CN111185912A

CN111185912A - Mechanical arm medicine cabinet based on visual identification

Info

Publication number: CN111185912A
Application number: CN202010166771.3A
Authority: CN
Inventors: 张彦峰; 梅全新; 王彦博; 杜家鹏; 易志涵; 周建
Original assignee: Beijing Boyan Shengke Technology Co Ltd
Current assignee: Beijing Boyan Shengke Technology Co Ltd
Priority date: 2020-03-11
Filing date: 2020-03-11
Publication date: 2020-05-22

Abstract

The invention discloses a mechanical arm medicine cabinet based on visual recognition, which relates to the field of medicine selling equipment and comprises a cabinet body, a medicine transfer box, a mechanical arm and a mechanical arm displacement mechanism, wherein a support is arranged in the cabinet body, a plurality of clapboards used for placing medicines are arranged on the support, a medicine outlet and a medicine outlet electric door mechanism used for controlling the opening and closing of the medicine outlet are arranged on the side wall of the cabinet body, the medicine transfer box is arranged in the cabinet body and provided with an input port and an output port, and the input port is provided with a medicine inlet electric door mechanism used for controlling the opening and closing of the input port; the mechanical arm is used for sucking the medicines placed on the partition plate and conveying the medicines into the medicine transfer box; the mechanical arm displacement mechanism is connected with the mechanical arm and used for driving the mechanical arm to move along the vertical direction and the horizontal direction; due to the fact that the sucking discs are used for grabbing the medicines, the medicine selling machine is not limited by the specifications of the medicines, and automatic selling of the medicines with different specifications can be achieved.

Description

Mechanical arm medicine cabinet based on visual identification

Technical Field

The invention relates to the field of medicine selling equipment, in particular to a medicine cabinet driving a mechanical arm based on visual identification.

Background

The all-weather 24-hour service is becoming a more and more life requirement for people, including night medicine purchase. However, at present, the development situations of 24-hour drugstores, self-built distribution teams, night medicine selling windows and the like cannot be completely matched with the demand.

At present, the automatic vending device mainly uses the automatic vending of food or beverage, and the packaging and the appearance size of the food or beverage are uniform, so that the automatic vending device is suitable for vending by the vending device arranged in a place where people flow greatly. However, since the types of medicines are various and the shapes and sizes of the outer packages are various, the updating and the delivery of the medicines are completed by professional staff in a pharmacy. Therefore, the conventional automatic vending apparatus cannot satisfy the demand for automatic vending of medicines.

Disclosure of Invention

Therefore, the invention provides a medicine cabinet driving a mechanical arm based on visual identification, which solves the problem that the existing automatic vending device cannot meet the requirement of automatic medicine vending.

In order to achieve the above object, the present invention provides a medicine cabinet with a mechanical arm based on visual recognition, the medicine cabinet with the mechanical arm based on visual recognition includes a cabinet body, a support is disposed inside the cabinet body, a plurality of partition boards for placing medicines are disposed on the support, a medicine outlet and a medicine outlet electric door mechanism for controlling the medicine outlet to open and close are disposed on a side wall of the cabinet body, and the medicine cabinet with the mechanical arm based on visual recognition further includes:

the medicine transfer box is arranged in the cabinet body and provided with an input port and an output port, and the input port is provided with a medicine feeding electric door mechanism for controlling the input port to be opened and closed;

the mechanical arm is used for conveying the medicines placed on the partition plate into the medicine transfer box;

and the mechanical arm displacement mechanism is connected with the mechanical arm and is used for driving the mechanical arm to move along the vertical direction and the horizontal direction.

Further, the front end and the rear end of the cabinet body are provided with sliding doors.

