Pharmacy robot with integrated medicine cabinet

Abstract

The utility model discloses a pharmacy robot of integrated medicine box, including the chassis, the slide platform of can carry the upper half body of robot is equipped on the chassis, the chassis below is equipped with the omni -wheel wheel group, the chassis includes the frame, and the upper plate and lower plate of being equipped on the frame, the slide platform sets up one end at the upper plate, and the other end is equipped with the medicine box fixing frame of being matched with medicine box, and the battery compartment is equipped between the slide platform and medicine box fixing frame, the slide platform includes the track, and the slider of being driven by motor is inlayed to the track, and the connecting hole of being matched with the upper half body of robot is equipped on the slider, the omni -wheel wheel group includes the omni -wheel of drive motor through the connecting rod structure drive, the utility model discloses can utilize three omni -wheel system utmost flexible moving ability to adapt to the narrow pharmacy, can also integrate safe and reliable medicine box storage system, and support the installation and collaborative work of humanoid robot upper half body.

Description

Technical Field

[0001] This utility model belongs to the technical field of intelligent service robots and medical automation equipment, and relates to a pharmacy robot that can integrate a medicine box. Background Technology

[0002] With the rapid development of artificial intelligence, robotics, and smart healthcare systems, traditional pharmacies are gradually transforming towards automation and intelligence. In hospitals, community health centers, and large chain pharmacies, the storage, sorting, and distribution of medicines place higher demands on efficiency, accuracy, and safety. Manual operations suffer from high labor intensity, error-proneness, and slow response times, especially during peak hours or night shifts when human resource shortages are particularly acute. To address these challenges, service robots with autonomous movement, intelligent interaction, and task execution capabilities are being introduced into pharmacy environments to replace or assist pharmacists in performing some repetitive and transport-related tasks.

[0003] Currently, some pharmacies have introduced Automated Guided Vehicles (AGVs) or Autonomous Mobile Robots (AMRs) for drug transportation. However, existing mobile platforms generally have the following shortcomings: Traditional two-wheel differential or four-wheel drive chassis have a large turning radius in the narrow, crowded environment of pharmacies, making it difficult to rotate in place or move laterally, resulting in low passage efficiency, easy congestion of passageways, and disruption to the normal work of medical staff; while general-purpose mobile chassis only provide a carrying platform and cannot meet the special requirements of the pharmacy setting.

[0004] In addition, the upper body of existing robots is independent of the chassis and drug storage space, and usually requires the addition of cargo boxes or baskets, resulting in a loose overall structure, low space utilization and unstable center of gravity. The existing chassis lacks a standardized mounting interface for the upper body of humanoid robots, making it difficult to realize the evolution from "transportation tool" to "intelligent service terminal". Utility Model Content

[0005] The present invention addresses the problem of providing a pharmacy robot with an integrated medicine box. By optimizing the chassis, it achieves omnidirectional flexible movement in a confined pharmacy space. The slide-driven mechanism allows the upper body of the humanoid robot to safely and stably carry the medicine box, thereby improving the efficiency and safety of automated pharmacy operations.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A pharmacy robot with an integrated medicine box includes a chassis, a slide on the chassis for mounting the robot's upper body, and an omnidirectional wheel assembly below the chassis.

[0008] The chassis includes a frame, and an upper plate and a lower plate on the frame; a slide is set at one end of the upper plate, and a medicine box fixing frame adapted to the medicine box is set at the other end; the battery compartment is set between the slide and the medicine box fixing frame; the slide includes a track, and a slider driven by the slide motor is embedded in the track, and the slider is provided with a connection hole adapted to the upper body of the robot.

[0009] The omnidirectional wheel assembly includes an omnidirectional wheel driven by a drive motor through a linkage structure. The drive motor is powered by a battery located in the battery compartment. Multiple freely rotating rollers are evenly distributed around the circumference of the omnidirectional wheel. Multiple omnidirectional wheel assemblies are connected to the lower plate respectively.

[0010] Furthermore, the upper plate and the lower plate are fixed to the top and bottom of the frame, respectively, forming a closed rigid box structure; the lower plate has reserved mounting positions for multiple components.

