A robotic arm for transporting medicines

Abstract

The present invention discloses a robotic arm for transporting drugs, comprising a base; a support member slidably connected to the base; a docking box slidably connected to the support member, the opening of the docking box being provided with a flange; a sliding member is provided in the docking box, and the sliding member is slidably connected to the docking box; an elastic member is connected between the flange and the sliding member; a first magnetic induction mechanism is provided on the inner wall of the docking box, and a first permanent magnetic member is provided on the sliding member, the first permanent magnetic member being correspondingly arranged with the first magnetic induction mechanism, the first magnetic induction mechanism generating an alternating magnetic field to apply an induction force to the first permanent magnetic member, driving the sliding member to slide between a first position and a second position, capable of quickly completing the transportation of medicine boxes, with high efficiency, simple structure, capable of automatic operation, and saving labor.

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 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 in medicine cabinets. Since a doctor's prescription often contains multiple flavors of medicine, such as traditional Chinese medicine, the dispensing of such medicine is all done 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 medicine. There are a wide variety of drug types. This working method not only has a large workload, low efficiency, and is prone to errors, but 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 manipulator used is still a grasping type manipulator. The grasping type 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 multiple 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, and a flange is provided at the opening of the docking box;

[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, and 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, exerts an induction force on 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 coincides with the side wall of the feed hole close to the opening of the docking box or the sliding member partially coincides with the feed hole.

[0015] Furthermore, a second permanent magnet is provided on the bottom inner wall of the sliding member, and the second permanent magnet is hinged to the sliding member. 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 corresponding to the second permanent magnet.

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

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

[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 pass through 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 set corresponding to the shape of the guide groove, and the support member and the base are slidably connected through the guide groove and the sliding portion.

[0021] Further, the guiding groove includes a first guiding groove and a second guiding groove that are interconnected. 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 applied by the elastic member to the sliding member when the elastic member extends, which can quickly complete the transportation of the medicine box, has high efficiency, a simple structure, can operate automatically, and saves labor. 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 transporting medicines 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] Slider 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 medicines, 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 and is used to move 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 inwardly around the opening. Two cylindrical first mounting posts 3111 are oppositely provided on the inner wall of the flange 311, and an elastic member 6 is sleeved thereon. 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 may also be provided on the inner wall of the flange 311. Of course, the flange 311 may also be a plurality of oppositely arranged protrusions extending inwardly at the opening end of the docking box 31, and the side of the protrusion 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 the shape of a long cylinder 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 to transport the medicine box placed in 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. The second mounting post 71 is oppositely arranged with 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, a force is applied 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, a reverse force is applied to the sliding member 7 to pull the sliding member 7 to move in the reverse direction close to 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. It is connected to an external power supply (not shown in the figure) and is used to generate an alternating magnetic field. On the top of the side of the sliding member 7 away from the elastic member 6, there is a first permanent magnet member 72, the material of which is generally 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 to drive the sliding member 7 to move in a direction away from the first magnetic induction mechanism 32, and the elastic member 6 is compressed. The elastic member 6 exerts a reaction force on 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, then the elastic member 6 stops moving. At this time, 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), 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, and 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 to pull the sliding member 7 to move in a direction close to the first magnetic induction mechanism 32. At the same time, the elastic member 6 extends to exert a force on the sliding member 7 to further drive the sliding member 7 to accelerate and move in a direction close to 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). 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 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 adopts the cooperation of the first magnetic induction mechanism 32 applying a force to drive the sliding member 7 away from the first magnetic induction mechanism 32 and the elastic member 6 compressing to exert a reaction force on the sliding member 7, so that the medicine box is placed on the sliding member 7. The cooperation of the first magnetic induction mechanism 32 applying a force to drive the sliding member 7 close to the first magnetic induction mechanism 32 and the elastic member 6 extending to exert a force on the sliding member 7 can quickly complete the transportation of the medicine box, with high efficiency, simple structure, capable of automatic operation and saving 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 magnet member 72 drives the sliding member 7 to move away from or close to the first magnetic induction mechanism 32, and 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, and a second permanent magnet member 74 is provided in the groove 73. It is in a plate shape, and one end of the second permanent magnet 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 magnet member 74. The second magnetic induction mechanism 33 is connected to an external power supply to generate a magnetic field in a third direction, apply a magnetic induction force to the second permanent magnet member 74, and drive the second permanent magnet member 74 to rotate upward around the hinge axis of the second permanent magnet member 74 and the sliding member 7. Then, the second permanent magnet 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, apply a reverse magnetic induction force to the second permanent magnet member 74, and make the second permanent magnet member 74 rotate to 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 getting stuck at the communication port between the docking box 31 and the conveying channel 4. As a relatively inferior embodiment, the second permanent magnet member 74 can also be an expansion member. It is hollow inside and in a flat plate shape. The expansion member is connected to an air pump, and the air pump inflates the expansion member, and the expansion member expands to push the medicine box into the conveying channel 4.