Further, the mechanical arm displacement mechanism comprises a horizontal displacement mechanism and a vertical displacement mechanism, the horizontal displacement mechanism comprises an upper horizontal guide rail, a driving wheel guide rail, a base and at least one horizontal displacement motor, the upper horizontal guide rail and the driving wheel guide rail are arranged on the upper portion of the support in parallel at intervals, a roller in rolling fit with the upper horizontal guide rail is arranged at the bottom of the base, the horizontal displacement motor is arranged at the bottom of the base, and a driving wheel in contact with the driving wheel guide rail is sleeved on a rotating shaft of the horizontal displacement motor; the vertical displacement mechanism is connected with the base and used for driving the mechanical arm to move in the vertical direction.

Further, vertical displacement mechanism includes vertical displacement motor, initiative reel, driven reel and vertical guide rail, the upper end and the pedestal connection of vertical guide rail, vertical displacement motor and driven reel set up on the base, the pivot of vertical displacement motor is located to the initiative reel cover, the winding has the stay cord on the initiative reel, the free end of stay cord is walked around and is connected with the arm behind the driven reel.

Further, horizontal displacement mechanism still includes bottom horizontal guide rail, bottom horizontal guide rail sets up in the lower part of support, the lower extreme of vertical guide rail is provided with a plurality of gyro wheels with bottom horizontal guide rail roll complex.

Further, the mechanical arm comprises a mechanical arm shell, a sucker, an air pump, a telescopic arm mechanism and a telescopic arm extension mechanism, wherein one side of the mechanical arm shell, which is close to the vertical guide rail, is provided with an arm outlet and a plurality of rollers which are in rolling fit with the vertical guide rail, the mechanical arm shell is connected with the free end of the pull rope, the air pump, the telescopic arm and the telescopic arm extension mechanism are all arranged in the mechanical arm shell, the telescopic arm extension mechanism comprises a guide groove, a first lead screw motor and a first connecting piece, the guide groove is arranged on the inner wall of the mechanical arm shell, the first connecting piece is provided with the rollers which are in rolling fit with the guide groove, the shell of the first lead screw motor is connected with the inner wall of the mechanical arm shell, a lead screw nut which is in threaded fit with the lead screw is arranged on the lead screw of the first lead screw motor, and, the first connecting piece is connected with one side of the telescopic arm, the sucker is arranged at one end, close to the arm outlet, of the telescopic arm mechanism, and the air outlet of the sucker is communicated with the air inlet of the air pump through a pipeline.

Furthermore, the medicine transfer box is arranged on the partition plate, and the input port is arranged on one side, close to the mechanical arm, of the medicine transfer box.

Further, it advances medicine electrically operated gate mechanism including advancing medicine electrically operated gate, two advance medicine door guide rails, second connecting piece and second lead screw motor, two advance medicine door guide rail one-to-one and set up in the both sides of input port, advance medicine electrically operated gate and advance medicine door guide rail sliding fit through gyro wheel and two, second lead screw motor sets up in the bottom of baffle, be provided with on the lead screw of second lead screw motor with lead screw thread fit's second screw-nut, second screw-nut passes through the second connecting piece and advances the medicine electrically operated gate and be connected.

Further, the medicine outlet electric door mechanism comprises a medicine outlet electric door, a rack, a driving gear and a driving motor, wherein the medicine outlet electric door is connected with the side wall of the cabinet body through two sliding rails and seals the medicine outlet; the rack is vertically arranged on the inner side of the medicine discharging electric door, the shell of the driving motor is connected with the side wall of the cabinet body, the rotating shaft of the driving motor is connected with the driving gear, and the driving gear is meshed with the rack.

Further, based on visual identification drive arm medicine cabinet includes computer and visual identification equipment, the computer is embedded in on the lateral wall of the cabinet body, visual identification equipment includes a main camera and two supplementary cameras, main camera sets up on the arm, two supplementary camera sets up on the support, the computer respectively with main camera, supplementary camera electric connection.