[0011] The omnidirectional wheel assembly includes a drive motor, a drive shaft, a single diaphragm coupling, a driven shaft, a motor base, bearings, and omnidirectional wheels;

[0012] The drive motor is fixed on a motor base connected to the lower plate or frame, and the output end of the drive motor is connected to the drive shaft. The drive shaft is flexibly connected to the driven shaft through a single diaphragm coupling, and the omnidirectional wheel is fixed at the end of the driven shaft. The driven shaft is also nested with two bearings installed in parallel. The outer ring of the bearing is fixed in the bearing hole preset in the motor base, and the inner ring of the bearing is interference-fitted with the driven shaft.

[0013] The omnidirectional wheel is a polyurethane-coated roller structure with rollers evenly distributed on the circumference of the omnidirectional wheel.

[0014] The mounting holes of the single diaphragm coupling are D-shaped holes, which mate with the corresponding D-shaped shaft segments of the driving shaft and the driven shaft, respectively.

[0015] Furthermore, the single diaphragm coupling is a flexible coupling, and its hub is also provided with a set screw, which can be tightened to press against the shaft body.

[0016] The multiple omnidirectional wheel sets consist of three sets, each located at a vertex of an equilateral triangle, with an included angle of 120° between adjacent sets.

[0017] The slide motor is a servo motor fixed to the bottom of the slide; a right-angled triangular rib is provided on the rear side of the slide, one end of which is connected to the slide and the other end is fixed to the top plate, forming a spatial triangular support structure.

[0018] The medicine box holder is a frame with an open slot, and inner guide slopes for guiding the medicine box are provided on both sides of the upper edge of the open slot; the bottom of the medicine box holder is connected to the frame or lower plate.

[0019] The battery and battery compartment are connected by a plug-in connection, and the battery is electrically connected to the slide motor and drive motor respectively.

[0020] Compared with the prior art, the present invention has the following beneficial technical effects:

[0021] This invention boasts high mobility and flexibility: the chassis adopts an omnidirectional wheel triangular layout (wheelbase up to 460mm), breaking through the steering limitations of traditional four-wheel chassis. It can achieve omnidirectional free movement within narrow pharmacy aisles, including in-situ rotation and lateral translation. Furthermore, it innovatively integrates a medicine box storage structure, enabling rapid separation and stable storage of the medicine box from the robot body during transport, preventing medicine spillage during movement and improving transportation safety and operational efficiency. It adapts to complex and ever-changing pharmacy environments.

[0022] This invention achieves a combination of lightweight structure and high strength: the frame and upper and lower plates adopt a composite structure of aluminum profiles and carbon fiber plates, which not only ensures the overall rigidity and load-bearing capacity, but also significantly reduces the weight and improves energy efficiency and range.

[0023] This invention features strong dynamic operational stability: the rear-mounted slide design, combined with the triangular rib reinforcement structure, ensures a reasonable distribution of the center of gravity when the humanoid robot extends its arm to lift heavy objects, effectively preventing tipping; at the same time, the slide's lifting function expands the robot's operating height range and enhances human-robot collaboration capabilities.

[0024] This invention has strong assembly error tolerance: it uses a single diaphragm coupling to connect the wheel set drive shaft, which can compensate for minor assembly errors, reduce manufacturing costs, and improve the smoothness and service life of the wheel set. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of this utility model;

[0026] Figure 2 This is a top view of the chassis of this utility model;

[0027] Figure 3 for Figure 1 Enlarged view of a portion (A) in the image;

[0028] Figure 4 This is an exploded structural diagram of the omnidirectional wheel assembly of the chassis of this utility model.

[0029] Wherein: 1 is chassis, 11 is frame, 12 is top plate, 13 is bottom plate, 14 is battery; 2 is omnidirectional wheel assembly, 21 is drive motor, 22 is drive shaft, 23 is single diaphragm coupling, 24 is driven shaft, 25 is motor base, 26 is bearing, 27 is omnidirectional wheel; 3 is slide table, 31 is slider, 32 is triangular rib plate; 4 is medicine box fixing frame, 41 is medicine box. Detailed Implementation

[0030] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the scope of protection of the present invention.

[0031] See Figures 1-4 The present invention provides a pharmacy robot that can integrate a medicine box, including a chassis, a slide platform on the chassis for mounting the upper body of the robot, and an omnidirectional wheel assembly below the chassis;

[0032] The chassis includes a frame, and an upper plate and a lower plate on the frame; a slide is set at one end of the upper plate, and a medicine box fixing frame adapted to the medicine box is set at the other end; the battery compartment is set between the slide and the medicine box fixing frame; the slide includes a track, and a slider driven by the slide motor is embedded in the track, and the slider is provided with a connection hole adapted to the upper body of the robot.

