CN112972263B - Intelligent drug delivery robot and drug delivery device thereof - Google Patents

Abstract

The invention relates to a device for assisting old people in taking medicines, in particular to an intelligent medicine-taking robot and a medicine-taking device thereof. The invention comprises a hexahedral square box body, a drug delivery device, a transfer device, a constant-temperature water outlet device, a bottle cap screwing device and a control system which are arranged on the hexahedral square box body. The invention can be used for preparing the taken medicine and a cup of warm water according to the amount, thereby assisting the old to accurately take medicine and protecting the life and health of the old.

Description

Intelligent drug delivery robot and drug delivery device thereof

Technical Field

The invention relates to a device for assisting old people in taking medicines, in particular to an intelligent medicine-taking robot and a medicine-taking device thereof.

Background

In recent years, the old people in China are more and more, the population aging becomes a difficult problem facing China, and the body functions of the old people can be gradually reduced along with the aging, so that the old people have more or less diseases. Therefore, the old needs to take some medicines frequently, forgetting to take medicines, repeated taking medicines or mistaking dosages often occur under the condition of not taking care of families, which not only affects the curative effect of the medicines, but also may endanger the life of the old.

Disclosure of Invention

The invention aims to provide an intelligent drug delivery robot and a drug delivery device thereof, which can accurately control drug delivery.

The technical scheme of the invention is as follows:

An intelligent drug delivery robot comprises a six-sided square box body, a drug delivery device, a transfer device, a constant-temperature water outlet device, a bottle cap screwing device and a control system, wherein the drug delivery device, the transfer device, the constant-temperature water outlet device, the bottle cap screwing device and the control system are arranged on the six-sided square box body;

The drug delivery device includes a drug delivery swing portion and a drug delivery swing portion, and a drug pooling portion (the front, back, left, and right are defined by a person facing fig. 1 unless otherwise stated);

The spherical drug administration swinging part and the spherical drug administration swinging part in the spherical drug administration part comprise channel steel type brackets, the channel steel type brackets are fixed on the right panel of the six-sided square box body, the steering engine is fixed on the channel steel type brackets through bolts, the right end of the connecting rod is fixed on a steering engine turntable on the steering engine, the left end of the connecting rod is connected with connecting columns on the four-connection brackets, the connecting columns are supported in diamond-shaped seats, and the diamond-shaped seats are arranged on the right panel of the six-sided square box body; the four-connection support comprises a horizontal beam, a vertical beam vertical to the horizontal beam, and a connecting column vertical to the plane where the horizontal beam and the vertical beam are positioned, wherein the horizontal beam, the vertical beam and the connecting column are integrated;

The spherical drug delivery swinging part and the spherical drug delivery part in the spherical drug delivery part comprise four-connection brackets connected with the left ends of connecting rods, motor brackets are fixed on the left sides of horizontal beams of the four-connection brackets (the left sides and the right sides of the four-connection brackets are distinguished by the positions shown in fig. 15), motors are arranged on the motor brackets, gears are arranged on shafts of the motors, and the gears are meshed with racks below the gears; a slide rail is fixed on the right side of the horizontal beam of the four-connection bracket, a limit switch is arranged at the outer end of the slide rail, a slide block is arranged on the slide rail, the slide block is fixed with a channel steel bottom plate in a medicine bottle fixing part through a connecting plate, and a channel steel base in the medicine bottle fixing part is simultaneously fixed with the outer end of the rack; a box-type bracket is fixed on a vertical beam of the four-connection bracket, a steering engine is arranged in the box-type bracket, a steering engine turntable on the steering engine is connected with one end of a spherical medicine feeding plate, round medicine feeding holes are distributed on the spherical medicine feeding plate, and the thickness of the spherical medicine feeding plate is less than or equal to the diameter of the spherical medicine (so that only one medicine can be stored in the medicine feeding holes of the medicine feeding plate each time); a medicine blocking plate is arranged above the spherical medicine feeding plate and is fixed on the box-type bracket;

The tablet drug administration swinging part and the tablet drug administration swinging part in the tablet drug administration part comprise channel steel type brackets, the channel steel type brackets are fixed on the left panel of the six square box body, steering gears are fixed on the channel steel type brackets, the left ends of connecting rods are fixed on steering gear turntables on the steering gears, the right ends of the connecting rods are connected with connecting columns on the four-connection brackets, the connecting columns are supported in diamond-shaped seats, and the diamond-shaped seats are arranged on the left panel of the six square box body; the four-connection support comprises a horizontal beam, a vertical beam vertical to the horizontal beam, and a connecting column vertical to the plane where the horizontal beam and the vertical beam are positioned, wherein the horizontal beam, the vertical beam and the connecting column are integrated;

The tablet-shaped medicine feeding swinging part and the tablet-shaped medicine feeding part in the tablet-shaped medicine feeding part comprise four-way brackets connected with the right ends of the connecting rods, motor brackets are fixed on the left sides of horizontal beams of the four-way brackets, motors are arranged on the motor brackets, gears are arranged on shafts of the motors, and the gears are meshed with racks below the gears; a slide rail is fixed on the right side of the horizontal beam of the four-connection bracket, a limit switch is arranged at the outer end of the slide rail, a slide block is arranged on the slide rail, the slide block is fixed with a channel steel type base in a medicine bottle fixing part through a connecting plate, and the channel steel type base in the medicine bottle fixing part is simultaneously fixed with the outer end of the rack; a box-type bracket is fixed on a vertical beam of the four-connection bracket, a steering engine is arranged in the box-type bracket, a steering engine turntable on the steering engine is connected with one end of a sheet-shaped medicine administration plate, square medicine administration holes are distributed on the sheet-shaped medicine administration plate, and the thickness of the sheet-shaped medicine administration plate is equal to that of the sheet-shaped medicine administration plate (other structures are the same as those of the spherical medicine administration plate, so that only one piece of medicine can be stored in the medicine administration holes of the medicine administration plate each time); a medicine blocking plate is arranged above the sheet medicine feeding plate and is fixed on the box-type bracket; a sheet-shaped medicine drainage plate is arranged below the sheet-shaped medicine administration plate, square guide holes (other structures are the same as the capsule medicine drainage plate except for the shapes of the guide holes) are distributed on the sheet-shaped medicine drainage plate, and the sheet-shaped medicine drainage plate is fixed on a box-type bracket;

the capsule administration swinging part and the capsule administration swinging part in the capsule administration part comprise channel steel type brackets, the channel steel type brackets are fixed on the front panel of the six square box body, steering gears are fixed on the channel steel type brackets, the front ends of connecting rods are fixed on steering gear turntables on the steering gears, the rear ends of the connecting rods are connected with connecting columns on the four-connection brackets, the connecting columns are supported in diamond-shaped seats, and the diamond-shaped seats are arranged on the front panel of the six square box body; the four-connection support comprises a horizontal beam, a vertical beam vertical to the horizontal beam, and a connecting column vertical to the plane where the horizontal beam and the vertical beam are positioned, wherein the horizontal beam, the vertical beam and the connecting column are integrated;

