CN100534731C - Method for regularly placing box packed medicine - Google Patents
Method for regularly placing box packed medicine Download PDFInfo
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- CN100534731C CN100534731C CNB200710022276XA CN200710022276A CN100534731C CN 100534731 C CN100534731 C CN 100534731C CN B200710022276X A CNB200710022276X A CN B200710022276XA CN 200710022276 A CN200710022276 A CN 200710022276A CN 100534731 C CN100534731 C CN 100534731C
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Abstract
The invention relates to a regular arrangement method for box packaged drugs with robot installed on the guide track, an angle of 20 degree formed by the U shape slot of the robot and the horizontal surface, with the oblique U shape slot maintaining V posture, with the U shape slot inverted to the U shape posture after the robot arriving exact storage level. When the drug output structure is static, it prevents the drug package, with the drug outlet plate lowering down to allow the package slipping out. In use, the slanting structure allows the U shape slot damping to slip to the U shape slot. After the robot receiving certain packages of drug, it is positioned by the robot to an exact storage number. The U shape slot resets to align the edge of the drug slot to allow the package box to slide to the drug cupboard. The automatic arrangement can greatly save labor with better application.
Description
Technical field
The present invention relates to a kind of method of regularly placing box packed medicine, relate in particular to and be equipped with manipulator with the plane rectangular coordinates robot and automatically medicine box be placed on definite medicine storage space.
Background technology
As everyone knows, the image of hospital is being represented as first window of hospital in the pharmacy, and the patient mainly comes from the pharmacy to the impression of experiencing of hospital.And before hospital outpatient pharmacy is sent out the medicine window, the neck medicine peak period in the morning of every day and afternoon, patient needs to line up length, waits for that the pharmacists opens the prescription of writing according to the doctor to patient, takes off medicine on the medicine shelf, issues patient.The patient's waiting time even the half an hour of reaching, domestic front three hospital is because the patient that seeks medical advice is numerous, all the more so.On the other hand, the pharmacists sends out medicine by hand, judge with individual memory or medicine label, and as easy as rolling off a log going wrong, even the medication accident appears.The pharmacists becomes the warehouseman, and they can not get putting to good use the professional knowledge on pharmacy, cause waste of human resource to a certain degree.
Especially, when certain medicine lacks in the pharmacy, be mostly that this mode wastes time and energy by manually corresponding medicine being added to corresponding position.Therefore, can the medicine box regularly placing important technology problem that is worth research on the medicine storage space of determining automatically.
Summary of the invention
The method that the purpose of this invention is to provide a kind of regularly placing box packed medicine, with the plane rectangular coordinates robot be equipped with dexterous manipulator can be automatically the medicine box regularly placing on the medicine storage space of determining, realize tonic automatically.
Purpose of the present invention is achieved through the following technical solutions:
The method of regularly placing box packed medicine, it is characterized in that: with plane rectangular coordinates robot configuration manipulator, manipulator is installed on the guide rail of robot, described manipulator is provided with slope U type groove, U type groove heeling mechanism and turnover plate type medicament discharge mechanism, U type groove is horizontal by 10～30 ° of inclination angles, U type groove heeling mechanism makes U type groove keep in U, V-type attitude, in the manipulator position fixing process, slope U type groove keeps the V-type attitude, after manipulator arrived and stores up item accurately, slope U type groove was turned to U type attitude; On the U type groove turnover plate type medicament discharge mechanism is set, blocks medicine box when static, drug turnover panel rib reduces when being subjected to electromagnet thrust, and medicine box skids off with gravity; During use, before the manipulator location, heeling mechanism slips in the U type groove slope U type groove canting, medicine box, medicine box is along the snap of U type groove seamed edge, after manipulator is accepted the medicine of certain box number, navigated to by robot and to store up item accurately, slope U type groove resets, by the seamed edge of the seamed edge of medicine box snap aligning medicine-chest drug storage groove, the action of turnover plate type medicament discharge mechanism, rib reduces, medicine box slips in the medicine-chest drug storage groove.
