Intelligent medicine feeding and soaking robot

Abstract

The utility model relates to the technical field of medical equipment, in particular to an intelligent medicine feeding and soaking robot which comprises a supporting frame, a medicine box, a medicine taking mechanical arm, a medicine soaking device and a medicine feeding trolley, the medicine box and the medicine soaking device are both arranged at the upper end of the supporting frame, and the medicine taking mechanical arm is arranged between the medicine box and the medicine soaking device; the medicine box comprises a shell and at least two layers of medicine placing trays which are arranged up and down, the medicine soaking device comprises a rotary moving medicine box, a medicine placing sliding groove, an opening device, a water injection device and a stirring device, the medicine placing sliding groove, the opening device, the water injection device and the stirring device are sequentially arranged in the length direction of the supporting frame, the supporting frame is provided with a sliding rail in the length direction, and the rotary moving medicine box is arranged on the sliding rail in a sliding mode; the upper end of the medicine feeding trolley is used for placing a medicine soaking cup, and the lower end of the medicine feeding trolley is provided with a driving wheel. According to the device, the operations of medicine storage, medicine taking, opening shearing, medicine pouring, water flushing, stirring and medicine feeding of bagged medicines can be realized, the dependence on manpower is greatly reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, and more specifically, to an intelligent medicine foaming delivery robot. Background Art

[0002] The design of the automated dispensing system aims to reduce the labor intensity of medical staff and reduce the labor injuries caused by dispensing. The machine automatically prepares the liquid medicine, and medical staff no longer need to operate manually, thus avoiding the risk of contact with toxic drugs. In addition, the automated system can effectively control errors in the dispensing process and ensure the safety of patients.

[0003] Most of the existing automated medicine dispensing systems are limited to a single medicine dispensing function. After the medicine is dispensed, nurses are still required to prepare and deliver the medicine. They are highly dependent on nurses and cannot significantly reduce the labor intensity of nurses.

[0004] Therefore, it is necessary to improve the prior art. Utility Model Content

[0005] In order to overcome the deficiencies in the prior art, an intelligent medicine foaming delivery robot is provided.

[0006] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0007] An intelligent medicine-delivering and soaking robot comprises a support frame, a medicine box, a medicine-taking mechanical arm, a medicine-soaking device and a medicine-delivering trolley, wherein the medicine box and the medicine-soaking device are both arranged at the upper end of the support frame, and the medicine-taking mechanical arm is arranged between the medicine box and the medicine-soaking device;

[0008] The medicine box comprises an outer shell and at least two layers of medicine trays arranged in an upper and lower manner, each medicine tray is provided with a plurality of medicine grids along the circumferential direction, a support shaft is provided in the middle of the outer shell along the vertical direction, the medicine trays are rotatably arranged on the support shaft and different medicine trays are independent of each other, a rotary drive assembly is provided at the lower end of each medicine tray, a medicine taking port is provided on one side of the medicine box, and a notch penetrating from top to bottom is provided on one side of each medicine tray;

[0009] The medicine-making device comprises a rotating and movable medicine box and a medicine-dispensing slideway, an opening device, a water injection device, and a stirring device arranged in sequence along the length direction of the support frame. The support frame is provided with a slide rail along the length direction, and the rotating and movable medicine box is slidably arranged on the slide rail.

[0010] The medicine delivery trolley is located at the lower end of the support frame, the upper end of the medicine delivery trolley is used for placing the medicine brewing cup, and the lower end of the medicine delivery trolley is provided with a driving wheel.

[0011] Preferably, the rotary drive assembly includes a worm wheel, a worm and a drive motor I, the worm wheel is coaxially fixed to the lower end of the medicine tray, the drive motor I is fixedly arranged on the inner side of the outer shell, and the worm is fixedly connected to the motor shaft of the drive motor I and meshes with the worm wheel.