The capsule feeding swinging part and the capsule feeding part in the capsule feeding part comprise four-connection brackets connected with the rear ends of the connecting rods, a motor bracket is fixed on the left side of a horizontal beam of each four-connection bracket, a motor is arranged on each motor bracket, a gear is arranged on a shaft of each motor, and the gear is meshed with a rack below the motor bracket; a slide rail is fixed on the right side of the horizontal beam of the four-connection bracket, a limit switch is arranged at the outer end of the slide rail, a slide block is arranged on the slide rail, the slide block is fixed with a channel steel type base in a medicine bottle fixing part through a connecting plate, and the channel steel type base in the medicine bottle fixing part is simultaneously fixed with the outer end of the rack; a box-type bracket is fixed on a vertical beam of the four-connection bracket, a steering engine is arranged in the box-type bracket, a steering engine turntable on the steering engine is connected with one end of a capsule drug administration plate, round drug administration holes are distributed on the capsule drug administration plate, and the thickness of the capsule drug administration plate is equal to the capsule drug administration length (other structures are the same as those of the spherical drug administration plate, so that only one drug can be stored in the drug administration holes of the drug administration plate each time); a medicine blocking plate is arranged above the capsule medicine feeding plate and is fixed on the box-type bracket; a capsule medicine drainage plate is arranged below the capsule medicine administration plate, and circular guide holes are distributed on the capsule medicine drainage plate and fixed on the box-type bracket;

the medicine bottle fixing part comprises a channel steel type base with an upward notch, a pair of arc-shaped bottle body clamps are arranged on the notch of the channel steel type base, through holes are respectively arranged on two side edges of the bottle body clamps, a polished rod penetrates through the through holes, two ends of the polished rod are respectively sleeved with springs and then are fixed on the two side edges of the channel steel type base, two ends of the springs are respectively propped against the side edges of the channel steel type base and the side edges of the bottle body clamps, and the bottle body clamps can slide on the polished rod;

The medicine collecting part comprises a channel steel type bracket fixed on the bottom panel of the six-sided square box body, a collecting box is fixed on the channel steel type bracket, an outlet at the bottom of the collecting box is aligned with a medicine outlet hole on the channel steel type bracket, three medicine guide pipes are connected on the collecting box, the upper end of each medicine guide pipe is respectively connected with a funnel, the three funnels are respectively fixed on the front panel, the left panel and the right panel of the six-sided square box body by lantern rings, and the upper parts of the three funnels respectively correspond to a medicine feeding hole of the spherical medicine feeding plate, a medicine feeding hole of the sheet medicine feeding plate and a medicine feeding hole of the capsule medicine feeding plate;

The transfer device comprises a guide rail and a slide plate, wherein the guide rail and the slide plate are arranged below a channel steel type bracket medicine outlet hole in the medicine collecting part and move forwards and backwards, the slide plate can slide on the guide rail, the guide rail is arranged on a bottom panel of the six-sided square box body, and an opening (a medicine collecting cup and a water collecting cup on the transfer plate are convenient to take) is distributed on a rear panel of the six-sided square box body corresponding to the rear end of the guide rail; a transfer plate is fixed on the sliding plate, and a rack is fixed on the transfer plate; the motor bracket is fixed on the bottom panel of the hexahedral square box body, the motor is arranged on the motor bracket, and a gear on the motor shaft is meshed with the rack;

the constant temperature water outlet device comprises a flat plate fixed on the rear panel of the six-sided square box body, a faucet is arranged on the flat plate, and a sleeve is sleeved on a faucet handle; a box-type bracket is also fixed on the flat plate, a steering engine is arranged in the box-type bracket, and a steering engine turntable on the steering engine is connected with the sleeve; a cup seat is arranged right below the outlet of the faucet, a temperature sensor and a pi heating film are arranged on the inner surface of the cup seat, the cup seat is fixed on a supporting plate, and the supporting plate is fixed on a rear panel of the hexahedral square box body;

A set of bottle cap screwing device is respectively arranged on the left panel, the right panel and the front panel of the six-sided square box body, each set of bottle cap screwing device comprises a box-type bracket fixed on the six-sided square box body, a steering engine is arranged on the box-type bracket, a steering engine turntable on the steering engine is fixed with one end of a swinging rod, and the other end of the swinging rod is connected with a flexible rope; the flexible rope is connected with the lifting plate, and the lifting plate is fixed on the sliding plate; a motor bracket is fixed on the lifting plate, a motor is arranged on the motor bracket, and a motor shaft is connected with the upper end of a sliding rod in the bottle cap screwing manipulator;

The bottle cap screwing manipulator comprises a channel steel type bracket with a downward notch, a vertical center hole of the channel steel type bracket is tightly matched with the upper part of a slide bar, a fixing ring is arranged on the slide bar through a linear bearing and can slide on the slide bar, two sides of the fixing ring are respectively hinged with the upper ends of a pair of connecting rods, the lower ends of the connecting rods are respectively hinged with the upper ends of a pair of arc bottle cap clamps, two sides of the upper ends of the bottle cap clamps are respectively provided with a through hole, a polished rod penetrates through the through hole, two ends of the polished rod are respectively sleeved with a spring and then are fixed on two side edges of the channel steel type bracket, two ends of the spring are respectively propped against two sides of the channel steel type bracket and two sides of the upper ends of the bottle cap clamps, and the bottle cap clamps can slide on the polished rod; the bottle cap screwing manipulator is positioned right above the fixed medicine bottle part;

The control system is arranged on the front panel of the six-sided square box body and comprises an STM32F103VET6 chip, an LCD display, a key module, a constant temperature heating module, a motor driving module and a steering engine driving module, wherein the LCD display, the key module, the constant temperature heating module, the motor driving module and the steering engine driving module are electrically connected with the STM32F103VET6 chip; STM32F103VET6 chip is supplied by DC power supply.

The administration hole on the spherical administration plate is horn-shaped, the aperture of the administration end is 1.1 times of the diameter of the spherical medicine, and the aperture of the administration end is 1.5 times of the diameter of the spherical medicine.

The square guide holes on the tablet medicine drainage plate are horn-shaped, the square Kong Bianchang at the medicine inlet end is 1.1 times of the tablet medicine diameter, and the side length of the medicine outlet end hole is 1.5 times of the tablet medicine diameter; the Kong Bianchang of the square administration holes on the tablet administration plate is 1.5 times the tablet diameter.

The guide hole on the capsule medicine drainage plate is horn-shaped, the aperture of the medicine inlet end is 1.1 times of the capsule medicine diameter, and the aperture of the medicine outlet end is 1.5 times of the capsule medicine diameter; the aperture of the drug delivery hole on the capsule drug delivery plate is 1.5 times of the diameter of the capsule drug.

The invention can be used for preparing the taken medicine and a cup of warm water according to the amount, thereby assisting the old to accurately take medicine and protecting the life and health of the old.

Drawings

Fig. 1 is a schematic structural diagram of an intelligent drug delivery robot of the present invention.

Fig. 2 is a schematic structural view of a part for administering spherical medicine in the intelligent medicine-administering robot of the present invention.

Fig. 3 is a schematic structural view of a tablet-shaped drug administration part in the intelligent drug administration robot of the present invention.

Fig. 4 is a schematic structural view of a capsule administration part in the intelligent administration robot of the present invention.

Fig. 5 is a schematic structural view of a swing portion for administration of spherical drugs in the intelligent administration robot of the present invention.

