Mechanical arm for medicine transportation

Abstract

The invention discloses a medicine transportation mechanical arm which comprises a base. The supporting piece is connected with the base in a sliding manner; the butt joint box is connected with the supporting piece in a sliding mode, and a flange is arranged at an opening of the butt joint box; a sliding piece is arranged in the butt joint box, and the sliding piece is in sliding connection with the butt joint box; an elastic piece is connected between the flange and the sliding piece; a first magnetic induction mechanism is arranged on the inner wall of the butt joint box, the sliding part is provided with a first permanent magnet part, the first permanent magnet part and the first magnetic induction mechanism are correspondingly arranged, the first magnetic induction mechanism generates an alternating magnetic field, an induction force is applied to the first permanent magnet part, and the sliding part is driven to slide between a first position and a second position. The medicine box conveying device is high in efficiency, simple in structure and capable of automatically running, and labor is saved.

Description

Technical Field

[0001] The present invention relates to the field of robotic arms, and particularly to a robotic arm for transporting drugs. Background Art

[0002] Traditional Chinese medicine dispensing, that is, the compatibility of traditional Chinese medicine, refers to the process of selectively combining two or more traditional Chinese medicines according to the different needs of the condition and the characteristics of the medicinal properties and functions of traditional Chinese medicines. Most of the existing traditional Chinese medicines are stored in medicine cabinets. In order to save the storage space of drugs in large existing pharmacies, drugs that are not often used are placed in higher positions. Once these drugs are needed, medical staff need to climb up a ladder to measure them, which is rather troublesome overall.

[0003] In the patent with the title of "A dispensing device" and the publication number of CN107263476B, it is proposed that in a hospital pharmacy or a drugstore, drugs are generally stored in categories on drug shelves or medicine cabinets. Since a doctor's prescription often contains multiple kinds of drugs, such as traditional Chinese medicine, the dispensing and fetching of such drugs are all completed manually. The staff needs to first find the corresponding drugs according to the prescription provided by the doctor or the patient, and then dispense the drugs. There are a large number of drug types. This working method not only has a large workload, low efficiency and is prone to errors, but also the consequences of errors are serious. A translation mechanism is used to drive a manipulator to move on the corresponding medicine cabinet, so that the drugs inside the medicine cabinet can be grabbed by the manipulator during the movement. However, the overall still uses a grasping manipulator. The grasping manipulator has a relatively large overall weight, and the number of drugs grabbed each time is not much. When a large amount of drugs need to be grabbed, the grasping action needs to be repeated many times, which is rather troublesome. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a robotic arm for transporting drugs.

[0005] The present application provides a robotic arm for transporting drugs, including

[0006] a base;

[0007] a support member slidably connected to the base;

[0008] a docking box slidably connected to the support member, the opening of the docking box being provided with a flange;

[0009] a sliding member is provided in the docking box, and the sliding member is slidably connected to the docking box;

[0010] an elastic member is connected between the flange and the sliding member;

[0011] The inner wall of the docking box is provided with a first magnetic induction mechanism, the sliding member is provided with a first permanent magnet member, the first permanent magnet member is arranged corresponding to the first magnetic induction mechanism, the first magnetic induction mechanism generates an alternating magnetic field, applies an induction force to the first permanent magnet member, and drives the sliding member to slide between the first position and the second position;

[0012] When the sliding member is in the first position, the elastic member is compressed, and its reaction force on the sliding member is equal to the driving force of the first magnetic induction mechanism on the sliding member;

[0013] When the sliding member is located at the second position, the elastic member stretches, and the pulling force of the elastic member on the sliding member is equal to the pulling force of the first magnetic induction mechanism on the sliding member.

[0014] Furthermore, when the sliding member is in the first position, the sliding member is in contact with the flange; when the sliding member is in the second position, the side wall of the sliding member away from the opening of the docking box overlaps with the side wall of the feed hole close to the opening of the docking box or the sliding member partially overlaps with the feed hole.

[0015] Furthermore, a second permanent magnet is provided on the bottom inner wall of the sliding member, the second permanent magnet is hinged to the sliding member, and a second magnetic induction mechanism is provided on the bottom wall of the docking box. When the sliding member is in the second position, the second magnetic induction mechanism is arranged corresponding to the second permanent magnet.

[0016] Furthermore, the support member is transmission-connected to the pusher, a first driving mechanism is provided at the end of the pusher, an output end of which is fixedly connected to the docking box, and the first driving mechanism drives the docking box to move forward and backward along the axial direction of the output shaft.