The invention has the following advantages: the medicine cabinet based on the visual identification driving mechanical arm drives the mechanical arm to move in the vertical and horizontal directions through the mechanical arm displacement mechanism, the mechanical arm sucks the medicine placed on the partition plate and conveys the medicine into the medicine transfer box, and the medicine outlet is controlled to be opened and closed through the medicine outlet electric door mechanism, so that automatic medicine taking and medicine discharging are realized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.

FIG. 1 is a schematic structural diagram of a medicine cabinet based on a visual recognition driving mechanical arm provided by the invention;

FIG. 2 is a schematic structural view of a medicine cabinet provided by the invention and driven by a mechanical arm based on visual recognition after a cabinet body is removed;

FIG. 3 is a schematic view of a top view of a mechanical arm medicine cabinet based on visual recognition according to the present invention after the cabinet is removed;

FIG. 4 is a schematic perspective view of a robotic arm provided in accordance with the present invention with the housing of the arm removed;

fig. 5 is a rear view of the robot arm of the present invention with the robot arm housing removed.

Description of reference numerals: 10. a cabinet body; 11. a support; 12. a partition plate; 13. a medicine outlet; 14. an electric medicine discharging door; 15. a sliding door; 20. a medicine transfer box; 21. a medicine feeding electric door mechanism; 22. a medicine inlet electric door; 23. a medicine inlet door guide rail; 24. a second connecting member; 25. a second lead screw motor; 30. a mechanical arm; 31. a mechanical arm housing; 32. a suction cup; 34. a telescopic arm mechanism; 35. a guide groove; 36. a first lead screw motor; 37. a first connecting member; 40. a mechanical arm displacement mechanism; 41. an upper horizontal guide rail; 42. a drive wheel guide rail; 43. a base; 44. a horizontal displacement motor; 45. a drive wheel; 47. an active reel; 48. a driven reel; 49. a vertical guide rail; 50. a computer; 51. a bottom horizontal guide rail; 60. a receipt printer.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, drive arm medicine cabinet based on visual identification includes the cabinet body 10, medicine transfer case 20, arm 30 and arm displacement mechanism 40, the inside of the cabinet body 10 is provided with support 11, be provided with a plurality of baffles 12 that are used for placing the medicine on the support 11, a plurality of baffles 12 level and interval set up, be provided with out medicine mouth 13 on the lateral wall of the cabinet body 10 and be used for controlling the electronic door 14 mechanism of going out medicine that goes out medicine mouth 13 and open and close, the front and back end of the cabinet body 10 is provided with push-and-pull door 15, it can make things convenient for the staff to maintain and supply the medicine to the medicine cabinet to set up push-and-pull. The computer 50 is embedded in the side wall of the cabinet body 10, a user can select required medicines through a display of the computer 50 when taking medicines, the ticket printer 60 is further arranged inside the cabinet body 10, the ticket outlet is correspondingly arranged on the side wall of the cabinet body 10, and the ticket printer 60 is electrically connected with the computer 50.

As shown in fig. 2, the medicine transfer box 20 is disposed on the partition 12, the medicine transfer box 20 is provided with an input port and an output port, the input port is disposed on one side of the medicine transfer box 20 close to the mechanical arm 30, and the input port is provided with a medicine inlet electric door mechanism 21 for controlling the input port to open and close. The medicine inlet electric door mechanism 21 comprises a medicine inlet electric door 22, two medicine inlet door guide rails 23, a second connecting piece 24 and a second screw rod motor 25, the two medicine inlet door guide rails 23 are arranged on two sides of an input port in a one-to-one correspondence manner, the two medicine inlet door guide rails 23 are horizontally arranged, a roller is arranged on the medicine inlet electric door 22 and is in rolling fit with the medicine inlet door guide rails 23, the second screw rod motor 25 is arranged at the bottom of the partition plate 12, a second screw rod nut in threaded fit with the screw rod is arranged on the screw rod of the second screw rod motor 25 and is connected with the medicine inlet electric door 22 through the second connecting piece 24, the second screw rod motor 25 is electrically connected with the computer 50, and the computer 50 controls the rotation and stop of the second screw rod motor 25, when the second screw motor 25 rotates, the second screw motor 25 drives the medicine inlet electric door 22 to reciprocate along the length direction of the medicine inlet door guide rail 23, so that the medicine inlet electric door 22 is opened and closed.