[0012] Preferably, the rotatable medicine box comprises a mobile platform, a rotating platform and a positioning medicine box, the mobile platform is slidably arranged on a slide rail, the slide rail is connected to a driving motor II for driving the mobile platform to move along the slide rail, the rotating platform is fixedly arranged on the mobile platform, a rotating disk is rotatably arranged at the upper end of the rotating platform, and a rotating driving motor is arranged between the rotating disk and the rotating platform;

[0013] A driving motor III is fixedly connected to the middle of the turntable, and a bevel gear plate is arranged and fixedly connected to the motor shaft of the driving motor III. There are multiple positioning medicine boxes evenly distributed along the circumference of the turntable, and the inner side of any positioning medicine box is fixedly connected to a rotating shaft, which is rotatably arranged on the turntable, and a gear I is arranged at one end of the rotating shaft away from the positioning medicine box. A transmission shaft is rotatably arranged on the upper end of the turntable in a direction parallel to the rotating shaft, and a gear II and a small bevel gear are fixedly arranged on the transmission shaft, and the gear II is meshed with the gear I, and the small bevel gear is meshed with the bevel gear plate.

[0014] Preferably, a clamping rod is slidably provided in the middle part of any of the rotating shafts, one end of the clamping rod extends into the positioning medicine box and is fixedly connected to a clamping plate, and the other end of the clamping rod is hinged to a connecting rod. A motor mounting frame is provided at the upper end of the rotating disk, and a driving motor IV is fixedly provided on the motor mounting frame. The motor shaft of the driving motor IV is downwardly arranged and fixedly connected to a control disk, and the control disk is evenly distributed with a plurality of articulated seats along the circumferential direction, and the articulated seats are hinged to one end of the corresponding clamping rod.

[0015] Preferably, the medicine placing chute comprises an inclined slide plate and a vertical guide groove which are interconnected, and the lower end of the vertical guide groove is adapted to the upper end opening of the positioning medicine box.

[0016] Preferably, the opening device includes a mounting platform, scissors and an opening and closing control motor, the opening and closing control motor is arranged on the mounting platform, the motor shaft of the opening and closing control motor is fixedly connected with a driving rod I, one end of the driving rod I is hinged with a driving rod II, one of the handles of the scissors is fixedly arranged on the mounting platform, and the other handle of the scissors is hinged with the driving rod II.

[0017] Preferably, a lifting control mechanism is provided on the support frame, and the lifting control mechanism includes a lifting motor, a lifting frame and a screw. The lifting frame is relatively fixed to the support frame, the screw is rotatably arranged on the lifting frame, the lifting motor is connected to one end of the screw, and the mounting platform is slidably arranged on the lifting frame and is threadably connected to the screw.

[0018] Preferably, the stirring device includes a stirring seat, a rack, a pinion, an adjusting motor and a stirring motor, the rack is slidably arranged in the stirring seat along the vertical direction, the adjusting motor is arranged on the stirring seat, the pinion is fixedly connected to the motor shaft of the adjusting motor and meshes with the rack, the stirring motor is fixedly arranged at the lower end of the rack, and the motor shaft of the stirring motor is connected to the stirrer.

[0019] Preferably, the medicine delivery trolley comprises a trolley body and a cup tray rotatably arranged on the upper end of the trolley body, a driving motor V is arranged between the cup tray and the trolley body, and a plurality of cup placement holes are evenly distributed along the circumferential direction on the upper end of the cup tray;

[0020] An obstacle avoidance radar is arranged in the middle of the vehicle body.

[0021] Preferably, a control module is also included, and the medicine box, medicine taking robot arm, medicine soaking device, and medicine delivery trolley are all connected to the control module by signal.

[0022] Compared with the prior art, the utility model has the following beneficial effects:

[0023] 1. The utility model utilizes a medicine box, a medicine taking mechanical arm, a medicine placing chute, an opening device, a water injection device, a stirring device, a rotating and movable medicine box, and a medicine delivery trolley which are arranged in sequence, and can realize the operations of storing, taking, cutting, pouring, flushing, stirring, and delivering bagged medicines, which greatly reduces the dependence on manpower and improves work efficiency.

[0024] 2. The medicine box of the utility model is designed with a double-layer structure, which can increase the storage capacity of medicine and reduce the frequency of replenishing medicine.

[0025] 3. The utility model can realize the clamping and rotation of the medicine bag by rotating the medicine box, thus ensuring the success rate of the medicine soaking operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The specific implementation of the utility model will be further described in detail below with reference to the accompanying drawings.