[0017] Furthermore, the side wall of the pushing member is provided with two slide grooves, and the two slide grooves are relatively arranged on both sides of the first driving mechanism. The two side walls of the sliding member are relatively provided with two slide rods, and the slide rods are arranged corresponding to the slide grooves.

[0018] Furthermore, a second driving mechanism is provided on the top of the support member, and its output end is connected to a rotating rod, which is located between the top wall and the bottom wall of the support member. The rotating rod 24 is engaged with the pushing member, and the rotating rod drives the pushing member to move up and down along the axis of the rotating rod.

[0019] Furthermore, the top wall and bottom wall brackets of the support member are also provided with guide rods, which are arranged corresponding to the rotating rod, and the guide rods penetrate the pushing member.

[0020] Furthermore, the base is provided with a guide groove, the bottom of the support member is provided with a sliding portion, the shape of the sliding portion is arranged corresponding to the shape of the guide groove, and the support member and the base are slidably connected via the guide groove and the sliding portion.

[0021] Further, the guiding groove includes a first guiding groove and a second guiding groove that communicate with each other. The first guiding groove is located above the second guiding groove, and the size of the first guiding groove is smaller than that of the second guiding groove.

[0022] Further, the bottom of the docking box communicates with the conveying channel, the lower end of the conveying channel communicates with the storage box, and a storage box is slidably connected inside the storage box.

[0023] Compared with the prior art, the present invention uses the first magnetic induction mechanism to apply a force to drive the sliding member away from the first magnetic induction mechanism in cooperation with the reaction force applied by the compression of the elastic member to the sliding member, so that the medicine box is placed on the sliding member. The first magnetic induction mechanism applies a force to drive the sliding member close to the first magnetic induction mechanism in cooperation with the force of the elastic member stretching on the sliding member, which can quickly complete the transportation of the medicine box, has high efficiency, a simple structure, can operate automatically, and saves labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0025] Figure 1 is an overall schematic diagram of the robotic arm for medicine transportation of the present invention;

[0026] Figure 2 is a structural schematic diagram of the receiving arm of the present invention;

[0027] Figure 3 is a cross-sectional view of the receiving arm of the present invention;

[0028] Figure 4 is a structural schematic diagram of the sliding member of the present invention;

[0029] Figure 5 is a structural schematic diagram of the support member of the present invention;

[0030] Figure 6 is a structural schematic diagram of the base of the present invention.

[0031] The reference numerals in the drawings include:

[0032] Base 1; guiding groove 11; first guiding groove 111; second guiding groove 112;

[0033] Support member 2; pushing member 21; sliding groove 221; sliding rod 222; first driving mechanism 22; second driving mechanism 23; rotating rod 24; guiding rod 25; sliding portion 26;

[0034] Receiving arm 3; docking box 31; flange 311; first mounting post 3111; second sensor 312; material feeding hole 313; first magnetic induction mechanism 32; second magnetic induction mechanism 33;

[0035] Transport channel 4;

[0036] Storage box 5; storage box 51;

[0037] Elastic member 6;

[0038] Sliding member 7; second mounting post 71; first permanent magnet 72; groove 73; second permanent magnet 74; first sensor 741. Detailed implementation manners

[0039] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0040] As Figure 1 shown, the present invention provides a robotic arm for transporting drugs, which includes a base 1 and a robotic arm. The robotic arm includes a support member 2 and a receiving arm 3. The lower end of the support member 2 is slidably connected to the base 1 for moving axially along the base 1. The receiving arm 3 is slidably connected to the support member 2, and the support member 2 drives the receiving arm 3 to move away from or close to the support member 2, so that the medicine box (not shown in the figure) in the medicine storage box (not shown in the figure) can be received by the receiving arm 3 inside it.

[0041] As Figure 2 and 3 shown, the receiving arm 3 includes a docking box 31, which has a square cross-section and an accommodation cavity inside. One end of the docking box 31 away from the support member 2 is provided with an opening for the medicine box to enter. One end of the bottom of the docking box 31 away from the opening is provided with a square material feeding hole 313. The docking box 31 is communicated with a long cylindrical transport channel 4 through the material feeding hole 313. Both ends of the transport channel 4 are open, and a hollow cavity is provided inside for the medicine box to pass through inside. The lower end of the transport channel 4 is communicated with a long cylindrical storage box 5 for storing the medicine box that slides down from the transport channel 4. Of course, the cross-sectional shape of the docking box 31 can also be circular or other polygons, which is not limited.