Go out medicine electrically operated gate mechanism and include a medicine electrically operated gate 14, rack, driving gear and driving motor, two vertical and interval settings of slide rail are on the lateral wall of the cabinet body 10, go out medicine electrically operated gate 14 and two slide rail connections, go out medicine electrically operated gate 14 reciprocating motion from top to bottom. The rack is vertically arranged on the inner side of the medicine discharging electric door 14, the shell of the driving motor is connected with the side wall of the cabinet body 10, the rotating shaft of the driving motor is connected with the driving gear, the driving gear is meshed with the rack, the driving motor is electrically connected with the computer 50, the computer 50 controls the driving motor to rotate and stop during working, and when the driving motor rotates, the driving gear drives the medicine discharging electric door 14 to reciprocate up and down through the rack, so that the medicine discharging electric door 14 is opened and closed.

As shown in fig. 2 and 3, the robot arm displacement mechanism 40 is connected to the robot arm 30, the robot arm displacement mechanism 40 is used for driving the robot arm 30 to move in vertical and horizontal directions, the robot arm displacement mechanism 40 includes a horizontal displacement mechanism and a vertical displacement mechanism, the horizontal displacement mechanism includes an upper horizontal guide rail 41, a driving wheel guide rail 42, a base 43 and two horizontal displacement motors 44, the upper horizontal guide rail 41 and the driving wheel guide rail 42 are arranged in parallel at intervals on the upper portion of the support 11, the base 43 is located above the upper horizontal guide rail 41, the bottom of the base 43 is provided with a roller which is in rolling fit with the upper horizontal guide rail 41, the upper horizontal guide rail 41 is in a groove-shaped structure, the roller at the bottom of the base 43 is located in the upper horizontal guide rail 41, and the base 43 can reciprocate along the. The horizontal displacement motor 44 is disposed at the bottom of the base 43, the horizontal displacement motor 44 is electrically connected to the computer 50, the computer 50 controls the horizontal displacement motor 44 to rotate and stop, in the embodiment, the number of the horizontal displacement motors 44 is two, but the number of the horizontal displacement motors 44 is not limited thereto, and may be one, three or more, a driving wheel 45 contacting with the driving wheel guide rail 42 is sleeved on a rotating shaft of each horizontal displacement motor 44, and when the horizontal displacement motor 4 drives the driving wheel 45 to rotate, the base 43 can reciprocate along the length direction of the driving wheel guide rail 42.

Vertical displacement mechanism is connected with base 43, vertical displacement mechanism is used for driving manipulator 30 along vertical direction motion, vertical displacement mechanism includes vertical displacement motor, initiative reel 47, driven reel 48 and vertical guide rail 49, vertical guide rail 49's upper end is connected with base 43, vertical displacement motor and driven reel 48 set up on base 43, vertical displacement motor is used for driving manipulator 30 along vertical direction reciprocating motion, vertical displacement motor and 50 electric connection of computer, by the vertical displacement motor rotation of 50 control of computer, the pivot of vertical displacement motor is located to the initiative reel 47 cover, the winding has the stay cord on the initiative reel 47, the free end of stay cord is connected with arm casing 31 after bypassing driven reel 48. When the vertical displacement motor rotates, the vertical displacement motor drives the mechanical arm 30 to reciprocate in the vertical direction through the pull rope. In order to improve the stability of the mechanical arm displacement mechanism 40 during movement, the horizontal displacement mechanism in this embodiment further includes a bottom horizontal guide rail 51, the bottom horizontal guide rail 51 is disposed at the lower portion of the bracket 11, and the lower end of the vertical guide rail 49 is provided with a plurality of rollers in rolling fit with the bottom horizontal guide rail 51.