[0027] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0028] Figure 2 Schematic diagram of the internal structure of the medicine box;

[0029] Figure 3 This is a schematic diagram of the drug delivery chute structure;

[0030] Figure 4 It is a schematic diagram of the structure of the rotating and moving medicine box;

[0031] Figure 5 This is a schematic diagram of the connection of a single positioning medicine box;

[0032] Figure 6It is a schematic diagram of the structure of the opening device;

[0033] Figure 7 It is a schematic diagram of the stirring device structure;

[0034] Figure 8 Schematic diagram of the slide rail structure.

[0035] In the figure: 1-support frame, 1.1-slide rail, 2-medicine box, 2.1-housing, 2.2-medicine tray, 2.3-medicine grid, 2.4-notch, 2.5-worm gear, 2.6-worm, 2.7-drive motor I, 3-medicine taking mechanical arm, 4-rotating and moving medicine box, 4.1-moving platform, 4.2-rotating platform, 4.3-positioning medicine box, 4.4-drive motor II, 4.5-turntable, 4.6-drive motor III, 4.7-bevel gear plate, 4.8-gear I, 4.9-drive shaft, 4.10-clamping rod, 4.11-clamping plate, 4.12-connecting rod, 4.13-drive motor IV, 4.14-control plate, 5-medicine delivery trolley, 5.1-medicine soaking cup, 5.2-driving wheel, 5.3-trolley body, 5.4-cup plate, 5.5-obstacle avoidance radar, 6-medicine release chute, 6.1-inclined slide plate, 6.2-vertical guide groove, 7-opening device, 7.1-mounting table, 7.2-scissors, 7.3-opening and closing control motor, 7.4-driving rod I, 7.5-driving rod II, 7.6-lifting motor, 7.7-lifting frame, 7.8-screw, 8-water injection device, 9-stirring device, 9.1-stirring seat, 9.2-rack, 9.3-pinion, 9.4-lifting motor, 9.5-stirring motor, 9.6-stirring device, 10-cup remover. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0037] like Figures 1 to 8As shown, an intelligent medicine delivery and foaming robot comprises a support frame 1, a medicine box 2, a medicine taking mechanical arm 3, a medicine foaming device and a medicine delivery trolley 5, wherein the medicine box 2 and the medicine foaming device are both arranged at the upper end of the support frame 1, wherein the medicine foaming device comprises a rotating and movable medicine box 4 and a medicine placing chute 6, an opening device 7, a water injection device 8, and a stirring device 9 sequentially arranged along the length direction of the support frame, the support frame 1 is provided with a slide rail 1.1 along the length direction, the rotating and movable medicine box 4 is slidably arranged on the slide rail 1.1, the medicine taking mechanical arm 3 is arranged between the medicine box 2 and the medicine placing chute 6, and the bagged medicine in the medicine box 2 is placed into the medicine placing chute 6 by the medicine taking mechanical arm 3. The medicine taking mechanical arm 3 can adopt an existing mechanical arm, and the end mechanism of the mechanical arm adopts a suction cup structure.

[0038] The medicine box 2 includes an outer shell 2.1 and at least two layers of medicine trays 2.2 arranged up and down. The present embodiment adopts a two-layer medicine tray 2.2. Any medicine tray 2.2 is provided with a plurality of medicine grids 2.3 along the circumferential direction. A support shaft is provided in the middle of the outer shell 2.1 along the vertical direction. The medicine tray 2.2 is rotatably arranged on the support shaft. Different medicine trays 2.2 are independent of each other. A medicine taking port for a medicine taking robot arm 3 to take medicine is provided on one side of the medicine box 2. A notch 2.4 is provided on one side of any medicine tray 2.2, and the notch 2.4 ensures that the upper medicine tray 2.2 will not hinder the taking of medicine by the lower medicine tray 2.2.

[0039] A rotary drive assembly is provided at the lower end of any medicine tray 2.2, and the rotary drive assembly includes a worm wheel 2.5, a worm 2.6 and a drive motor I 2.7. The worm wheel 2.5 is coaxially fixed to the lower end of the medicine tray 2.2, and the drive motor I 2.7 is fixedly provided inside the housing 2.1. The worm 2.6 is fixedly connected to the motor shaft of the drive motor I 2.7 and meshes with the worm wheel 2.5. The drive motor I 2.7 drives the worm 2.6 to rotate, and then drives the corresponding worm wheel 2.5 and the medicine tray 2.2 to rotate, so as to facilitate the rotation of different medicine grids 2.3 to the medicine taking port position.