Further, the method of above-mentioned regularly placing box packed medicine, the plane rectangular coordinates robot comprises the electronic guide rail of horizontal direction and the electronic guide rail of a cover vertical direction of the parallel placement of two covers, the electronic guide rail of described horizontal direction is made of X-axis servomotor, X-axis horizontal guide rail, synchronizing shaft and X-axis horizontal guide rail, two cover horizontal guide rails adopt synchronizing shaft to connect, rotatablely moving of X-axis servomotor drives the slide block move left and right of X-axis horizontal guide rail, and is delivered to the slide block move left and right that the X-axis horizontal guide rail drives the X-axis horizontal guide rail by synchronizing shaft; The electronic guide rail of described vertical direction is made of Y-axis servomotor and Y-axis guide rail, and Y-axis guide rail two ends are attached on the two X-axis slide blocks, and slide block is also arranged on the Y-axis guide rail, and the Y-axis servomotor rotatablely moves and drives slide block and move up and down; Manipulator is installed on the Y-axis slide block, thus realize manipulator about move up and down.
Further, the method of above-mentioned regularly placing box packed medicine, manipulator U type groove is connected on the Y-axis slide block, manipulator U type groove also is connected on the robot gantry, and frame and bearing block are connected, and bearing block and motor flange are connected, motor flange and motor case are connected, the output shaft of motor links to each other with long driven axle by shaft coupling, and long driven axle and U type piece are connected, and the slide block on U type piece and the Y-axis guide rail is connected; During work, the plane rectangular coordinates robot navigates to U type piece and determines on the storage space groove, long driven axle does not rotate, and the casing of motor rotates, and rotatablely moving of casing is delivered to bearing block by motor flange, bearing block rotates around long driven axle by bearing, the energising of motor positive, manipulator U type groove clockwise rotates, the anti-phase energising of motor, manipulator U type groove rotates counterclockwise, thereby U type groove is kept at U or V-type attitude.
Again further, the method for above-mentioned regularly placing box packed medicine, U type groove is horizontal by 20 ° of inclination angles.
Again further, the method for above-mentioned regularly placing box packed medicine, the front portion of manipulator is provided with unpowered rotating mechanism, comprise bearing, bearing block and short driven axle, short driven axle and U type piece are connected, and bearing block and robot gantry are connected, and bearing block flexibly connects by bearing and short driven axle.
The outstanding substantive distinguishing features and the obvious improvement of technical solution of the present invention is mainly reflected in:
The present invention is equipped with dexterous manipulator with the plane rectangular coordinates robot and makes align an automatically side of drug storage groove of the medicine that is transported on the manipulator U type groove, jack-up by turnover panel makes spacing, the drug of medicine box with falling, automatically the medicine box regularly placing on the medicine storage space of determining, automatic accurate realization tonic.Greatly reduce pharmacists's labour intensity, improved efficient and accuracy rate that medicine is provided, significantly improved service quality, economic benefit and the obvious social benefit of hospital pharmacy.
Description of drawings
Below in conjunction with accompanying drawing technical solution of the present invention is described further:
Fig. 1: Cartesian robot schematic diagram;
Fig. 2: robot manipulator structure schematic diagram;
Fig. 3: manipulator U type groove U type attitude schematic diagram;
Fig. 4: medicine box is put design sketch one;
Fig. 5: manipulator U type groove V-type attitude;
Fig. 6: medicine box is put design sketch two.