As shown in fig. 4 and 5, the mechanical arm 30 includes a mechanical arm housing 31, a suction cup 32, an air pump, a telescopic arm mechanism 34 and a telescopic arm extending mechanism, one side of the mechanical arm housing 31 close to the vertical guide rail 49 is provided with an arm outlet and a plurality of rollers in rolling fit with the vertical guide rail 49, the mechanical arm housing 31 is connected with the free end of the pull rope, a storage plate is horizontally arranged on the lower edge of the arm outlet, and the storage plate is used for bearing the medicine sucked by the suction cup 32. The air pump, the telescopic arm mechanism 34 and the telescopic arm extending mechanism are all arranged in the mechanical arm shell 31, the telescopic arm extending mechanism comprises a guide groove 35, a first lead screw motor 36 and a first connecting piece 37, the guide groove 35 is arranged on the inner wall of the mechanical arm shell 31, the first connecting piece 37 is provided with a roller wheel in rolling fit with the guide groove 35, the shell of the first lead screw motor 36 is connected with the inner wall of the mechanical arm shell 31, the first lead screw motor 36 is electrically connected with a computer 50, the computer 50 controls the rotation and stop of the first lead screw motor 36, a first lead screw nut in threaded fit with a lead screw is arranged on the lead screw of the first lead screw motor 36, the first lead screw nut is connected with the first connecting piece 37, the first connecting piece 37 is connected with one side of the telescopic arm, the suction cup 32 is arranged at one end of the telescopic arm mechanism 34 close to an arm outlet, and an air outlet of the, the air pump is electrically connected with the computer 50, and the computer 50 controls the operation and stop of the air pump. When the first screw motor 36 rotates, the first screw motor 36 drives the screw to rotate, and the telescopic arm mechanism 34 reciprocates along the length direction of the screw under the matching of the screw and the first screw nut. Telescopic boom mechanism 34 includes two telescopic booms and telescopic boom driving motor, and two telescopic booms cup joint the connection, and the inside of two telescopic boom covers is provided with the reel, and telescopic boom driving motor sets up in arm housing 31, and the cover is equipped with initiative reel 47 in telescopic boom driving motor's the pivot, and initiative reel 47 passes through wire rope to be connected with driven reel 48, and when telescopic boom driving motor rotated, telescopic boom driving motor passed through wire rope control telescopic boom and stretches out and draws back.

The working principle is as follows: 1. when the computer 50 receives a medicine taking instruction from the user, the robot arm displacement mechanism 40 conveys the robot arm 30 to a predetermined position; 2. the telescopic arm mechanism 34 is extended to deliver the suction cup 32 beside the target medicine; 3. the air pump starts to work, the sucker 32 sucks the target medicine, and the telescopic arm mechanism 34 retracts into the mechanical arm shell 31, so that the target medicine is conveyed to the object placing plate; 4. the robot arm displacement mechanism 40 operates again to transport the robot arm 30 to the input port; 5. the second screw motor 25 rotates to drive the medicine feeding electric door 22 to be opened, the telescopic arm mechanism 34 extends to convey the suction cup 32 and the target medicine into the medicine transfer box 20, the air pump stops working, and at the moment, the medicine is separated from the suction cup 32; 6. the telescopic arm mechanism 34 retracts into the mechanical arm shell 31, the second screw motor 25 rotates to drive the medicine inlet electric door 22 to close, and at the moment, the medicine stays in the medicine transferring box 20; 7. the driving motor drives the medicine discharging electric door 14 to open, and the user can take the medicine in the medicine transferring box 20.