[0042] As Figure 2 and 3As shown, the opening of the docking box 31 is provided with an annular flange 311 extending inwards around the opening. Opposite to each other on the inner wall of the flange 311 are provided two cylindrical first mounting posts 3111, on which an elastic member 6 is sleeved. One end of the elastic member 6 away from the first mounting post 3111 is sleeved with a second mounting post 71 of a sliding member 7 to be described below. It should be noted that multiple first mounting posts 3111 can also be provided on the inner wall of the flange 311. Of course, the flange 311 can also be multiple oppositely arranged bumps extending inwards at the opening end of the docking box 31, and the side of the bump facing the support member 2 is provided with a first mounting post 3111.

[0043] As Figure 2 shown, a sliding member 7 is provided in the accommodation cavity of the docking box 31. It is in a long cylindrical shape with openings at both ends and a hollow structure inside. The inner wall of the bottom of the sliding member 7 is used to place a medicine box. The sliding member 7 is slidably connected to the docking box 31, thereby transporting the medicine box placed inside the sliding member 7.

[0044] As Figure 2 and 3 shown, the side wall of the sliding member 7 is provided with a second mounting post 71, which is arranged opposite to the first mounting post 3111. An elastic member 6 is connected between the first mounting post 3111 and the second mounting post 71. When the elastic member 6 is in a compressed state, it applies a force to the sliding member 7 to drive the sliding member 7 to move away from the flange 311. When the elastic member 6 is in a stretched state, it applies a reverse force to the sliding member 7 to pull the sliding member 7 to move in the reverse direction towards the flange 311. Further, the elastic member 6 is preferably a compression spring, a torsion spring or a leaf spring.

[0045] As Figure 2 and 3As shown, a first magnetic induction mechanism 32 is provided at the top of the inner wall of the docking box 31, which is connected to an external power supply (not shown in the figure) and is used to generate an alternating magnetic field. At the top of one side of the sliding member 7 away from the elastic member 6, a first permanent magnet member 72 is provided. Generally, the material of the first permanent magnet member 72 is alnico alloy, samarium cobalt or neodymium iron boron. The first permanent magnet member 72 is arranged corresponding to the first magnetic induction mechanism 32. The first magnetic induction mechanism 32 generates a magnetic field in a first direction. According to the Lorentz force law, an induced stress is applied to the first permanent magnet member 72, driving the sliding member 7 to move away from the first magnetic induction mechanism 32. The elastic member 6 is compressed, and the elastic member 6 applies a reaction force to the sliding member 7 until the reaction force of the elastic member 6 on the sliding member 7 is equal to the driving force of the first magnetic induction mechanism 32 on the sliding member 7. At this time, the side wall of the sliding member 7 is attached to the side wall of the flange 311 (this position is the first position), for the medicine box to enter and be placed on the inner wall of the bottom of the sliding member 7. The first magnetic induction mechanism 32 changes the direction of the magnetic field to generate a magnetic field in a second direction. The first direction and the second direction are opposite. An induced stress in the opposite direction is applied to the first permanent magnet member 72, pulling the sliding member 7 to move towards the first magnetic induction mechanism 32. At the same time, the elastic member 6 extends and applies a force to the sliding member 7, further driving the sliding member 7 to accelerate towards the first magnetic induction mechanism 32 until the pulling force of the elastic member 6 on the sliding member 7 is equal to the pulling force of the first magnetic induction mechanism 32 on the sliding member 7. The sliding member 7 stops moving (this position is the second position). At this time, the side wall of the sliding member 7 away from the opening of the docking box 31 coincides with the side wall of the material conveying hole 313 close to the opening of the docking box 31 or a part of the sliding member 7 coincides with the material conveying hole 313. Of course, the first magnetic induction mechanism 32 can also be arranged on two opposite side walls of the sliding member 7, and the first permanent magnet member 72 arranged on the sliding member 7 is arranged corresponding to the first magnetic induction mechanism 32. Further, the first magnetic induction mechanism 32 can be arranged as one or multiple, without limitation.