[0033] The omnidirectional wheel assembly includes an omnidirectional wheel driven by a drive motor through a linkage structure. The drive motor is powered by a battery located in the battery compartment. Multiple freely rotating rollers are evenly distributed around the circumference of the omnidirectional wheel. Multiple omnidirectional wheel assemblies are connected to the lower plate respectively.

[0034] The chassis frame is an integral load-bearing structure with a rectangular layout. The main frame is constructed from high-strength aluminum profiles, and carbon fiber plates are fixed at the top and bottom to form a closed rigid structure. The top carbon fiber plate also serves as the base of the slide system, while the bottom carbon fiber plate is used to install the wheel assembly and arrange electronic components.

[0035] Furthermore, the upper plate and the lower plate are fixed to the top and bottom of the frame, respectively, forming a closed rigid box structure; the lower plate has reserved mounting positions for multiple components.

[0036] Specifically, the top carbon fiber plate of the chassis frame is 8mm thick and made of T700 grade high modulus carbon fiber composite material, which is lightweight, high-strength, and has high bending stiffness, effectively supporting the upper body of the humanoid robot and its dynamic load; the bottom carbon fiber plate is 10mm thick and also made of high-strength carbon fiber material, used to bear the concentrated load of the three omnidirectional wheel sets and provide good torsional performance; the aluminum profile frame uses 2020 series industrial aluminum profiles and is assembled into a rectangular main structure through special connectors to ensure the modularity, disassembly and assembly precision of the overall structure.

[0037] The omnidirectional wheel assembly includes a drive motor, a drive shaft, a single diaphragm coupling, a driven shaft, a motor base, bearings, and omnidirectional wheels;

[0038] The drive motor is fixed on a motor base connected to the lower plate or frame, and the output end of the drive motor is connected to the drive shaft. The drive shaft is flexibly connected to the driven shaft through a single diaphragm coupling, and the omnidirectional wheel is fixed at the end of the driven shaft. The driven shaft is also nested with two bearings installed in parallel. The outer ring of the bearing is fixed in the bearing hole preset in the motor base, and the inner ring of the bearing is interference-fitted with the driven shaft.

[0039] The omnidirectional wheel is a polyurethane-coated roller structure with rollers evenly distributed around its circumference, enabling omnidirectional movement.

[0040] The mounting holes of the single diaphragm coupling are D-shaped holes, which mate with the corresponding D-shaped shaft segments of the driving shaft and the driven shaft, respectively.

[0041] Furthermore, the single-diaphragm coupling is a flexible coupling, and its hub is also equipped with a set screw, which can be tightened to press against the shaft body. Specifically, the single-diaphragm coupling is a single-piece flexible coupling made of stainless steel, which has slight axial, radial, and angular compensation capabilities. It can still ensure smooth torque transmission even when there are slight machining or assembly errors between the driving shaft and the driven shaft, avoiding vibration, noise, or premature bearing wear caused by misalignment of the shafts. This improves the reliability and lifespan of the wheel set and reduces the stringent requirements for machining precision.

[0042] Specifically, the multiple omnidirectional wheel sets consist of three groups, each located at a vertex of an equilateral triangle, with an included angle of 120° between adjacent wheel sets. The center-to-center distance between the wheel sets can reach 460mm, forming a stable three-point support structure, effectively improving the chassis's stability and anti-rollover capability when driving on uneven ground. Compared to the traditional four-wheel rectangular layout, the three-omnidirectional wheel structure of this utility model significantly reduces the overall chassis dimensions, enabling it to achieve omnidirectional movement without blind spots even in pharmacy aisles with a width of only 800mm to 1000mm, including multiple movement modes such as 360° rotation on the spot, lateral translation, and diagonal driving, greatly enhancing its maneuverability in confined spaces.

[0043] The slide motor is a servo motor fixed to the bottom of the slide; a right-angled triangular rib is provided on the rear side of the slide, one end of which is connected to the slide and the other end is fixed to the top plate, forming a spatial triangular support structure; this effectively enhances the slide's resistance to bending and torsion when subjected to eccentric loads (such as when a robot's single arm extends to lift a heavy object), prevents the risk of overturning due to the forward shift of the center of gravity, and ensures the structural stability of the whole machine during dynamic operation.