Further, in a preferred embodiment of the present invention, the medicine cabinet driven by the mechanical arm based on visual recognition comprises a computer 50 and a visual recognition device, the visual recognition device comprises a main camera (not shown) and two auxiliary cameras (not shown), the main camera is disposed on the mechanical arm, the two auxiliary cameras are disposed on the support 11, and the computer 50 is electrically connected to the main camera and the auxiliary cameras respectively. The visual recognition equipment mainly simulates the visual principle of human eyes, positions a target medicine by utilizing a trigonometry method, acquires depth information for three-dimensional reconstruction and the like, and can obtain the position of an object at the intersection part of the visual field ranges of two auxiliary cameras by utilizing an active trigonometry method. The computer for identifying and processing the target medicine and the image mainly comprises the following steps:

1. image filtering

The purpose of image filtering is to eliminate or suppress noise in an image and reduce the influence of the noise on subsequent image processing. There are many kinds of noise generation, which may be caused by signal interference during image transmission, or may be caused by camera itself, or may be jittered during shooting, etc.

2 edge extraction

In order to identify the target medicine, the filtered image is subjected to edge extraction, which is a basic problem in digital image processing and machine vision, and is prepared for subsequent feature extraction. The advantage of performing edge extraction on the image is that the edge features can be used to represent the whole image, so that the data volume in the memory can be greatly reduced, some other features which are considered to be irrelevant to the application in the image are removed, and only the essential structural features of the image which are useful for the application are reserved. The edge belongs to the high-frequency information of the image and is the position where the gray value jumps. The image can be seen as a binary function with respect to pixel coordinates ((x, y), the digital image being a binary discrete function.

3 contour extraction

The edge detection only extracts the edge information, but does not integrate the pixel points forming the edge, namely forming a set. In order to facilitate subsequent ellipse fitting and improve efficiency, collected edges are connected to form a set before fitting, so that each set can be independently performed during ellipse fitting and other operations, and interference of other sets on fitting effects is reduced. The contour is generally formed by a series of points in the image, and may be a group of points forming an edge, or some feature in the image, such as a curve. The outline may be closed or broken, the closed outline is the edge of a certain area, and the broken outline may be some feature in the image, such as a handwritten character, a line of the handwritten character, and the like.

4. Feature extraction

The corresponding features of an object of one type, which are distinguished from other objects of another type, are called features, and in machine vision, each image has its own unique features, such as color, edge, texture, brightness, etc., by which a particular image information can be represented. The image features are generally shape features describing an object and texture features describing surface color or gray level change of the object, and the shape features and the color features of the object are mainly identified and extracted in experiments.

And after the computer identifies the images through the steps, the mechanical arm is controlled to acquire the goods channel and the corresponding commodity information, so that accurate grabbing is realized.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. The utility model provides a drive arm medicine cabinet based on visual identification, drive arm medicine cabinet based on visual identification includes the cabinet body, the inside of the cabinet body is provided with the support, be provided with a plurality of baffles that are used for placing the medicine on the support, be provided with out the medicine mouth on the lateral wall of the cabinet body and be used for controlling the play medicine electric door mechanism that the medicine mouth was opened and was closed, its characterized in that, drive arm medicine cabinet based on visual identification still includes:

2. The mechanical arm medicine cabinet based on visual identification as claimed in claim 1, wherein the front end and the rear end of the cabinet body are provided with sliding doors.

3. The medicine cabinet with the mechanical arm based on the visual recognition as claimed in claim 1 or 2, wherein the mechanical arm displacement mechanism comprises a horizontal displacement mechanism and a vertical displacement mechanism, the horizontal displacement mechanism comprises an upper horizontal guide rail, a driving wheel guide rail, a base and at least one horizontal displacement motor, the upper horizontal guide rail and the driving wheel guide rail are arranged on the upper portion of the support in parallel and at intervals, the bottom of the base is provided with a roller which is in rolling fit with the upper horizontal guide rail, the horizontal displacement motor is arranged on the bottom of the base, and a rotating shaft of the horizontal displacement motor is sleeved with a driving wheel which is in contact with the driving wheel guide rail; the vertical displacement mechanism is connected with the base and used for driving the mechanical arm to move in the vertical direction.