[0040] The medicine placing chute 6 comprises an inclined slide plate 6.1 and a vertical guide groove 6.2 which are interconnected. The medicine taking robot arm 3 sucks the bagged medicine from the medicine placing tray 2.2 and places it on the inclined slide plate 6.1. The lower end of the vertical guide groove 6.2 is matched with the upper end opening of the positioning medicine box 4.3. The bagged medicine enters the vertical guide groove 6.2 under the action of gravity and falls vertically into one of the positioning medicine boxes 4.3.

[0041] The rotating and moving medicine box 4 includes a moving platform 4.1, a rotating platform 4.2 and a positioning medicine box 4.3. The moving platform 4.1 is slidably arranged on the slide rail 1.1. The slide rail 1.1 is connected to a driving motor II 4.4 that drives the moving platform 4.1 to move along the slide rail 1.1. The rotating platform 4.2 is fixedly arranged on the moving platform 4.1. A rotating disk 4.5 is rotatably arranged on the upper end of the rotating platform 4.2. A rotating driving motor is arranged between the rotating disk 4.5 and the rotating platform 4.2. The rotating driving motor drives the rotating disk 4.5 to rotate to different angles, so that multiple positioning medicine boxes 4.3 can all rotate to the lower side of the medicine release chute 6 to receive the bagged medicine output by the medicine release chute 6.

[0042] A driving motor III 4.6 is fixedly connected to the middle of the rotating disk 4.5, and a bevel gear plate 4.7 is arranged and fixedly connected to the motor shaft of the driving motor III 4.6. There are multiple positioning medicine boxes 4.3 evenly distributed along the circumference of the rotating disk 4.5, and a rotating shaft is fixedly connected to the inner side of any positioning medicine box 4.3. The rotating shaft is rotatably arranged on the rotating disk 4.5, and a gear I 4.8 is arranged at one end of the rotating shaft away from the positioning medicine box 4.3. A transmission shaft 4.9 is rotatably arranged at the upper end of the rotating disk 4.5 in a direction parallel to the rotating shaft, and a gear II and a small bevel gear are fixedly arranged on the transmission shaft 4.9, and the gear II is meshed with the gear I 4.8, and the small bevel gear is meshed with the bevel gear plate 4.7. The bevel gear plate 4.7 is driven to rotate by the driving motor III 4.6, and then the multiple small bevel gears, the transmission shaft 4.9, the gear II, the gear I 4.8, the rotating shaft, and the positioning medicine box 4.3 are driven to rotate.

[0043] A clamping rod 4.10 is slidably arranged in the middle of any rotating shaft, one end of the clamping rod 4.10 extends into the positioning medicine box 4.3 and is fixedly connected to a clamping plate 4.11, and the other end of the clamping rod 4.10 is hinged to a connecting rod 4.12, and a motor mounting frame is arranged at the upper end of the rotating disk 4.5, and a driving motor IV 4.13 is fixedly arranged on the motor mounting frame, and a control disk 4.14 is arranged downwardly and fixedly connected to the motor shaft of the driving motor IV 4.13, and a plurality of hinge seats are evenly distributed along the circumference of the control disk, and the hinge seats are hinged to one end of the corresponding clamping rod 4.10. The driving motor IV 4.13 drives the control disk 4.14 to rotate, and then drives the clamping rod 4.10 to slide along the rotating shaft through the clamping rod 4.10 and the connecting rod 4.12, so that the clamping plate 4.11 clamps the lower end of the bagged medicine in the positioning medicine box 4.3.

[0044] The slide rail 1.1 and the driving motor II 4.4 are used to move the rotating medicine box 4 to the position of the opening device 7. The opening device 7 includes a mounting platform 7.1, scissors 7.2 and an opening and closing control motor 7.3. The opening and closing control motor 7.3 is arranged on the mounting platform 7.1. The motor shaft of the opening and closing control motor 7.3 is fixedly connected with a driving rod I 7.4. One end of the driving rod I 7.4 is hinged with a driving rod II 7.5. One of the handles of the scissors 7.2 is fixedly arranged on the mounting platform 7.1, and the other handle of the scissors 7.2 is hinged with the driving rod II 7.5. The driving rod I 7.4 is controlled to rotate by the opening and closing control motor 7.3, and then the driving rod II 7.5 is used to drive the scissors 7.2 to open and close.