[0044] Specifically, the slide is located in the rear area of ​​the chassis frame and is used to support the upper body of the humanoid robot, enabling its height-adjustable movement. The slider, as the supporting interface for the upper body of the humanoid robot, can be securely connected to the robot base via external fasteners.

[0045] The slider has a lifting stroke range of 0.9 meters, the adjustment speed is controllable, and the positioning accuracy can reach ±

[0046] With a thickness of 0.1mm, and in conjunction with the upper body of the humanoid robot, when the slide is at its lowest position, the robot's working height can be as low as near the ground, i.e., 0m, making it easy to retrieve medicine from lower-level medicine cabinets; when the slide is raised to its highest position, the robot's maximum working height can reach 1.7m, meeting the needs of retrieving and placing medicines from higher-level storage shelves, greatly expanding the robot's working space.

[0047] The medicine box holder is a frame with an open slot, and inner guide slopes for guiding the medicine box are provided on both sides of the upper edge of the open slot; the bottom of the medicine box holder is connected to the frame or lower plate.

[0048] Specifically, the medicine box mounting frame is assembled from high-strength engineering plastic parts using a 3D printing process, forming a rectangular channel-shaped frame structure with an open top. This frame is bolted to an aluminum profile crossbeam at the front of the chassis, ensuring a stable structure and facilitating disassembly and maintenance. Furthermore, the internal cavity dimensions of the medicine box storage unit are designed as follows: 300mm in length, 200mm in width, and 240mm in height, adapting to the external dimensions of a standard medical medicine dispensing box.

[0049] The battery is plugged into the battery compartment for quick replacement; the battery is electrically connected to the slide motor and the drive motor respectively, providing power to them.

[0050] Specific implementation examples are given below.

[0051] like Figures 1 to 4 As shown, a pharmacy robot with an integrated medicine box includes a chassis 1, an omnidirectional wheel assembly 2, a slide 3, and a medicine box 41. The components achieve high integration, lightweighting, and high reliability through precision assembly and optimized spatial layout, making it suitable for automated drug delivery operations in narrow spaces such as hospital pharmacies.

[0052] Reference Figure 1 and Figure 2 The chassis 1 is an integral load-bearing structure, consisting of a frame 11, a top plate 12, and a bottom plate 13 forming an upper and lower closed rigid box structure; wherein, the frame 11 is assembled from 2020 series industrial aluminum alloy profiles using angle brackets and M4 stainless steel bolts, possessing good modularity and structural strength.

[0053] The top plate 12 is 8mm thick and made of T700 grade high modulus carbon fiber composite material. It is fixed to the top of the aluminum profile frame and serves as both a structural top cover and a mounting base for the slide table 3. The bottom plate 13 is 10mm thick and also made of T700 grade carbon fiber material. It is fixed to the bottom of the aluminum profile frame and is used to support the three omnidirectional wheel sets 2. Space is reserved on its left and right sides for mounting positions of devices such as controllers, drivers, and communication modules.

[0054] The slide 3 is located in the rear area of ​​the chassis 1 and is used to support and adjust the height of the humanoid robot's upper body. The base of the slide 3 is fixed to the top plate 12 and is equipped with a slider 31. This slider serves as a standard interface and can be connected to the humanoid robot (upper body) via M6 bolts to achieve quick installation and disassembly.

[0055] Specifically, slider 31, as a linear motion component, can slide precisely up and down along the guide rail. Its lifting stroke is 0.9 meters, driven by a servo motor fixed to the bottom of the slide table, and the positioning accuracy can reach ±0.1mm. By controlling the lifting of the slide table, the robot's working height can be continuously adjusted within the range of 0m to 1.7m above the ground, easily covering the working space from the ground to high-rise shelves.

[0056] Specifically, to cope with the huge overturning moment generated when the robot's upper body is working (especially when a single arm extends significantly to lift heavy objects), a triangular rib plate 32 is installed on the rear side of the slide table 3. This triangular rib plate is CNC machined from a 6061-T6 aluminum alloy block and is in the shape of a right triangle. One right-angled side is connected to the slide table by bolts, while the other right-angled side is fixed to the top plate 12, forming a rigid spatial triangular support structure. This greatly enhances the slide table's ability to resist forward tilting and torsional loads, ensuring overall stability under dynamic operation.