Fig. 6 is a schematic diagram of a medicine collecting section of the intelligent administration robot of the present invention.

Fig. 7 is a schematic structural view of a transfer device in the intelligent drug delivery robot of the present invention.

Fig. 8 is a schematic structural diagram of a constant temperature water outlet device in the intelligent drug delivery robot.

Fig. 9 is a schematic structural view of a bottle cap screwing device in the intelligent drug delivery robot.

Fig. 10 is a schematic view of a part of a structure of a fixed medicine bottle in the intelligent medicine feeding robot of the present invention.

Fig. 11 is a schematic structural view of the bottle cap screwing manipulator in fig. 9.

Fig. 12 is a block diagram of a control system in the intelligent administration robot of the present invention.

Fig. 13 is a schematic view of the structure of the capsule drainage plate in fig. 4.

Fig. 14 is a schematic view of the structure of the spherical drug delivery plate of fig. 2.

Fig. 15 is a schematic view of the four-bar bracket in fig. 2,3, 4 and 5.

In the figure: 1. a hexahedral square box body; 2. swing part (administration of sphere, tablet, capsule); 3. control system (STM 32F103VET6 chip); 6. a guide hole; 7. a bottle cap screwing device; 8. administering a bulbous drug portion; 9. diamond-shaped seats (bearing seats); 10. a medicine bottle; 11. fixing the medicine bottle part; 12. a rack; 13. a connecting plate; 14. a limit switch; 15. a slide block; 16. a motor; 17. a motor bracket; 18. a gear; 19. a four-connection bracket; 20. a box-type bracket; 21. steering engine; 22. steering wheel carousel; 23. a medicine blocking plate; 24. a spherical drug administration plate; 25. administering a sheet-like drug delivery portion; 26. a drug administration hole; 27. left side of the horizontal beam; 28. a vertical beam; 29. the right side of the horizontal beam; 30 connecting columns, 34 and a capsule administration part; 44. a guide rail and a slide plate; 45. a flexible rope; 47. a bottle cap screwing manipulator; 48. vacuum flask; 50. a sleeve; 51. a temperature sensor; 52. pi heats the membrane; 53. a flat plate; 54. a water collecting cup; 55. a collection box; 56. a medicine collecting cup; 57. a funnel; 58. a drug guide tube; 63. channel steel type brackets; 65. a medicine collecting section; 66. a constant temperature water outlet device; 67. a transfer device; 69. a linear bearing; 70. a fixing ring; 71. a connecting rod; 72. a polish rod; 73. a spring; 75. a bottle cap clip; 76. a connecting rod; 79. a body clip; 81. a channel steel type base; 82. a slide rail; 83. swing rod; 84. a support plate; 85. a capsule drug administration plate; 86. a capsule medicine drainage plate; 87. a slide bar; 88. a lifting plate; 89. a cup holder; 90. a transfer plate; 91. a collar; 92. a tablet-shaped drug administration plate; 93. sheet-shaped medicine drainage plate.

Detailed Description

As shown in fig. 1, the intelligent medicine feeding robot comprises a six-sided square box body 1, a medicine feeding device, a transferring device 67, a constant temperature water outlet device 66, a bottle cap screwing device 7 and a control system 3 which are arranged on the six-sided square box body 1;

The drug delivery device includes a drug delivery spherical swing portion 2 and a drug delivery spherical portion 8, a drug delivery tablet swing portion 2 and a drug delivery tablet portion 25, a drug delivery capsule swing portion 2 and a drug delivery capsule portion 34, and a drug pooling portion 65 (the front-back and left-right are defined by a human face in fig. 1 unless otherwise noted);

As shown in fig. 1 and 5, the spherical drug administration swinging part 2 and the spherical drug administration swinging part 2 in the spherical drug administration part 8 comprise channel steel type brackets 63, the channel steel type brackets 63 are fixed on the right panel of the six-sided square box body 1 through bolts, the steering engine 21 is fixed on the channel steel type brackets 63 through bolts, the right end of the connecting rod 76 is fixed on the steering engine turntable 22 on the steering engine 21 through bolts, the left end of the connecting rod 76 is connected with the connecting column 30 on the four-connection bracket 19 through a mortise and tenon structure, the connecting column 30 is supported in the diamond-shaped seat 9, and the diamond-shaped seat 9 is mounted on the right panel of the six-sided square box body 1 through bolts; as shown in fig. 15, the four-connection bracket 19 includes a horizontal beam, a vertical beam 28 perpendicular to the horizontal beam, a connection column 30 perpendicular to a plane where the horizontal beam and the vertical beam 28 are located, and the horizontal beam, the vertical beam 28 and the connection column 30 are integrated;

As shown in fig. 1 and 2, the spherical drug delivery swinging part 2 and the spherical drug delivery part 8 of the spherical drug delivery parts 8 comprise a four-link bracket 19 connected with the left end of a connecting rod 76, a motor bracket 17 is fixed on the left side 27 of a horizontal beam of the four-link bracket 19 (the left side and the right side of the four-link bracket 19 are distinguished by the position shown in fig. 15) through screws, a motor 16 is arranged on the motor bracket 17, a gear 18 is arranged on the shaft of the motor 16, and the gear 18 is meshed with a rack 12 below the gear; a slide rail 82 is fixed on the right side 29 of the horizontal beam of the four-connection bracket 19, a limit switch 14 is arranged at the outer end of the slide rail 82, a slide block 15 is arranged on the slide rail 82, the slide block 15 is fixed with a channel steel base plate 81 (see figure 10) in the fixed medicine bottle part 11 through a connecting plate 13, and a channel steel base 81 in the fixed medicine bottle part 11 is simultaneously fixed with the outer end of a rack 12; a box-type bracket 20 is fixed on a vertical beam 28 of the four-connection bracket 19 through screws, a steering engine 21 is arranged in the box-type bracket 20, a steering engine turntable 22 on the steering engine 21 is connected with one end of a spherical medicine feeding plate 24, a circular medicine feeding hole 26 (see figure 14) is distributed on the spherical medicine feeding plate 24, and the thickness of the spherical medicine feeding plate 24 is less than or equal to the diameter of the spherical medicine (so that only one medicine can be stored in the medicine feeding hole of the medicine feeding plate each time); a medicine blocking plate 23 is arranged above the spherical medicine feeding plate 24, and the medicine blocking plate 23 is fixed on the box-type bracket 20;

As shown in fig. 1 and referring to fig. 5, the tablet drug administration swinging part 2 and the tablet drug administration swinging part 2 in the tablet drug administration part 25 comprise channel steel type brackets 63, the channel steel type brackets 63 are fixed on the left panel of the six-sided square box body 1 through bolts, steering gears 21 are fixed on the channel steel type brackets 63 through bolts, the left end of a connecting rod 76 is fixed on a steering gear turntable 22 on the steering gears 21 through bolts, the right end of the connecting rod 76 is connected with a connecting post 30 on the four-connection bracket 19 through a mortise and tenon structure, the connecting post 30 is supported in a diamond-shaped seat 9, and the diamond-shaped seat 9 is mounted on the left panel of the six-sided square box body 1 through bolts; the four-connection bracket 19 comprises a horizontal beam, a vertical beam 28 perpendicular to the horizontal beam, a connection column 30 perpendicular to the plane where the horizontal beam and the vertical beam 28 are located, and the horizontal beam, the vertical beam 28 and the connection column 30 are integrated (as shown in fig. 15);