[0045] The support frame 1 is provided with a lifting control mechanism, which includes a lifting motor 7.6, a lifting frame 7.7 and a screw 7.8. The lifting frame 7.7 is relatively fixed to the support frame 1, the screw 7.8 is rotatably arranged on the lifting frame 7.7, the lifting motor 7.6 is connected to one end of the screw 7.8, and the mounting platform 7.1 is slidably arranged on the lifting frame 7.7 and is threadedly connected to the screw 7.8. The lifting control mechanism can drive the opening device 7 to move up and down, so as to facilitate the cutting operation of the bagged medicine.

[0046] The rotary drive motor drives the rotary disk 4.5 to rotate to different angles, so that the bags of medicine in each positioning medicine box 4.3 are cut.

[0047] The medicine delivery trolley 5 is located at the lower end of the support frame 1, and includes a trolley body 5.3, a driving wheel 5.2, and a cup plate 5.4 rotatably arranged at the upper end of the trolley body 5.3. The driving wheel 5.2 is arranged at the lower end of the medicine delivery trolley 5. A driving motor V is arranged between the cup plate 5.4 and the trolley body 5.3. The upper end of the cup plate 5.4 is evenly distributed with a plurality of cup placement holes along the circumference, and a medicine soaking cup 5.1 is placed in the cup hole. An obstacle avoidance radar 5.5 is arranged in the middle of the trolley body 5.3, and obstacles can be avoided during the medicine delivery process of the medicine delivery trolley 5. The control system, path planning and navigation of the trolley body 5.3 all adopt existing technologies.

[0048] The rotating medicine box 4 is driven by the driving motor II 4.4 to move to the upper end of the medicine delivery trolley 5, and the multiple positioning medicine boxes 4.3 are driven by the driving motor III 4.6 to rotate synchronously, and the bagged medicine in the positioning medicine box 4.3 is poured into the medicine soaking cup 5.1 at the upper end of the medicine delivery trolley 5. A trash can can be set at the lower end of the support frame, and the clamping plate 4.11 is driven by the driving motor IV 4.13 to move in the reverse direction to loosen the bagged medicine and make it fall into the trash can.

[0049] After the bagged medicine is poured into the medicine brewing cup 5.1, the medicine delivery trolley 5 runs to the lower end of the water injection device 8 to inject water into each medicine brewing cup 5.1 containing the medicine. The water injection device 8 adopts an existing water injection device.

[0050] When the medicine cup 5.1 is filled with water, the medicine delivery trolley 5 runs to the bottom of the stirring device 9, which includes a stirring seat 9.1, a rack 9.2, a pinion 9.3, an adjustment motor 9.4 and a stirring motor 9.5. The rack 9.2 is slidably arranged in the stirring seat 9.1 in the vertical direction, the adjustment motor 9.4 is arranged on the stirring seat 9.1, the pinion 9.3 is fixedly connected to the motor shaft of the adjustment motor 9.4 and meshes with the rack 9.2, the stirring motor 9.5 is fixedly arranged at the lower end of the rack 9.2, and the motor shaft of the stirring motor 9.5 is connected with a stirrer 9.6. The adjustment motor 9.4 drives the rack 9.2, the stirring motor 9.5 and the stirrer 9.6 to descend, so that the stirrer 9.6 goes deep into the medicine cup 5.1, and the stirring motor 9.5 drives the stirrer 9.6 to rotate to stir the medicine in the medicine cup 5.1 evenly. After stirring evenly, the medicine delivery trolley 5 is used to deliver the medicine to the specified position.

[0051] The motor involved in this article is preferably a servo motor or a stepper motor. The medicine box 2, the medicine taking mechanical arm 3, the medicine soaking device, and the medicine delivery trolley 5 are all connected to the control module signal and controlled by the control module, and the control module adopts the existing technology.