[0057] The medicine box mounting bracket 41 is located on the front side of the chassis 1 and consists of a high-strength engineering plastic frame manufactured using a 3D printing process. This frame is bolted to an aluminum profile crossbeam at the front of the chassis, forming a standard rectangular slot with an open top. Its internal cavity dimensions are 300mm long, 200mm wide, and 240mm high, suitable for standard medicine boxes 41 commonly used in hospital pharmacies.

[0058] The medicine box holder 41 has slots on both sides of its inner side, and guide ramps on both sides of the slots with an inclination angle of 45°. When the robot arm grabs the medicine box and approaches the slot, the edge of the medicine box contacts the guide ramps on both sides of the slot. Due to the guiding effect of the ramps, the medicine box will be subjected to a component force towards the center of the slot. This component force will push the medicine box to automatically adjust its position. As the robot arm continues to descend, the medicine box gradually slides into the slot under the guidance of the ramps, completing the introduction of the medicine box.

[0059] Specifically, after the humanoid robot completes the sorting of medicines and places them into the medicine box, the entire medicine box 41 can be clamped and securely placed in the medicine box holder 4, thus separating the medicine box from the robot body. Afterward, regardless of how the robot arm moves or how the chassis moves, the medicine box 41 remains stably restrained within the medicine box holder 41, effectively preventing the risk of medicines spilling due to shaking during high-speed transportation.

[0060] Reference Figure 2 Battery 14 is placed in the battery compartment, which is located in the front-middle area of ​​the chassis, specifically in the space between the front of the slide 3 and the rear of the medicine box 41. Battery 14 is plugged into the battery compartment, allowing for quick replacement to meet the needs of continuous pharmacy operations.

[0061] Optimally, after center of gravity simulation optimization, when the battery compartment is in the optimized position, the centers of gravity of the three major components—battery, medicine tank, and robot—are balanced, so that the overall center of gravity projection is tightly around the geometric center of the chassis. In this way, the robot can maintain the stability of the entire body whether it is stationary or accelerating or turning, greatly reducing the risk of tipping over.

[0062] Reference Figure 1 Three omnidirectional wheel sets 2 are arranged in an equilateral triangle below the base plate 13, with a center distance of 460mm between adjacent wheel sets and an included angle of 120°, forming a stable three-point support structure. Compared with traditional four-wheel chassis, this layout significantly reduces the overall dimensions, enabling omnidirectional movement without blind spots even in pharmacy aisles with a width of only 800mm to 1000mm. This includes various movement modes such as 360° rotation on the spot, lateral translation, and diagonal driving, greatly enhancing maneuverability in complex environments.

[0063] Reference Figure 3 and Figure 4 Each omnidirectional wheel assembly 2 specifically includes: a drive motor 21, a drive shaft 22, a single diaphragm coupling 23, a driven shaft 24, a motor base 25, a high-load bearing 26, and an omnidirectional wheel 27.

[0064] Specifically, the drive motor 21 is fixed to the motor base 25 machined by CNC by bolts, and the output shaft of the drive motor 21 is connected to the drive shaft 22 by bolts. The drive shaft 22 is then flexibly connected to the driven shaft 24 by a stainless steel single diaphragm coupling 23.

[0065] The driven shaft 24 passes through a pair of high-load bearings 26, which are precisely pressed into the bearing mounting holes on the motor base 25. The driven shaft 24 and the inner ring of the bearings are interference-fitted. The omnidirectional wheel 27 is fixed to the end of the driven shaft 24 by bolts.

[0066] Specifically, the omnidirectional wheel 27 is a polyurethane-coated roller structure with multiple freely rotating rollers evenly distributed around its circumference, enabling it to roll forward and backward and slide laterally, thus achieving omnidirectional movement of the chassis. The mounting holes of the single diaphragm coupling 23 adopt a D-type hole design, which mates with the corresponding D-type shaft sections of the drive shaft 22 and the driven shaft 24, effectively preventing relative rotation between the coupling and the two shafts. Furthermore, the coupling hub is equipped with set screws, which, when tightened, press against the shaft body to further ensure the connection's firmness, thereby achieving a tight, slip-free power transmission.