As shown in fig. 1 and 3, the sheet-shaped medicine feeding swinging portion 2 and the sheet-shaped medicine feeding portion 25 of the sheet-shaped medicine feeding portion 25 include a four-link bracket 19 connected to the right end of a connecting rod 76, a motor bracket 17 is fixed to the left side 27 of the horizontal beam of the four-link bracket 19 (the left and right sides of the four-link bracket 19 are distinguished by the position shown in fig. 15) by screws, a motor 16 is mounted on the motor bracket 17, a gear 18 is mounted on the shaft of the motor 16, and the gear 18 is meshed with a rack 12 below the gear; a slide rail 82 is fixed on the right side 29 of the horizontal beam of the four-connection bracket 19, a limit switch 14 is arranged at the outer end of the slide rail 82, a slide block 15 is arranged on the slide rail 82, the slide block 15 is fixed with a channel steel type base 81 (see figure 10) in the fixed medicine bottle part 11 through a connecting plate 13, and the channel steel type base 81 in the fixed medicine bottle part 11 is simultaneously fixed with the outer end of the rack 12; a box-type bracket 20 is fixed on a vertical beam 28 of the four-connection bracket 19 through screws, a steering engine 21 is arranged in the box-type bracket 20, a steering engine turntable 22 on the steering engine 21 is connected with one end of a sheet-shaped medicine feeding plate 92, square medicine feeding holes are distributed on the sheet-shaped medicine feeding plate 92, the thickness of the sheet-shaped medicine feeding plate 92 is equal to that of the sheet-shaped medicine feeding plate (other structures are the same as those of the spherical medicine feeding plate 24, so that only one medicine can be stored in the medicine feeding holes of the medicine feeding plate each time); a medicine blocking plate 23 is arranged above the sheet medicine feeding plate 92, and the medicine blocking plate 23 is fixed on the box-type bracket 20; a sheet-shaped medicine drainage plate 93 is arranged below the sheet-shaped medicine administration plate 92, square guide holes (other structures are the same as the capsule medicine drainage plate 86 except for the shapes of the guide holes) are distributed on the sheet-shaped medicine drainage plate 93, and the sheet-shaped medicine drainage plate 93 is fixed on the box-type bracket 20;

As shown in fig. 1 and referring to fig. 5, the capsule administration swinging part 2 and the capsule administration swinging part 2 in the capsule administration part 34 comprise channel steel type brackets 63, the channel steel type brackets 63 are fixed on the front panel of the six-sided square box body 1 through bolts, the steering engine 21 is fixed on the channel steel type brackets 63 through bolts, the front end of a connecting rod 76 is fixed on a steering engine turntable 22 on the steering engine 21 through bolts, the rear end of the connecting rod 76 is connected with a connecting column 30 on the four-connection bracket 19 through a mortise and tenon structure, the connecting column 30 is supported in a diamond-shaped seat 9, and the diamond-shaped seat 9 is mounted on the front panel of the six-sided square box body 1 through bolts; the four-connection bracket 19 comprises a horizontal beam, a vertical beam 28 perpendicular to the horizontal beam, a connection column 30 perpendicular to the plane where the horizontal beam and the vertical beam 28 are located, and the horizontal beam, the vertical beam 28 and the connection column 30 are integrated (as shown in fig. 15);

As shown in fig. 1 and 4, the capsule dispensing swinging section 2 and the capsule dispensing section 34 of the capsule dispensing section 34 comprise a four-link bracket 19 connected with the rear end of a connecting rod 76, a motor bracket 17 is fixed on the left side 27 of the horizontal beam of the four-link bracket 19 (the left side and the right side of the four-link bracket 19 are distinguished by the position shown in fig. 15) through screws, a motor 16 is arranged on the motor bracket 17, a gear 18 is arranged on the shaft of the motor 16, and the gear 18 is meshed with a rack 12 below the gear; a slide rail 82 is fixed on the right side 29 of the horizontal beam of the four-connection bracket 19, a limit switch 14 is arranged at the outer end of the slide rail 82, a slide block 15 is arranged on the slide rail 82, the slide block 15 is fixed with a channel steel type base 81 (see figure 10) in the fixed medicine bottle part 11 through a connecting plate 13, and the channel steel type base 81 in the fixed medicine bottle part 11 is simultaneously fixed with the outer end of the rack 12; a box-type bracket 20 is fixed on a vertical beam 28 of the four-connection bracket 19 through screws, a steering engine 21 is arranged in the box-type bracket 20, a steering engine turntable 22 on the steering engine 21 is connected with one end of a capsule drug administration plate 85, circular drug administration holes are distributed on the capsule drug administration plate 85, the thickness of the capsule drug administration plate 85 is equal to the capsule drug administration length (other structures are the same as those of the spherical drug administration plate 24, so that only one drug can be stored in the drug administration holes of the drug administration plate each time); a medicine blocking plate 23 is arranged above the capsule medicine feeding plate 85, and the medicine blocking plate 23 is fixed on the box-type bracket 20; a capsule medicine drainage plate 86 is arranged below the capsule medicine feeding plate 85, and circular guide holes 6 are distributed on the capsule medicine drainage plate 86 and are fixed on the box-type bracket 20;

As shown in fig. 10, the fixed medicine bottle portion 11 includes a channel-shaped base 81 with an upward slot, a pair of arc-shaped body clamps 79 are arranged on the slot of the channel-shaped base 81, through holes are respectively distributed on two sides of the body clamps 79, a polish rod 72 is penetrated in the through holes, two ends of the polish rod 72 are respectively sleeved with springs 73 and then fixed on two sides of the channel-shaped base 81, two ends of the springs 73 respectively prop against the sides of the channel-shaped base 81 and the sides of the body clamps 79, and the body clamps 79 can slide on the polish rod 72 (the pair of body clamps 79 clamp the medicine bottle 10 by the springs 73);

The drug delivery hole 26 on the spherical drug delivery plate 24 is horn-shaped, the aperture of the drug inlet end is 1.1 times of the diameter of the spherical drug, and the aperture of the drug outlet end is 1.5 times of the diameter of the spherical drug;

The square guide holes on the tablet medicine drainage plate 93 are horn-shaped, the square Kong Bianchang of the medicine inlet end is 1.1 times of the tablet medicine diameter, and the side length of the medicine outlet end hole is 1.5 times of the tablet medicine diameter; kong Bianchang of square drug delivery holes on the tablet drug delivery plate 92 are 1.5 times of tablet drug diameter;

The guide hole 6 on the capsule medicine drainage plate 86 is horn-shaped, the aperture of the medicine inlet end is 1.1 times of the diameter of the capsule medicine, and the aperture of the medicine outlet end is 1.5 times of the diameter of the capsule medicine; the aperture of the drug delivery hole on the capsule drug delivery plate 85 is 1.5 times of the diameter of the capsule drug;