[0046] Compared with the prior art, the present invention uses the first magnetic induction mechanism 32 to apply a force to drive the sliding member 7 away from the first magnetic induction mechanism 32 in cooperation with the reaction force applied to the sliding member 7 by the compression of the elastic member 6, so that the medicine box is placed on the sliding member 7. The first magnetic induction mechanism 32 applies a force to drive the sliding member 7 towards the first magnetic induction mechanism 32 in cooperation with the force applied to the sliding member 7 by the extension of the elastic member 6, which can quickly complete the transportation of the medicine box, has high efficiency, a simple structure, can operate automatically, and saves labor.

[0047] As a relatively inferior embodiment, no elastic member 6 is provided between the sliding member 7 and the docking box 31, and no first mounting post 3111 is provided on the flange 311 and no second mounting post 71 is provided on the sliding member 7. Relying on the alternating magnetic field generated by the first magnetic induction mechanism 32, the magnetic induction force on the first permanent magnetic member 72 drives the sliding member 7 to move away from or close to the first magnetic induction mechanism 32. The flange 311 positions the sliding member 7, thereby completing the transportation operation of the medicine box.

[0048] As Figure 3 and 4 shown, at one end of the inner bottom wall of the sliding member 7 close to the flange 311, there is a groove 73. Inside the groove 73, there is a second permanent magnetic member 74, which is in a plate shape. One end of the second permanent magnetic member 74 away from the flange 311 is hinged to the groove 73 of the sliding member 7. On the bottom wall of the docking box 31, there is a second magnetic induction mechanism 33. When the sliding member 7 is in the second position, the second magnetic induction mechanism 33 is correspondingly arranged with the second permanent magnetic member 74. The second magnetic induction mechanism 33 is connected to an external power supply, generates a magnetic field in a third direction, applies a magnetic induction force to the second permanent magnetic member 74, and drives the second permanent magnetic member 74 to rotate upward around the hinge axis between the second permanent magnetic member 74 and the sliding member 7. Thus, the second permanent magnetic member 74 pushes the medicine box placed on the bottom wall of the sliding member 7 into the conveying channel 4. The second magnetic induction mechanism 33 generates a magnetic field in a fourth direction, and the third direction and the fourth direction are opposite. The second magnetic induction mechanism 33 applies a reverse magnetic induction force to the second permanent magnetic member 74, causing the second permanent magnetic member 74 to rotate and resume fitting with the groove 73 of the sliding member 7, automatically completing the conveying of the medicine box and preventing the medicine box from jamming at the connection port between the docking box 31 and the conveying channel 4. As a relatively inferior embodiment, the second permanent magnetic member 74 can also be an expansion component, which is hollow inside and in a flat plate shape. The expansion component is connected to an air pump, and the air pump inflates the expansion component, causing the expansion component to expand and push the medicine box into the conveying channel 4.

[0049] As Figure 3 and 5 shown, on the top wall of the second permanent magnetic member 74, there is a first sensor 741 for sensing whether the medicine box is placed inside the sliding member 7. On the inner wall of the docking box 31, there is a second sensor 312 for the sliding member 7 being in the first position or the second position. The docking box 31 also has a microcontroller (not shown in the figure). The first driving mechanism 22, the second driving mechanism 23, the first sensor 741, the second sensor 312, and the external power supply are all electrically connected to the microcontroller.

[0050] As Figure 2 and 5As shown, the support member 2 is drivingly connected to the pushing member 21, which is in the shape of a plate. One end of the pushing member 21 close to the docking box 31 is provided with a first driving mechanism 22. The output end of the first driving mechanism 22 is fixedly connected to the docking box 31. The first driving mechanism 22 drives the docking box 31 to move axially back and forth along the output end of the first driving mechanism (22). Further, when the docking box 31 is pushed forward, the medicine box is inserted into the sliding member 7. Further, two sliding grooves 221 are provided at one end of the pushing member 21 close to the docking box 31. The two sliding grooves 221 are oppositely arranged on both sides of the first driving mechanism 22. Two sliding rods 222 are oppositely provided on both side walls of the sliding member 7. The sliding rods 222 are correspondingly arranged with the sliding grooves 221.

[0051] As Figure 5 shown, the support member 2 is integrally C-shaped and has a hollow structure inside. A second driving mechanism 23 is provided at the top of the support member 2. The output end of the second driving mechanism 23 is connected to a rotating rod 24, and a spiral groove is provided on its peripheral wall. The rotating rod 24 is located between the top wall and the bottom wall of the support member 2. The rotating rod 24 meshes with the pushing member 21. The second driving mechanism 23 drives the rotating rod 24 to rotate, and the rotating rod 24 drives the pushing member 21 to move up and down along the axis of the rotating rod 24. Further, a guide rod 25 is also provided between the top wall and the bottom wall of the support member 2, which is correspondingly arranged with the rotating rod 24. The guide rod 25 penetrates through the pushing member 21.