[0067] The core advantage of the single diaphragm coupling 23 lies in its flexibility, which can effectively compensate for axial, radial and angular deviations between the motor shaft and the driven shaft caused by machining or assembly errors, ensuring smooth power transmission, significantly reducing vibration and noise, and extending the life of bearings and motors.

[0068] This utility model facilitates the high integration of the chassis, humanoid robot interface, medicine box storage, power system, and control unit into one unit, achieving high integration and modularity, compact structure, complete functions, and easy maintenance and upgrades.

[0069] The embodiments given above are preferred examples of implementing this utility model, and this utility model is not limited to the above embodiments. Any non-essential additions or substitutions made by those skilled in the art based on the technical features of the technical solution of this utility model shall fall within the protection scope of this utility model.

Claims

1. A pharmacy robot with an integrated medicine box, comprising a chassis, characterized in that, The chassis is equipped with a slide platform that can carry the upper body of the robot, and an omnidirectional wheel assembly is located below the chassis; The chassis includes a frame, and an upper plate and a lower plate on the frame; a slide is set at one end of the upper plate, and a medicine box fixing frame adapted to the medicine box is set at the other end; the battery compartment is set between the slide and the medicine box fixing frame; the slide includes a track, and a slider driven by the slide motor is embedded in the track, and the slider is provided with a connection hole adapted to the upper body of the robot. The omnidirectional wheel assembly includes an omnidirectional wheel driven by a drive motor through a linkage structure. The drive motor is powered by a battery located in the battery compartment. Multiple freely rotating rollers are evenly distributed around the circumference of the omnidirectional wheel. Multiple omnidirectional wheel assemblies are connected to the lower plate respectively.

2. A pharmacy robot with an integrated medicine box as described in claim 1, characterized in that, The upper plate and the lower plate are fixed to the top and bottom of the frame, respectively, forming a closed rigid box structure; the lower plate has reserved mounting positions for multiple components.

3. A pharmacy robot with an integrated medicine box as described in claim 1, characterized in that, The omnidirectional wheel assembly includes a drive motor, a drive shaft, a single diaphragm coupling, a driven shaft, a motor housing, bearings, and omnidirectional wheels; The drive motor is fixed on a motor base connected to the lower plate or frame, and the output end of the drive motor is connected to the drive shaft. The drive shaft is flexibly connected to the driven shaft through a single diaphragm coupling, and the omnidirectional wheel is fixed at the end of the driven shaft. The driven shaft is also nested with two bearings installed in parallel. The outer ring of the bearing is fixed in the bearing hole preset in the motor base, and the inner ring of the bearing is interference-fitted with the driven shaft.

4. A pharmacy robot with an integrated medicine box as described in claim 3, characterized in that, The omnidirectional wheel is a polyurethane-coated roller structure with rollers evenly distributed on the circumference of the omnidirectional wheel. The mounting holes of the single diaphragm coupling are D-shaped holes, which mate with the corresponding D-shaped shaft segments of the driving shaft and the driven shaft, respectively.

5. A pharmacy robot with an integrated medicine box as described in claim 4, characterized in that, The single diaphragm coupling is a flexible coupling, and its hub is also provided with a set screw, which can be tightened to press against the shaft body.

6. A pharmacy robot with an integrated medicine box as described in claim 1 or 3, characterized in that, The multiple omnidirectional wheel sets consist of three sets, each located at a vertex of an equilateral triangle, with an included angle of 120° between adjacent sets.

7. The pharmacy robot with an integrated medicine box as described in claim 1, characterized in that, The slide motor is a servo motor fixed to the bottom of the slide; a right-angled triangular rib is provided on the rear side of the slide, one end of which is connected to the slide and the other end is fixed to the top plate, forming a spatial triangular support structure.

8. The pharmacy robot with an integrated medicine box as described in claim 1, characterized in that, The medicine box holder is a frame with an open slot, and inner guide slopes for guiding the medicine box are provided on both sides of the upper edge of the open slot; the bottom of the medicine box holder is connected to the frame or lower plate.

9. The pharmacy robot with an integrated medicine box as described in claim 1, characterized in that, The battery and battery compartment are connected by a plug-in connection, and the battery is electrically connected to the slide motor and drive motor respectively.

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