[0052] Working principle:

[0053] The bagged medicine is placed in the medicine placing grid 2.3 of the medicine box 2, and the bagged medicine in the medicine placing grid 2.3 is sucked by the suction cup on the robot arm and placed in the medicine placing chute 6. Under the guidance of the medicine placing chute 6, the bagged medicine enters the positioning medicine box 4.3.

[0054] After the required number of bagged medicine packages enter the positioning medicine box 4.3, the bottom of the medicine packages is clamped by the clamping plate 4.11. The rotating and moving medicine box 4 moves to the scissors 7.2, and the scissors 7.2 are used to cut each bagged medicine package.

[0055] The rotating medicine box 4 is moved to the upper end of the medicine delivery trolley 5, and the medicine box 4.3 is rotated to pour the medicine into the corresponding medicine brewing cup 5.1. The medicine delivery trolley 5 moves to the lower end of the water injection device 8 and the stirring device 9 in sequence, and each medicine brewing cup 5.1 is filled with water and stirred.

[0056] Only the preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention, and various changes should be included in the protection scope of the present invention.

Claims

1. An intelligent medicine delivery robot, characterized in that: It comprises a support frame (1), a medicine box (2), a medicine taking mechanical arm (3), a medicine soaking device and a medicine delivery trolley (5), wherein the medicine box (2) and the medicine soaking device are both arranged at the upper end of the support frame (1), and the medicine taking mechanical arm (3) is arranged between the medicine box (2) and the medicine soaking device; The medicine box (2) comprises an outer shell (2.1) and at least two layers of medicine trays (2.2) arranged in an upper and lower manner, each medicine tray (2.2) being provided with a plurality of medicine grids (2.3) along a circumferential direction, a support shaft being provided in the middle of the outer shell (2.1) along a vertical direction, the medicine trays (2.2) being rotatably arranged on the support shaft and different medicine trays (2.2) being independent of each other, a rotary drive assembly being provided at the lower end of each medicine tray (2.2), a medicine dispensing port being provided on one side of the medicine box (2), and a notch (2.4) penetrating from top to bottom being provided on one side of each medicine tray (2.2); The medicine soaking device comprises a rotatable medicine box (4) and a medicine placing slide groove (6), an opening device (7), a water injection device (8), and a stirring device (9) which are sequentially arranged along the length direction of the support frame. The support frame (1) is provided with a slide rail (1.1) along the length direction, and the rotatable medicine box (4) is slidably arranged on the slide rail (1.1); The medicine delivery trolley (5) is located at the lower end of the support frame (1); the upper end of the medicine delivery trolley (5) is used to place the medicine brewing cup (5.1); and the lower end of the medicine delivery trolley (5) is provided with a driving wheel (5.2).

2. The intelligent medicine delivery robot according to claim 1, characterized in that: The rotary drive assembly comprises a worm wheel (2.5), a worm (2.6) and a drive motor I (2.7); the worm wheel (2.5) is coaxially fixedly connected to the lower end of the medicine tray (2.2); the drive motor I (2.7) is fixedly arranged on the inner side of the housing (2.1); the worm (2.6) is fixedly connected to the motor shaft of the drive motor I (2.7) and meshes with the worm wheel (2.5).

3. The intelligent medicine delivery robot according to claim 1, characterized in that: The rotating medicine box (4) comprises a moving platform (4.1), a rotating platform (4.2) and a positioning medicine box (4.3); the moving platform (4.1) is slidably arranged on a slide rail (1.1); the slide rail (1.1) is connected to a driving motor II (4.4) for driving the moving platform (4.1) to move along the slide rail (1.1); the rotating platform (4.2) is fixedly arranged on the moving platform (4.1); a rotating disk (4.5) is rotatably arranged on the upper end of the rotating platform (4.2); and a rotating driving motor is arranged between the rotating disk (4.5) and the rotating platform (4.2); A driving motor III (4.6) is fixedly connected to the middle of the rotating disk (4.5), and a bevel gear disk (4.7) is arranged on the motor shaft of the driving motor III (4.6) and is fixedly connected thereto. A plurality of positioning medicine boxes (4.3) are evenly distributed along the circumference of the rotating disk (4.5), and a rotating shaft is fixedly connected to the inner side of any positioning medicine box (4.3). The rotating shaft is rotatably arranged on the rotating disk (4.5), and a gear I (4.8) is arranged at one end of the rotating shaft away from the positioning medicine box (4.3). A transmission shaft (4.9) is rotatably arranged at the upper end of the rotating disk (4.5) in a direction parallel to the rotating shaft, and a gear II and a small bevel gear are fixedly arranged on the transmission shaft (4.9), and the gear II is meshed with the gear I (4.8), and the small bevel gear is meshed with the bevel gear disk (4.7).