The implication of each Reference numeral sees the following form among the figure:
| Reference numeral | Implication | Reference numeral | Implication | Reference numeral | Implication |
| 1 | The |
2 | The X-axis |
3 | Synchronizing |
| 4 | The X-axis |
5 | |
6 | The Y-axis guide rail |
| Reference numeral | Implication | Reference numeral | Implication | | Implication | |
| 7 | |
8 | Slide block | 9 | The Y-axis servomotor | |
| 10 | |
11 | |
12 | |
|
| 13 | |
14 | |
15 | |
|
| 16 | Long driven axle | 17 | |
18 | |
|
| 19 | Short driven |
20 | |
21 | Bearing |
The specific embodiment
The present invention utilizes typical Cartesian robot to be equipped with the automatic medicine-feeding function that multifunction manipulator is finished box packed medicine.Manipulator is as the end load of Cartesian robot, and manipulator is by the correct storage item location of control computer appointment.Manipulator is before the location, and ramp type U type groove is by the heeling mechanism effect, and after the canting, medicine box slips into wherein, because the downslide component of gravity both direction, medicine box is along the snap of U type groove seamed edge; After manipulator is accepted the medicine of certain box number, navigate to by robot and to store up item accurately, ramp type U type groove is just changeing and is resetting, and is aimed at the seamed edge of medicine-chest drug storage groove, the action of drug turnover panel by the seamed edge of medicine box snap, rib reduces, medicine box is because the gravity effect slips in the drug storage cabinet drug groove, and ramp type U type groove reverses, and the drug turnover panel resets, manipulator is got back to zero-bit, waits for medicine-feeding action next time.
Adopt the positioner of Cartesian robot as manipulator, the medicine that plane positioning is different is stored on the storage space of different numberings, each storage space is a U type groove that 20 degree that tilt are placed, can hold many boxes medicine in the groove, the feeding opening of drug storage cabinet U type groove all distributes in one plane, and manipulator is accurately positioned on definite storage space by host computer planning.
Design of the interim transfer of brief U type groove on the manipulator, and can load and draw off a plurality of medicine boxs as medicine box, many boxes of a medicine-feeding of manipulator period treatment medicine, medicine-feeding efficient height has solved problems such as day output is big by pulling on medicine.The manipulator of temporarily depositing of many boxes medicine is the interim transfer of medicine box from the medicine-feeding induction system to drug storage cabinet drug storage groove, 20 degree ramp type U type grooves are beneficial to and the docking of drug storage cabinet U type drug storage groove on the manipulator, the several box medicines that are transported in the manipulator U type groove are close to by box successively owing to the effect of gravity downslide component, are arranged in the U type groove by length direction.Cartesian robot has the acceleration and deceleration process of wanting in setting movement, because the inertia of medicine box itself may cause medicine box double swerve in manipulator U type groove, can occur medicine box change order in formation when serious, causes the mistake of adding medicine to.In manipulator acceleration and deceleration process, put neatly for guaranteeing medicine box, design one cover heeling mechanism, when tonic in manipulator U type groove, canting motor-driven manipulator U type groove, when making medicine box slip into wherein, be subjected to the effect of both direction downslide component, medicine box can lean on manipulator U type groove one side location, and medicine box is close to along manipulator U type groove incline direction.In the robot movement process, manipulator U type groove becomes V-type to medicine box, guarantees that medicine box left and right directions in the acceleration and deceleration process all has reaction force, is unlikely to double swerve.Medicine box self relies on gravity to skid off manipulator U type groove, enters medicine-chest drug storage U type groove.For the control medicine box enters U type groove by the box number of determining, the drug turnover panel of push-down solenoid actuated is set, turnover panel by jack-up once, a box medicine skids off, if turnover panel is always by jack-up, the whole medicine boxs in the manipulator U type groove enter storage space.