4. The mechanical arm medicine cabinet based on visual identification as claimed in claim 3, wherein the vertical displacement mechanism comprises a vertical displacement motor, a driving reel, a driven reel and a vertical guide rail, the upper end of the vertical guide rail is connected with the base, the vertical displacement motor and the driven reel are arranged on the base, the driving reel is sleeved on a rotating shaft of the vertical displacement motor, a pull rope is wound on the driving reel, and the free end of the pull rope is connected with the mechanical arm after bypassing the driven reel.

5. The medicine cabinet with a mechanical arm based on visual identification as claimed in claim 4, wherein the horizontal displacement mechanism further comprises a bottom horizontal guide rail, the bottom horizontal guide rail is arranged at the lower part of the support, and the lower end of the vertical guide rail is provided with a plurality of rollers in rolling fit with the bottom horizontal guide rail.

6. The medicine cabinet with mechanical arm based on visual identification according to claim 5, wherein the mechanical arm comprises a mechanical arm shell, a sucker, an air pump, a telescopic arm mechanism and a telescopic arm extension mechanism, one side of the mechanical arm shell close to the vertical guide rail is provided with an arm outlet and a plurality of rollers in rolling fit with the vertical guide rail, the mechanical arm shell is connected with the free end of the pull rope, the air pump, the telescopic arm and the telescopic arm extension mechanism are all arranged in the mechanical arm shell, the telescopic arm extension mechanism comprises a guide groove, a first lead screw motor and a first connecting piece, the guide groove is arranged on the inner wall of the mechanical arm shell, the first connecting piece is provided with the rollers in rolling fit with the guide groove, the shell of the first lead screw motor is connected with the inner wall of the mechanical arm shell, a first lead screw nut in threaded fit with the lead screw is arranged on the lead screw of the first lead screw motor, the first lead screw nut is connected with the first connecting piece, the first connecting piece is connected with one side of the telescopic arm, the sucker is arranged at one end, close to the arm outlet, of the telescopic arm mechanism, and the air outlet of the sucker is communicated with the air inlet of the air pump through a pipeline.

7. The drug cabinet with the mechanical arm based on visual identification as claimed in claim 1 or 2, wherein the drug transfer box is arranged on the partition plate, and the input port is arranged on one side of the drug transfer box close to the mechanical arm.

8. The medicine cabinet with the mechanical arm based on the visual identification as claimed in claim 7, wherein the medicine inlet electric door mechanism comprises a medicine inlet electric door, two medicine inlet door guide rails, a second connecting piece and a second lead screw motor, the two medicine inlet door guide rails are arranged on two sides of the input port in a one-to-one correspondence manner, the medicine inlet electric door is in sliding fit with the two medicine inlet door guide rails through rollers, the second lead screw motor is arranged at the bottom of the partition plate, a second lead screw nut in threaded fit with the lead screw is arranged on the lead screw of the second lead screw motor, and the second lead screw nut is connected with the medicine inlet electric door through the second connecting piece.

9. The mechanical arm medicine cabinet based on visual identification as claimed in claim 8, wherein the medicine outlet electric door mechanism comprises a medicine outlet electric door, a rack, a driving gear and a driving motor, the medicine outlet electric door is connected with the side wall of the cabinet body through two slide rails and seals the medicine outlet; the rack is vertically arranged on the inner side of the medicine discharging electric door, the shell of the driving motor is connected with the side wall of the cabinet body, the rotating shaft of the driving motor is connected with the driving gear, and the driving gear is meshed with the rack.

10. The vision recognition-based mechanical arm medicine cabinet of claim 9, wherein the vision recognition-based mechanical arm medicine cabinet comprises a computer and a vision recognition device, the computer is embedded in the side wall of the cabinet body, the vision recognition device comprises a main camera and two auxiliary cameras, the main camera is arranged on the mechanical arm, the two auxiliary cameras are arranged on the support, and the computer is electrically connected with the main camera and the auxiliary cameras respectively.