 is installed above the load-bearing frame 26, and the medicine storage box 27 has an openable door. The medicine storage box 27 is connected to the load-bearing frame 26 by magnetic attraction, and the magnetic connection method is convenient for users to easily disassemble and install the medicine storage box. Users can easily remove the medicine storage box for operation when they need to replenish medicines, ensuring that the storage space can be flexibly expanded and adjusted. Medicine storage cavities are provided in the medicine storage box 27, and the medicine storage cavities are provided with several groups. The number of medicine storage cavities corresponds to the number of medicine storage cavities 5, ensuring that each medicine storage cavity can store different types of medicines and is consistent with the configuration of the medicine distribution tray. Through this design, users can more easily store and manage according to the type and dosage of medicines.

[0047] Accordingly, in the present device, a weighing sensor 8 is installed in each medicine cavity 5, which can monitor the weight of the medicine in the cavity in real time. Through the weighing sensor, the system can understand the actual remaining amount of medicine in each cavity, and compare it with the set original weight, so as to determine whether the medicine needs to be replenished. When replenishment is needed, the embedded controller 2 issues a medicine replenishment reminder through the display control panel, and the reminder method is a visual reminder and a sound reminder. Further, the weighing sensor can remind the user in advance according to the set threshold, rather than just issuing an alarm when the medicine is completely used up. This early warning mechanism can provide users with enough time to replenish medicine and avoid the shortage of medicine affecting the distribution process. In order to avoid users forgetting, multiple reminder frequencies can be set, for example, the first reminder is issued when 30% of the medicine is left, and the second reminder is issued again when 10% is left, until the user completes the medicine replenishment. In this way, users can avoid affecting subsequent distribution due to negligence or forgetting to replenish medicine.

[0048] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the framework and scope of application of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A household intelligent medicine dispensing robot, comprising an outer shell (1), an embedded controller (2) and a three-degree-of-freedom mechanical arm (3), characterized in that: A medicine dispensing plate (4) is installed on the inner side of the outer shell (1) through a driving assembly, a medicine dispensing plate (4) is provided on the medicine dispensing plate (4), and the medicine dispensing chamber (5) is provided with a plurality of groups, a color block (6) is installed on the inner side of the medicine dispensing chamber (5), a bearing plate (7) is installed on the inner side of the medicine dispensing chamber (5), a weighing sensor (8) is installed below the bearing plate (7), and the weighing sensor (8) is electrically connected to the embedded controller (2), and a three-degree-of-freedom mechanical device is installed on one side of the outer shell (1). An arm (3) is provided with a three-degree-of-freedom mechanical arm (3), a fixed block (9) is installed on the fixed block (9), a vacuum suction cup (10) is installed on the fixed block (9), and an industrial camera (11) is installed on one side of the fixed block (9) through a bracket, a shell cover (12) is installed above the outer shell (1), and a vacuum component is installed on the inner side of the shell cover (12), and the vacuum component is connected to the vacuum suction cup (10), and the three-degree-of-freedom mechanical arm (3) and the industrial camera (11) are both electrically connected to the embedded controller (2).

2. A household intelligent medicine dispensing robot according to claim 1, characterized in that: The driving assembly comprises a connecting shaft (13); an extension portion is provided at the lower end of the medicine dispensing plate (4); a first gear is installed on the outer side of the extension portion; a cavity is provided on the inner side of the extension portion; the connecting shaft (13) is located on the inner side of the cavity and is engaged with the medicine dispensing plate (4); the lower end of the connecting shaft (13) is connected to the outer shell (1) via a bearing; a motor (14) is installed on the inner side of the outer shell (1); an output end of the motor (14) is meshed with the first gear via a second gear; and the motor (14) is electrically connected to the embedded controller (2).

3. A household intelligent medicine dispensing robot according to claim 1, characterized in that: A hollow support seat (15) is installed on the inner side of the outer shell (1), a through opening is provided in the middle of the hollow support seat (15), and an annular slide rail (16) is installed on the hollow support seat (15), and the annular slide rail (16) is connected to the medicine dispensing plate (4) via an arc-shaped sliding block.

4. A household intelligent medicine dispensing robot according to claim 3, characterized in that: The lower end of the medicine dispensing plate (4) is provided with a sensing point (17), and the number and position of the sensing point (17) correspond to the medicine dispensing cavity (5). Two groups of laser sensors (18) are installed on the hollow support seat (15), and the positions of the laser sensors (18) correspond to the sensing points (17).

5. The household intelligent medicine dispensing robot according to claim 1, characterized in that: The vacuum assembly comprises a partition (19), the shell cover (12) is hollow, the partition (19) is located inside the shell cover (12) and is fixedly connected to the shell cover (12), a vacuum pump (20) and a battery assembly (21) are installed on the partition (19), an extension end (22) is provided on one side of the shell cover (12), and the inner cavity of the extension end (22) is connected to the inner cavity of the shell cover (12), and the position of the extension end (22) corresponds to the position of the three-degree-of-freedom robot arm (3).

6. A household intelligent medicine dispensing robot according to claim 1, characterized in that: The outer shell (1) is provided with a taking-in port at one end away from the three-degree-of-freedom robot arm (3), a protective plate (23) is installed on the outer side of the outer shell (1), one end of the protective plate (23) is hinged to the outer shell (1), the other end of the protective plate (23) is connected to the outer shell (1) by magnetic attraction, and a notch (24) is provided on the protective plate (23), and the position of the protective plate (23) corresponds to the taking-in port.

7. A household intelligent medicine dispensing robot according to claim 6, characterized in that: A shielding cover (25) is provided above the medicine dispensing tray (4), and the shielding cover (25) is fixedly connected to the outer shell (1), and the position of the shielding cover (25) corresponds to the taking opening.

8. The household intelligent medicine dispensing robot according to claim 1, characterized in that: The embedded controller (2) is provided with a display control panel, the embedded controller (2) has a built-in visual controller, the visual controller is provided with a color recognition algorithm, and the visual controller is electrically connected to the industrial camera (11).

9. The household intelligent medicine dispensing robot according to claim 1, characterized in that: A load-bearing frame (26) is installed on both sides of the outer shell (1), a medicine storage box (27) is installed above the load-bearing frame (26), and the medicine storage box (27) is connected to the load-bearing frame (26) by magnetic attraction. A medicine storage cavity is provided in the medicine storage box (27), and the medicine storage cavity is provided with a plurality of groups, and the number of the medicine storage cavities corresponds to the number of the medicine placement cavities (5).

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