[0052] As Figure 5 and 6 shown, the base 1 is in the shape of a long column. A guide groove 11 is provided on the upper part of the base 1. The guide groove 11 includes a first guide groove 111 and a second guide groove 112 that are communicated with each other. The first guide groove 111 is located above the second guide groove 112, and the size of the first guide groove 111 is smaller than that of the second guide groove 112. A sliding portion 26 is provided at the lower end of the bottom of the support member 2. The shape of the sliding portion 26 corresponds to the shape of the guide groove 11. The sliding portion 26 is inserted into the guide groove 11. Further, the support member 2 is slidably connected to the base 1, so that the docking box 31 can move axially along the base 1, enabling the docking box 31 to correspond to medicine boxes at different positions, facilitating the medicine boxes to enter the sliding member 7.

[0053] As Figure 2 shown, one end of the storage box 5 is open and has a hollow cavity inside. A storage box 51 is slidably connected inside the hollow cavity of the storage box 5. One end of the storage box 51 is open and has a cavity for accommodating medicine boxes inside.

[0054] It should be noted that coils are provided inside both the first magnetic induction mechanism 32 and the second magnetic induction mechanism 33, which are used to generate magnetic fields when electrified. The first sensor 741 is a pressure sensor, and the second sensor 312 is a ranging sensor.

[0055] In this way, when the robotic arm for transporting drugs of the present invention is in use, the first magnetic induction mechanism 32 is electrified, generating a magnetic field in the first direction, driving the sliding member 7 to move away from the first magnetic induction mechanism 32. The elastic member 6 is compressed until the reaction force of the elastic member 6 on the sliding member 7 is equal to the driving force of the first magnetic induction mechanism 32 on the sliding member 7, at which point the elastic member 6 stops moving. The side wall of the sliding member 7 is in contact with the side wall of the flange 311 (this position is the first position). The first driving mechanism 22 pushes the docking box 31 forward to insert the medicine box onto the inner bottom wall of the sliding member 7. At the same time, the first sensor 741 senses that the medicine box is located on the bottom wall of the sliding member 7, and the second sensor 312 senses that the sliding member 7 is in the first position. Both the first sensor 741 and the second sensor 312 send signals to the microcontroller. The microcontroller controls the first magnetic induction mechanism 32 to change the direction of the magnetic field, generating a magnetic field in the second direction, applying a reverse magnetic induction force to the first permanent magnet 72, pulling the sliding member 7 to move towards the first magnetic induction mechanism 32. At the same time, the elastic member 6 extends to apply a force to the sliding member 7, further driving the sliding member 7 to accelerate towards the first magnetic induction mechanism 32 until the pulling force of the elastic member 6 on the sliding member 7 is equal to the pulling force of the first magnetic induction mechanism 32 on the sliding member 7, and the sliding member 7 stops moving (this position is the second position). The second sensor 312 senses that the sliding member 7 is in the second position, and the second sensor 312 sends a signal to the microcontroller. The microcontroller controls the second magnetic induction mechanism 33 to generate a magnetic field, driving the second permanent magnet 74 to push the medicine box placed on the bottom wall of the sliding member 7 into the conveying channel 4 and then drop into the storage box 51. The first sensor 741 senses that the medicine box has left the sliding member 7, and the second sensor 312 sends a signal to the microcontroller. The microcontroller controls the second magnetic induction mechanism 33 to generate a magnetic field in the fourth direction, applying a reverse magnetic induction force to the second permanent magnet 74 to make the second permanent magnet 74 rotate and resume fitting with the groove 73 of the sliding member 7. At the same time, the second sensor 312 senses that the sliding member 7 is in the second position, and the second sensor 312 sends a signal to the microcontroller. The microcontroller controls the first magnetic induction mechanism 32 to change the direction of the magnetic field again, driving the sliding member 7 to move to the first position, and so on, completing the transportation of the drugs.

[0056] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture (as shown in the attached drawings). If this specific posture changes, the directional indications will also change accordingly.