As shown in fig. 1 and 6, the medicine collecting portion 65 includes a channel steel type bracket 63 fixed on the bottom panel of the six-sided square box body 1, a collecting box 55 is fixed on the channel steel type bracket 63, an outlet at the bottom of the collecting box 55 is aligned with a medicine outlet hole on the channel steel type bracket 63, three medicine guiding pipes 58 are connected on the collecting box 55, the upper end of each medicine guiding pipe 58 is respectively connected with a funnel 57, the three funnels 57 are respectively fixed on the front panel, the left panel and the right panel of the six-sided square box body 1 by a collar 91, and the upper parts of the three funnels 57 are respectively corresponding to the medicine feeding hole 26 of the spherical medicine feeding plate 24, the medicine feeding hole of the sheet medicine feeding plate 92 and the medicine feeding hole of the capsule medicine feeding plate 85;

As shown in fig. 1 and 7, the transferring device 67 includes a guide rail and a slide plate 44 disposed below the medicine outlet of the channel-shaped bracket 63 in the medicine collecting portion 65 and running back and forth, the slide plate can slide on the guide rail, the guide rail is mounted on the bottom panel of the hexahedral square box body 1, and an opening (for conveniently taking the medicine collecting cup 56 and the water collecting cup 54 on the transferring plate 90) is distributed on the rear panel of the hexahedral square box body 1 corresponding to the rear end of the guide rail; a transfer plate 90 is fixed on the sliding plate, and a rack 12 is fixed on the transfer plate 90; the motor bracket 17 is fixed on the bottom panel of the hexahedral square box body 1, the motor 16 is arranged on the motor bracket 17, and the gear 18 on the shaft of the motor 16 is meshed with the rack 12;

As shown in fig. 1 and 8, the constant temperature water outlet device 66 comprises a flat plate 53 fixed on the back panel of the hexahedral square box body 1, a faucet is mounted on the flat plate 53, and a sleeve 50 is sleeved on the faucet handle; a box-type bracket 20 is also fixed on the flat plate 53, a steering engine 21 is arranged in the box-type bracket 20, and a steering engine turntable 22 on the steering engine 21 is connected with the sleeve 50; a cup 89 is arranged right below the outlet of the water tap, a temperature sensor 51 and a pi heating film 52 are arranged on the inner surface of the cup 89, the cup 89 is fixed on a supporting plate 84, the supporting plate 84 is fixed on the back panel of the six-sided square box body 1 (a thermos bottle 48 is placed in the cup 89, and a control system 3 controls a steering engine 21 to rotate forward or reversely to open or close the water tap so as to control water outlet);

As shown in fig. 1 and 9, a set of bottle cap screwing devices 7 are respectively arranged on a left panel, a right panel and a front panel of the six-sided square box body 1, each set of bottle cap screwing device 7 comprises a box-type bracket 20 fixed on the six-sided square box body 1, a steering engine 21 is arranged on the box-type bracket 20, a steering engine turntable 22 on the steering engine 21 is fixed with one end of a swinging rod 83, and the other end of the swinging rod 83 is connected with a flexible rope 45; the device also comprises a guide rail and a sliding plate 44, wherein the guide rail is fixed on the six-sided square box body 1, the sliding plate can slide on the guide rail, a lifting plate 88 is fixed on the sliding plate, and the other end of the flexible rope 45 is connected with the lifting plate 88; the lifting plate 88 is fixed with a motor bracket 17, the motor bracket 17 is provided with a motor 16, and the shaft of the motor 16 is connected with the upper end of a sliding rod 87 in the bottle cap screwing manipulator 47;

As shown in fig. 11, the bottle cap screwing manipulator 47 includes a channel-shaped bracket 63 with a downward slot, a vertical central hole of the channel-shaped bracket 63 is tightly matched with the upper part of a slide rod 87, a fixing ring 70 is installed on the slide rod 87 through a linear bearing 69, the fixing ring 70 can slide on the slide rod 87, two sides of the fixing ring 70 are respectively hinged with the upper ends of a pair of connecting rods 71, the lower ends of the connecting rods 71 are respectively hinged with the upper ends of a pair of arc bottle cap clamps 75, two sides of the upper ends of the bottle cap clamps 75 are respectively provided with a through hole, a polish rod 72 is penetrated in the through hole, two ends of the polish rod 72 are respectively sleeved with springs 73 and then fixed on two side edges of the channel-shaped bracket 63, two ends of the springs 73 are respectively propped against two sides of the side edges of the channel-shaped bracket 63 and two sides of the upper end of the bottle cap clamps 75, and the bottle cap clamps 75 can slide on the polish rod 72 (the pair of bottle cap clamps 75 clamp a bottle cap of a bottle cap 10 by the springs 73); the bottle cap screwing manipulator 47 is located right above the fixed medicine bottle portion 11;

As shown in fig. 12, the control system 3 (in the prior art) is disposed on the front panel of the hexahedral square box body 1, and includes an STM32F103VET6 chip, an LCD display electrically connected to the STM32F103VET6 chip, a key module, a constant temperature heating module, a motor driving module, and a steering engine driving module; STM32F103VET6 chip is supplied by DC power supply.

The motor model is JGB37-520, and the steering engine model is DS3218.

In use, the pair of body clamps 79 in the fixed medicine bottle portion 11 should be pulled outwards manually, and the medicine bottle 10 is placed between the pair of body clamps 79, and after the hands are loosened, the medicine bottle 10 is clamped under the action of the springs 73; then a pair of bottle cap clamps 75 in the bottle cap screwing mechanical arm 47 are manually pulled outwards, and after the bottle cap is loosened, the bottle cap of the medicine bottle 10 is clamped under the action of the spring 73; unless the medicine in the medicine bottle 10 is finished and the medicine bottle needs to be replaced (manually), the bottle body clamp 79 and the bottle cap clamp 75 always clamp the medicine bottle 10 and the bottle cap thereof.

The spherical drug administration process:

Firstly, the motor 16 in the bottle cap screwing device 7 is controlled by the control system 3 to rotate clockwise to drive the bottle cap screwing manipulator 47 to rotate clockwise to unscrew the bottle cap of the medicine bottle 10, then the steering engine 21 in the bottle cap screwing device 7 is controlled to rotate anticlockwise by 180 degrees to drive the swinging rod 83 to rotate anticlockwise by 180 degrees, the flexible rope 45 pulls up the motor support 17 in the bottle cap screwing device 7, the unscrewed bottle cap is moved up a small distance (10 mm from the bottle mouth), then the motor 16 in the spherical medicine feeding part 8 is controlled to rotate anticlockwise to drive the gear 18 to rotate anticlockwise, and the medicine bottle part 11 is fixed to draw in under the meshing action of the gear 18 and the rack 12 until the medicine bottle 10 reaches the position right below the medicine feeding hole 26 of the spherical medicine feeding plate 24. Then the steering engine 21 in the spherical medicine feeding swinging part 2 is controlled to rotate 180 degrees anticlockwise to drive the four-connection bracket 19 to rotate 180 degrees anticlockwise, so that the medicine bottle 10 is inverted above the medicine feeding hole 26 of the spherical medicine feeding plate 24, and the medicine blocking plate 23 can prevent the spherical medicine from falling. The motor 16 in the administration ball 8 is then controlled to rapidly rotate in a forward and reverse direction, and the vial 11 is held in rapid reciprocation by the engagement of the gear 18 with the rack 12, thereby vibrating the vial 10 over the administration port 26 of the ball 24, ensuring that only one ball drops into the administration port 26 of the ball 24. Steering 21 in ball administration portion 8 is then controlled to rotate counter-clockwise 20 ° to drive ball administration plate 24 counter-clockwise 20 ° to drop a ball into the lower funnel 57. According to the prescription prescribed by the doctor, it is necessary to take several spherical medicines, and the steering engine 21 in the administration spherical portion 8 is set in the control system 3 to be rapidly rotated (vibrated) several times (the spherical medicine administration plate 24 is rotated the same several times). The spherical medicine falling from the funnel 57 enters the medicine collecting cup 56 through the medicine guide tube 58; then the steering engine 21 in the constant temperature water outlet device 66 is controlled to rotate, the sleeve 50 pulls the tap to outlet water, the water flows into the water collecting cup 54, and then the steering engine 21 is reversely rotated to drive the sleeve 50 to close the tap; then the motor 16 in the transfer device 67 is controlled to rotate clockwise to drive the rack 12 in the transfer device 67 to move until the medicine collecting cup 56 and the water collecting cup 54 are sent out of the opening on the back panel of the six-sided square box body 1, and the administration of the spherical medicine is completed. Thus, the accuracy of drug administration can be ensured, so that the aged can not eat the drug by mistake. After the completion of the administration, the control system 3 controls the steering gear 21 in the administration ball swing portion 2 to rotate 180 ° clockwise to return the administration ball portion 8 to the initial position. Then the motor 16 in the spherical medicine feeding portion 8 is controlled to rotate clockwise to drive the gear 18 to rotate clockwise, the medicine bottle fixing portion 11 moves outwards under the action of the meshing of the gear 18 and the rack 12, and the medicine bottle fixing portion stops after touching the limit switch 14. Then, the steering engine 21 in the bottle cap screwing device 7 is controlled to rotate 180 degrees clockwise to drive the swing rod 83 to drop, so that the bottle cap screwing manipulator 47 and a bottle cap on the bottle cap screwing manipulator drop on the medicine bottle 10; the motor 16 in the bottle cap screwing device 7 is controlled to rotate anticlockwise, and the bottle cap screwing manipulator 47 is driven to rotate anticlockwise, so that the bottle caps are screwed down, and the tightness of medicines is ensured.

The tablet drug administration process comprises the following steps:

firstly, the motor 16 in the bottle cap screwing device 7 is controlled by the control system 3 to rotate clockwise to drive the bottle cap screwing manipulator 47 to rotate clockwise to unscrew the bottle cap of the medicine bottle 10, then the steering engine 21 in the bottle cap screwing device 7 is controlled to rotate anticlockwise by 180 degrees to drive the swinging rod 83 to rotate anticlockwise by 180 degrees, the flexible rope 45 pulls up the motor support 17 in the bottle cap screwing device 7, the unscrewed bottle cap is moved up a small distance (10 mm from the bottle mouth), then the motor 16 in the tablet medicine feeding part 25 is controlled to rotate anticlockwise to drive the gear 18 to rotate anticlockwise, and the medicine bottle part 11 is fixed to draw in under the meshing action of the gear 18 and the rack 12 until the medicine bottle 10 reaches the position right below the guide hole of the tablet medicine drainage plate 93. Then the steering engine 21 in the tablet medicine feeding swinging part 2 is controlled to rotate 180 degrees anticlockwise to drive the four-connection bracket 19 to rotate 180 degrees anticlockwise, so that the medicine bottle 10 is inverted over the guide hole of the tablet medicine drainage plate 93, and the medicine blocking plate 23 can prevent tablet medicine from falling. And then the motor 16 in the tablet medicine feeding portion 25 is controlled to rotate forward and backward rapidly, and the medicine bottle portion 11 is fixed to reciprocate rapidly under the meshing action of the gear 18 and the rack 12, so that the medicine bottle 10 vibrates above the guide hole of the tablet medicine drainage plate 93, and only one tablet medicine is ensured to fall into the medicine feeding hole of the tablet medicine feeding plate 92. Steering gear 21 in tablet dispensing portion 25 is then controlled to rotate counter-clockwise 20 to cause tablet dispensing plate 92 to rotate counter-clockwise 20 to cause a tablet to drop into the underlying funnel 57. According to the prescription prescribed by the doctor, it is necessary to take several pieces of sheet-like medicine, and the steering engine 21 in the sheet-like medicine feeding section 25 is set in the control system 3 to be rotated reversely (vibrated) several times rapidly (the sheet-like medicine feeding plate 92 is rotated the same several times). The tablet medicine falling from the funnel 57 enters the medicine collecting cup 56 through the medicine guide tube 58; then the steering engine 21 in the constant temperature water outlet device 66 is controlled to rotate, the sleeve 50 pulls the tap to outlet water, the water flows into the water collecting cup 54, and then the steering engine 21 is reversely rotated to drive the sleeve 50 to close the tap; then the motor 16 in the transfer device 67 is controlled to rotate clockwise to drive the rack 12 in the transfer device 67 to move until the medicine collecting cup 56 and the water collecting cup 54 are sent out of the opening on the back panel of the six-sided square box body 1, and the administration of the tablet medicine is completed. Thus, the accuracy of drug administration can be ensured, so that the aged can not eat the drug by mistake. After the completion of the administration, the control system 3 controls the steering gear 21 in the administration sheet-like administration swinging part 2 to rotate 180 ° clockwise to return the administration sheet-like administration part 25 to the initial position. Then the motor 16 in the tablet medicine feeding portion 25 is controlled to rotate clockwise to drive the gear 18 to rotate clockwise, the medicine bottle fixing portion 11 moves outwards under the action of the meshing of the gear 18 and the rack 12, and the medicine bottle is stopped after touching the limit switch 14. Then, the steering engine 21 in the bottle cap screwing device 7 is controlled to rotate 180 degrees clockwise to drive the swing rod 83 to drop, so that the bottle cap screwing manipulator 47 and a bottle cap on the bottle cap screwing manipulator drop on the medicine bottle 10; the motor 16 in the bottle cap screwing device 7 is controlled to rotate anticlockwise, and the bottle cap screwing manipulator 47 is driven to rotate anticlockwise, so that the bottle caps are screwed down, and the tightness of medicines is ensured.

The capsule administration process comprises the following steps:

Firstly, the motor 16 in the bottle cap screwing device 7 is controlled by the control system 3 to rotate clockwise to drive the bottle cap screwing manipulator 47 to rotate clockwise to unscrew the bottle cap of the medicine bottle 10, then the steering engine 21 in the bottle cap screwing device 7 is controlled to rotate anticlockwise by 180 degrees to drive the swinging rod 83 to rotate anticlockwise by 180 degrees, the flexible rope 45 pulls up the motor support 17 in the bottle cap screwing device 7, the unscrewed bottle cap is moved up a small distance (10 mm from the bottle mouth), then the motor 16 in the capsule medicine feeding part 34 is controlled to rotate anticlockwise to drive the gear 18 to rotate anticlockwise, and the medicine bottle part 11 is fixed to draw in under the meshing action of the gear 18 and the rack 12 until the medicine bottle 10 reaches the position right below the guide hole 6 of the capsule medicine drainage plate 86. Then the steering engine 21 in the capsule medicine feeding swinging part 2 is controlled to rotate 180 degrees anticlockwise to drive the four-connection bracket 19 to rotate 180 degrees anticlockwise, so that the medicine bottle 10 is inverted above the guide hole 6 of the capsule medicine drainage plate 86, and the medicine blocking plate 23 can prevent the capsule medicine from falling. And then the motor 16 in the capsule medicine feeding portion 34 is controlled to rotate forward and backward rapidly, and the medicine bottle portion 11 is fixed to reciprocate rapidly under the meshing action of the gear 18 and the rack 12, so that the medicine bottle 10 vibrates above the guide hole 6 of the capsule medicine drainage plate 86, and only one capsule medicine is ensured to fall into the medicine feeding hole of the capsule medicine feeding plate 85. Steering gear 21 in capsule administration portion 34 is then controlled to rotate 20 counter-clockwise, driving capsule administration plate 85 to rotate 20 counter-clockwise, causing a capsule to drop into lower funnel 57. According to the prescription prescribed by the doctor, the steering engine 21 in the capsule administration portion 34 is set to be rapidly rotated (vibrated) several times (the capsule administration plate 85 is rotated the same several times) in the control system 3 when several capsules are to be taken. The capsule medicine falling from the funnel 57 enters the medicine collecting cup 56 through the medicine guide tube 58; then the steering engine 21 in the constant temperature water outlet device 66 is controlled to rotate, the sleeve 50 pulls the tap to outlet water, the water flows into the water collecting cup 54, and then the steering engine 21 is reversely rotated to drive the sleeve 50 to close the tap; then the motor 16 in the transfer device 67 is controlled to rotate clockwise to drive the rack 12 in the transfer device 67 to move until the medicine collecting cup 56 and the water collecting cup 54 are sent out of the opening on the back panel of the six-sided square box body 1, and the medicine administration of the capsule medicine is completed. Thus, the accuracy of drug administration can be ensured, so that the aged can not eat the drug by mistake. After the completion of the administration, the control system 3 controls the steering gear 21 in the capsule administration rocking section 2 to rotate 180 ° clockwise to return the capsule administration section 34 to the initial position. Then the motor 16 in the capsule feeding part 34 is controlled to rotate clockwise to drive the gear 18 to rotate clockwise, the medicine bottle fixing part 11 moves outwards under the action of the meshing of the gear 18 and the rack 12, and the medicine bottle fixing part stops after touching the limit switch 14. Then, the steering engine 21 in the bottle cap screwing device 7 is controlled to rotate 180 degrees clockwise to drive the swing rod 83 to drop, so that the bottle cap screwing manipulator 47 and a bottle cap on the bottle cap screwing manipulator drop on the medicine bottle 10; the motor 16 in the bottle cap screwing device 7 is controlled to rotate anticlockwise, and the bottle cap screwing manipulator 47 is driven to rotate anticlockwise, so that the bottle caps are screwed down, and the tightness of medicines is ensured.

Claims (1)

1. An intelligent dosing robot, which is characterized in that: comprises a hexahedral square box body, a drug delivery device, a transfer device, a constant-temperature water outlet device, a bottle cap screwing device and a control system which are arranged on the hexahedral square box body;

The drug delivery device comprises a spherical drug delivery swing part, a tablet drug delivery part, a capsule drug delivery swing part, a capsule drug delivery part and a drug collection part;

The spherical drug administration swinging part and the spherical drug administration swinging part in the spherical drug administration part comprise channel steel type brackets, the channel steel type brackets are fixed on the right panel of the six-sided square box body, the steering engine is fixed on the channel steel type brackets through bolts, the right end of the connecting rod is fixed on a steering engine turntable on the steering engine, the left end of the connecting rod is connected with connecting columns on the four-connection brackets, the connecting columns are supported in diamond-shaped seats, and the diamond-shaped seats are arranged on the right panel of the six-sided square box body; the four-connection support comprises a horizontal beam, a vertical beam vertical to the horizontal beam, and a connecting column vertical to the plane where the horizontal beam and the vertical beam are positioned, wherein the horizontal beam, the vertical beam and the connecting column are integrated;

The spherical drug delivery swinging part and the spherical drug delivery part in the spherical drug delivery part comprise four-connection brackets connected with the left ends of the connecting rods, motor brackets are fixed on the left sides of horizontal beams of the four-connection brackets, motors are arranged on the motor brackets, gears are arranged on shafts of the motors, and the gears are meshed with racks below the gears; a slide rail is fixed on the right side of the horizontal beam of the four-connection bracket, a limit switch is arranged at the outer end of the slide rail, a slide block is arranged on the slide rail, the slide block is fixed with a channel steel bottom plate in a medicine bottle fixing part through a connecting plate, and a channel steel base in the medicine bottle fixing part is simultaneously fixed with the outer end of the rack; a box-type bracket is fixed on a vertical beam of the four-connection bracket, a steering engine is arranged in the box-type bracket, a steering engine turntable on the steering engine is connected with one end of a spherical medicine feeding plate, circular medicine feeding holes are distributed on the spherical medicine feeding plate, and the thickness of the spherical medicine feeding plate is less than or equal to the diameter of the spherical medicine; a medicine blocking plate is arranged above the spherical medicine feeding plate and is fixed on the box-type bracket;

The tablet drug administration swinging part and the tablet drug administration swinging part in the tablet drug administration part comprise channel steel type brackets, the channel steel type brackets are fixed on the left panel of the six square box body, steering gears are fixed on the channel steel type brackets, the left ends of connecting rods are fixed on steering gear turntables on the steering gears, the right ends of the connecting rods are connected with connecting columns on the four-connection brackets, the connecting columns are supported in diamond-shaped seats, and the diamond-shaped seats are arranged on the left panel of the six square box body; the four-connection support comprises a horizontal beam, a vertical beam vertical to the horizontal beam, and a connecting column vertical to the plane where the horizontal beam and the vertical beam are positioned, wherein the horizontal beam, the vertical beam and the connecting column are integrated;

The tablet-shaped medicine feeding swinging part and the tablet-shaped medicine feeding part in the tablet-shaped medicine feeding part comprise four-way brackets connected with the right ends of the connecting rods, motor brackets are fixed on the left sides of horizontal beams of the four-way brackets, motors are arranged on the motor brackets, gears are arranged on shafts of the motors, and the gears are meshed with racks below the gears; a slide rail is fixed on the right side of the horizontal beam of the four-connection bracket, a limit switch is arranged at the outer end of the slide rail, a slide block is arranged on the slide rail, the slide block is fixed with a channel steel type base in a medicine bottle fixing part through a connecting plate, and the channel steel type base in the medicine bottle fixing part is simultaneously fixed with the outer end of the rack; a box-type bracket is fixed on a vertical beam of the four-connection bracket, a steering engine is arranged in the box-type bracket, a steering engine turntable on the steering engine is connected with one end of a sheet-shaped medicine administration plate, square medicine administration holes are distributed on the sheet-shaped medicine administration plate, and the thickness of the sheet-shaped medicine administration plate is equal to that of the sheet-shaped medicine; a medicine blocking plate is arranged above the sheet medicine feeding plate and is fixed on the box-type bracket; a sheet-shaped medicine drainage plate is arranged below the sheet-shaped medicine administration plate, square guide holes are distributed on the sheet-shaped medicine drainage plate, and the square guide holes are fixed on the box-type bracket;

the capsule administration swinging part and the capsule administration swinging part in the capsule administration part comprise channel steel type brackets, the channel steel type brackets are fixed on the front panel of the six square box body, steering gears are fixed on the channel steel type brackets, the front ends of connecting rods are fixed on steering gear turntables on the steering gears, the rear ends of the connecting rods are connected with connecting columns on the four-connection brackets, the connecting columns are supported in diamond-shaped seats, and the diamond-shaped seats are arranged on the front panel of the six square box body; the four-connection support comprises a horizontal beam, a vertical beam vertical to the horizontal beam, and a connecting column vertical to the plane where the horizontal beam and the vertical beam are positioned, wherein the horizontal beam, the vertical beam and the connecting column are integrated;