4. The intelligent medicine-delivering robot according to claim 3, characterized in that: A clamping rod (4.10) is slidably arranged in the middle of any of the rotating shafts, one end of the clamping rod (4.10) extends into the positioning medicine box (4.3) and is fixedly connected to a clamping plate (4.11), and the other end of the clamping rod (4.10) is hingedly connected to a connecting rod (4.12). A motor mounting frame is arranged at the upper end of the rotating disk (4.5), and a driving motor IV (4.13) is fixedly arranged on the motor mounting frame. A control disk (4.14) is arranged downwardly on the motor shaft of the driving motor IV (4.13) and is fixedly connected to the control disk, and a plurality of hinge seats are evenly distributed along the circumference of the control disk, and the hinge seats are hingedly connected to one end of the corresponding clamping rod (4.10).

5. The intelligent medicine foam delivery robot according to claim 3 or 4, characterized in that: The medicine dispensing chute (6) comprises inclined slide plates ( 6.1) and a vertical guide groove (6.2), wherein the lower end of the vertical guide groove (6.2) is adapted to the upper end opening of the positioning medicine box (4.3).

6. The intelligent medicine-delivering robot according to claim 1, characterized in that: The opening device (7) comprises a mounting platform (7.1), a pair of scissors (7.2) and an opening and closing control motor (7.3); the opening and closing control motor (7.3) is arranged on the mounting platform (7.1); a motor shaft of the opening and closing control motor (7.3) is fixedly connected to a driving rod I (7.4); one end of the driving rod I (7.4) is hingedly connected to a driving rod II (7.5); one of the handles of the scissors (7.2) is fixedly arranged on the mounting platform (7.1); and the other handle of the scissors (7.2) is hingedly connected to the driving rod II (7.5).

7. The intelligent medicine-delivering robot according to claim 6, characterized in that: The support frame (1) is provided with a lifting control mechanism, the lifting control mechanism comprising a lifting motor (7.6), a lifting frame (7.7) and a screw (7.8); the lifting frame (7.7) and the support frame (1) are relatively fixed; the screw (7.8) is rotatably arranged on the lifting frame (7.7); the lifting motor (7.6) is connected to one end of the screw (7.8); and the mounting platform (7.1) is slidably arranged on the lifting frame (7.7) and is threadedly connected to the screw (7.8).

8. The intelligent medicine foaming delivery robot according to claim 1, characterized in that: The stirring device (9) comprises a stirring seat (9.1), a rack (9.2), a pinion (9.3), an adjustment motor (9.4) and a stirring motor (9.5); the rack (9.2) is slidably arranged in the stirring seat (9.1) along a vertical direction; the adjustment motor (9.4) is arranged on the stirring seat (9.1); the pinion (9.3) is fixedly connected to the motor shaft of the adjustment motor (9.4) and meshes with the rack (9.2); the stirring motor (9.5) is fixedly arranged at the lower end of the rack (9.2); and the motor shaft of the stirring motor (9.5) is connected to the stirrer (9.6).

9. The intelligent medicine foam delivery robot according to claim 1, characterized in that: The medicine delivery trolley (5) comprises a trolley body (5.3) and a cup tray (5.4) rotatably arranged on the upper end of the trolley body (5.3), a driving motor V is arranged between the cup tray (5.4) and the trolley body (5.3), and a plurality of cup placement holes are evenly distributed along the circumferential direction on the upper end of the cup tray (5.4); An obstacle avoidance radar (5.5) is arranged in the middle of the trolley body (5.3).

10. The intelligent medicine-delivering robot according to claim 1, characterized in that: It also includes a control module, and the medicine box (2), the medicine taking mechanical arm (3), the medicine soaking device, and the medicine delivery trolley (5) are all connected to the control module by signal.

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