[0049] As Figure 3 and 5 shown, a first sensor 741 is provided on the top wall of the second permanent magnet member 74 for sensing whether the medicine box is placed in the sliding member 7. A second sensor 312 is provided on the inner wall of the docking box 31 for the sliding member 7 to be 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 pusher member 21, which is in the shape of a plate. One end of the pusher 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 pusher 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, which has a spiral groove 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 pusher member 21. The second driving mechanism 23 drives the rotating rod 24 to rotate. The rotating rod 24 drives the pusher member 21 to move up and down along the axis of the rotating rod 24. Further, a guide rod 25 is further 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 pusher 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 a magnetic field when electrified. The first sensor 741 is a pressure sensor, and the second sensor 312 is a distance measuring 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 to generate 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 time the elastic member 6 stops moving. The side wall of the sliding member 7 fits against 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 magnetic field direction to generate a magnetic field in the second direction, applying a reverse induction force to the first permanent magnet 72 to pull 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 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 magnetic field direction again, driving the sliding member 7 to move to the first position, and so on, completing the transportation of the medicine.

[0056] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present application are only used to explain the relative positional relationship, movement conditions, etc. between components in a certain 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 learn 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 modifications and variations.

Claims

1. A robotic arm for drug transportation, characterized in that, including, a base (1); a support member (2) slidably connected to the base (1); a docking box (31) slidably connected to the support member (2), the opening of the docking box (31) being 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); a first magnetic induction mechanism (32) is provided on the inner wall of the docking box (31), and a first permanent magnetic member (72) is provided on the sliding member (7). The first permanent magnetic member (72) is arranged corresponding to the first magnetic induction mechanism (32). The first magnetic induction mechanism (32) generates an alternating magnetic field and applies a magnetic induction force to the first permanent magnetic member (72) to drive the sliding member (7) to slide between a first position and a second position; when the sliding member (7) is in the first position, the elastic member (6) is compressed, and 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); when the sliding member (7) is in the second position, the elastic member (6) extends, 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); 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. The side wall of the sliding member (7) away from the opening of the docking box (31) coincides with the side wall of the feeding hole (313) close to the opening of the docking box (31), or a part of the sliding member (7) coincides with the feeding hole (313); a second permanent magnetic member (74) is provided on the inner wall of the bottom of the sliding member (7), and the second permanent magnetic member (74) is hinged to the sliding member (7). A second magnetic induction mechanism (33) is provided on the bottom wall of the docking box (31). When the sliding member (7) is in the second position, the second magnetic induction mechanism (33) is arranged corresponding to the second permanent magnetic member (74); the support member (2) is drivingly connected to a pushing member (21), and a first driving mechanism (22) is provided at the end of the pushing member (21). The output end of the first driving mechanism (22) is fixedly connected to the docking box (31), and 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).

2. The robotic arm for drug transportation according to claim 1, characterized in that, Two sliding grooves (221) are provided on the side wall of the pushing member (21). 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 docking box (31). The sliding rods (222) are arranged corresponding to the sliding grooves (221).

3. The robotic arm for transporting drugs according to claim 2, characterized in that, A second driving mechanism (23) is provided at the top of the support member (2), and its output end 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) meshes with the pushing member (21), and the rotating rod (24) drives the pushing member (21) to move up and down along the axial direction of the rotating rod (24).

4. The robotic arm for drug transportation according to claim 3, characterized in that, A guide rod (25) is further provided between the top wall and the bottom wall of the support member (2). The guide rod (25) is arranged corresponding to the rotating rod (24), and the guide rod (25) penetrates through the pushing member (21).

5. The robotic arm for transporting drugs according to claim 1, characterized in that, The base (1) is provided with a guide groove (11), and the bottom of the support member (2) is provided with a sliding portion (26). The shape of the sliding portion (26) corresponds to the shape of the guide groove (11), and the support member (2) is slidably connected to the base (1) through the guide groove (11) and the sliding portion (26).

6. The robotic arm for transporting drugs according to claim 1, wherein, The upper part of the base (1) is provided with a guide groove (11). 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 the size of the second guide groove (112).

7. The robotic arm for transporting medicines according to claim 1, wherein The bottom of the docking box (31) is communicated with the conveying channel (4). The lower end of the conveying channel (4) is communicated with the storage box (5), and a storage box (51) is slidably connected in the storage box (5).

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