[0057] In addition, the descriptions involving "first", "second", etc. in the present application are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0058] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concept. Therefore, the appended claims are intended to be construed as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0059] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A robot arm for drug transportation, characterized in that: include, Base (1); A support member (2) slidably connected to the base (1); a docking box (31) slidably connected to the support member (2), wherein an opening of the docking box (31) is provided with a flange (311); A sliding member (7) is provided in the docking box (31), and the sliding member (7) is slidably connected to the docking box (31); An elastic member (6) is connected between the flange (311) and the sliding member (7); The inner wall of the docking box (31) is provided with a first magnetic induction mechanism (32), the sliding member (7) is provided with a first permanent magnet member (72), the first permanent magnet member (72) and the first magnetic induction mechanism (32) are arranged correspondingly, the first magnetic induction mechanism (32) generates an alternating magnetic field, exerts an induction force on the first permanent magnet member (72), and drives the sliding member (7) to slide between a first position and a second position; When the sliding member (7) is located in the first position, the elastic member (6) is compressed, and its reaction force on the sliding member (7) is equal to the driving force of the first magnetic induction mechanism (32) on the sliding member (7); When the sliding member (7) is located at the second position, the elastic member (6) stretches, and the pulling force of the elastic member (6) on the sliding member (7) is equal to the pulling force of the first magnetic induction mechanism (32) on the sliding member (7).

2. The drug transport robot arm according to claim 1, characterized in that: When the sliding member (7) is in the first position, the sliding member (7) is in contact with the flange (311); when the sliding member (7) is in the second position, a square feeding hole (313) is provided at one end of the bottom of the docking box (31) away from the opening, and a side wall of the sliding member (7) away from the opening of the docking box (31) overlaps with a side wall of the feeding hole (313) close to the opening of the docking box (31), or a portion of the sliding member (7) overlaps with the feeding hole (313).

3. The drug transport robot arm according to claim 1 or 2, characterized in that: A second permanent magnet (74) is provided on the inner wall of the bottom of the sliding member (7), the second permanent magnet (74) being hinged to the sliding member (7), a second magnetic sensing mechanism (33) is provided on the bottom wall of the docking box (31), and when the sliding member (7) is in the second position, the second magnetic sensing mechanism (33) is arranged correspondingly to the second permanent magnet (74).

4. The drug transport robot arm according to claim 1, characterized in that: The support member (2) is drivingly connected to the push member (21); a first driving mechanism (22) is provided at the end of the push member (21); an output end of the first driving mechanism (22) is fixedly connected to the docking box (31); the first driving mechanism (22) drives the docking box (31) to move forward and backward along the axial direction of the output end of the first driving mechanism (22).

5. The drug transport robot arm according to claim 4, characterized in that: The side wall of the pushing member (21) is provided with two slide grooves (221), and the two slide grooves (221) are arranged oppositely on two sides of the first driving mechanism (22). The side walls of the sliding member (7) are provided with two slide rods (222) oppositely, and the slide rods (222) are arranged correspondingly to the slide grooves (221).

6. The drug transport robot arm according to claim 4, characterized in that: A second driving mechanism (23) is provided on the top of the support member (2), the output end of which is connected to a rotating rod (24). The rotating rod (24) is located between the top wall and the bottom wall of the support member (2). The rotating rod (24) is meshed with the pushing member (21), and the rotating rod (24) drives the pushing member (21) to move up and down along the axis of the rotating rod (24).

7. The drug transport robot arm according to claim 6, characterized in that: The top wall and bottom wall brackets of the support member (2) are also provided with guide rods (25), which are arranged corresponding to the rotating rod (24), and the guide rods (25) penetrate the pushing member (21).

8. The drug transport robot arm according to claim 1, characterized in that: The base (1) is provided with a guide groove (11), the bottom of the support member (2) is provided with a sliding portion (26), the shape of the sliding portion (26) is arranged corresponding to the shape of the guide groove (11), and the support member (2) and the base (1) are slidably connected via the guide groove (11) and the sliding portion (26).

9. The drug transport robot arm according to claim 1, characterized in that: A guide groove (11) is provided on the upper part of the base (1), the guide groove (11) comprising a first guide groove (111) and a second guide groove (112) which are connected to each other, the first guide groove (111) being located above the second guide groove (112), and the size of the first guide groove (111) being smaller than the size of the second guide groove (112).

10. The drug transport robot arm according to claim 1, characterized in that: The bottom of the docking box (31) is in communication with the conveying channel (4), the lower end of the conveying channel (4) is in communication with the storage box (5), and the storage box (51) is slidably connected inside the storage box (5).

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