The capsule feeding swinging part and the capsule feeding part in the capsule feeding part comprise four-connection brackets connected with the rear ends of the connecting rods, a motor bracket is fixed on the left side of a horizontal beam of each four-connection bracket, a motor is arranged on each motor bracket, a gear is arranged on a shaft of each motor, and the gear is meshed with a rack below the motor bracket; a slide rail is fixed on the right side of the horizontal beam of the four-connection bracket, a limit switch is arranged at the outer end of the slide rail, a slide block is arranged on the slide rail, the slide block is fixed with a channel steel type base in a medicine bottle fixing part through a connecting plate, and the channel steel type base in the medicine bottle fixing part is simultaneously fixed with the outer end of the rack; a box-type bracket is fixed on a vertical beam of the four-connection bracket, a steering engine is arranged in the box-type bracket, a steering engine turntable on the steering engine is connected with one end of a capsule medicine administration plate, circular medicine administration holes are distributed on the capsule medicine administration plate, and the thickness of the capsule medicine administration plate is equal to the capsule medicine length; a medicine blocking plate is arranged above the capsule medicine feeding plate and is fixed on the box-type bracket; a capsule medicine drainage plate is arranged below the capsule medicine administration plate, and circular guide holes are distributed on the capsule medicine drainage plate and fixed on the box-type bracket;

the medicine bottle fixing part comprises a channel steel type base with an upward notch, a pair of arc-shaped bottle body clamps are arranged on the notch of the channel steel type base, through holes are respectively arranged on two side edges of the bottle body clamps, a polished rod penetrates through the through holes, two ends of the polished rod are respectively sleeved with springs and then are fixed on the two side edges of the channel steel type base, two ends of the springs are respectively propped against the side edges of the channel steel type base and the side edges of the bottle body clamps, and the bottle body clamps can slide on the polished rod;

The medicine collecting part comprises a channel steel type bracket fixed on the bottom panel of the six-sided square box body, a collecting box is fixed on the channel steel type bracket, an outlet at the bottom of the collecting box is aligned with a medicine outlet hole on the channel steel type bracket, three medicine guide pipes are connected on the collecting box, the upper end of each medicine guide pipe is respectively connected with a funnel, the three funnels are respectively fixed on the front panel, the left panel and the right panel of the six-sided square box body by lantern rings, and the upper parts of the three funnels respectively correspond to a medicine feeding hole of the spherical medicine feeding plate, a medicine feeding hole of the sheet medicine feeding plate and a medicine feeding hole of the capsule medicine feeding plate;

The transfer device comprises a guide rail and a slide plate, wherein the guide rail and the slide plate are arranged below a channel steel type bracket medicine outlet hole in the medicine collecting part and move forwards and backwards, the slide plate can slide on the guide rail, the guide rail is arranged on a bottom panel of the six-sided square box body, and an opening is distributed on a rear panel of the six-sided square box body corresponding to the rear end of the guide rail; a transfer plate is fixed on the sliding plate, and a rack is fixed on the transfer plate; the motor bracket is fixed on the bottom panel of the hexahedral square box body, the motor is arranged on the motor bracket, and a gear on the motor shaft is meshed with the rack;

the constant temperature water outlet device comprises a flat plate fixed on the rear panel of the six-sided square box body, a faucet is arranged on the flat plate, and a sleeve is sleeved on a faucet handle; a box-type bracket is also fixed on the flat plate, a steering engine is arranged in the box-type bracket, and a steering engine turntable on the steering engine is connected with the sleeve; a cup seat is arranged right below the outlet of the faucet, a temperature sensor and a pi heating film are arranged on the inner surface of the cup seat, the cup seat is fixed on a supporting plate, and the supporting plate is fixed on a rear panel of the hexahedral square box body;

A set of bottle cap screwing device is respectively arranged on the left panel, the right panel and the front panel of the six-sided square box body, each set of bottle cap screwing device comprises a box-type bracket fixed on the six-sided square box body, a steering engine is arranged on the box-type bracket, a steering engine turntable on the steering engine is fixed with one end of a swinging rod, and the other end of the swinging rod is connected with a flexible rope; the flexible rope is connected with the lifting plate, and the lifting plate is fixed on the sliding plate; a motor bracket is fixed on the lifting plate, a motor is arranged on the motor bracket, and a motor shaft is connected with the upper end of a sliding rod in the bottle cap screwing manipulator;

The bottle cap screwing manipulator comprises a channel steel type bracket with a downward notch, a vertical center hole of the channel steel type bracket is tightly matched with the upper part of a slide bar, a fixing ring is arranged on the slide bar through a linear bearing and can slide on the slide bar, two sides of the fixing ring are respectively hinged with the upper ends of a pair of connecting rods, the lower ends of the connecting rods are respectively hinged with the upper ends of a pair of arc bottle cap clamps, two sides of the upper ends of the bottle cap clamps are respectively provided with a through hole, a polished rod penetrates through the through hole, two ends of the polished rod are respectively sleeved with a spring and then are fixed on two side edges of the channel steel type bracket, two ends of the spring are respectively propped against two sides of the channel steel type bracket and two sides of the upper ends of the bottle cap clamps, and the bottle cap clamps can slide on the polished rod; the bottle cap screwing manipulator is positioned right above the fixed medicine bottle part;

The control system is arranged on the front panel of the six-sided square box body and comprises an STM32F103VET6 chip, an LCD display, a key module, a constant temperature heating module, a motor driving module and a steering engine driving module, wherein the LCD display, the key module, the constant temperature heating module, the motor driving module and the steering engine driving module are electrically connected with the STM32F103VET6 chip; STM32F103VET6 chip is supplied by DC power supply;

The drug delivery hole on the spherical drug delivery plate is horn-shaped, the aperture of the drug inlet end is 1.1 times of the diameter of the spherical drug, and the aperture of the drug outlet end is 1.5 times of the diameter of the spherical drug;

the square guide holes on the tablet medicine drainage plate are horn-shaped, the square Kong Bianchang of the medicine inlet end is 1.1 times of the tablet medicine diameter, and the side length of the medicine outlet end hole is 1.5 times of the tablet medicine diameter; kong Bianchang of square administration holes on the tablet administration plate are 1.5 times of tablet administration diameter;

The guide hole on the capsule medicine drainage plate is horn-shaped, the aperture of the medicine inlet end is 1.1 times of the capsule medicine diameter, and the aperture of the medicine outlet end is 1.5 times of the capsule medicine diameter; the aperture of the drug delivery hole on the capsule drug delivery plate is 1.5 times of the diameter of the capsule drug.