During specific design, for considering manipulator positioning accuracy and use cost, Cartesian robot adopts and is with electronic line slideway type synchronously, finishes the positioning function of manipulator.Plane rectangular coordinates robot such as Fig. 1, the electronic guide rail of horizontal direction and the electronic guide rail of a cover vertical direction that comprise the parallel placement of two covers, the electronic guide rail of described horizontal direction is made of X-axis servomotor 1, X-axis horizontal guide rail 2, synchronizing shaft 3 and X-axis horizontal guide rail 4, two cover horizontal guide rails adopt synchronizing shaft to connect, rotatablely moving of X-axis servomotor 1 drives slide block 8 move left and right of X-axis horizontal guide rail, and is delivered to slide block 5 move left and right that X-axis horizontal guide rail 4 drives the X-axis horizontal guide rail by synchronizing shaft 3; The electronic guide rail of described vertical direction is made of Y-axis servomotor 9 and Y-axis guide rail 6, and Y-axis guide rail 6 two ends are attached on slide block 8 and the slide block 5, and slide block 7 is arranged on the Y-axis guide rail, and Y-axis servomotor 9 rotatablely moves and drives slide block 7 and move up and down; Manipulator is installed on the slide block 7, thus realize manipulator about move up and down.This kind design, 1 load of X-axis servomotor is less, selects lower-powered AC servo motor, and Y-axis servomotor 9 is because will promote weight, so select the bigger a little AC servo motor of power.
Leave medicine box in the manipulator U type groove under the situation that the drug turnover panel is opened, be to rely on the downslide component of self gravitation to enter storage space temporarily, and the angle Selection on slope is very crucial.If ramp angles is excessive, medicine box can pour storage space with bigger initial velocity, even the medicine box that is placed in the drug storage cabinet U type groove is gone out; If ramp angles is too small, medicine box then is difficult for slipping into storage space, influence medicine-feeding efficient.The coefficient of maximum static friction of analysis of material in conjunction with contrast experiment repeatedly, determines that the slope optimal angle is from the horizontal by 20 degree, and conveniently docks with drug storage cabinet U type groove.
As Fig. 2, the manipulator heeling mechanism makes the U type groove 10 can be at U, and the V-type attitude keeps, and follow procedure control is switched.The canting of manipulator is gyration, selects modal motor-driven, but common rotating alternating current generator 11 is realized U, the V-type attitude of manipulator U type groove 10 as heeling mechanism power.Rolling motion requires rotary speed very low, joins the decelerator of speed reducing ratio 600, also the direct common alternating current generator of select tape decelerator.Adopt motor output shaft not change, the mode that casing rotates.Concrete workflow: alternating current generator 11 is switched on by PLC control forward, and its output shaft rotation drives shaft coupling 13 and rotates, and shaft coupling 13 drives long driven axle 16 and rotates; And long driven axle 16 is connected with U type piece 17, and U type piece 17 is connected with Y-axis guide rail slide block 7 again, so long driven axle 16 can not rotate, causes the alternating current generator casing rotatable.Rotatablely moving of casing is delivered to bearing block 14 by motor flange 12, and bearing block 14 rotates around long driven axle 16 by bearing 15.Robot gantry 18 is connected with bearing block 15, and manipulator U type groove 10 is connected on the robot gantry 18; So the energising of alternating current generator 11 positives, manipulator U type groove 10 clockwise rotates; Alternating current generator 11 anti-phase energisings, manipulator U type groove 10 rotates counterclockwise.Stressed evenly for guaranteeing robot gantry 18 front and back, rotate flexibly, the unpowered rotating mechanism of a cover has been installed in the front portion of manipulator, short driven axle 19 is connected with U type piece 17, the bottom of bearing block 20 and robot gantry 18 are connected, and bearing block 20 rotates around short driven axle 19 by bearing 21.It is spacing to run into positive manipulator U type groove 10 forwards U type posture under motor 11 drives after, limit signal input PLC, and PLC cuts off the positive phase voltage of motor; Manipulator U type groove 10 is run into anti-phase spacing after forwarding the V-type posture under motor 11 drivings, limit signal input PLC, and PLC cuts off the motor reverse voltage, so finishes the rolling motion of manipulator.
Be noted that; there is big return difference in the output shaft of the alternating current generator of common band decelerator; adopt the mode of adding a lower maintenance voltage for the motor input to eliminate the decelerator return difference, manipulator can not produce because of return difference in the acceleration and deceleration process and rock, and guarantees the manipulator accurate positioning.When PLC control motor is just changeing the contact conducting (other closings of contact), motor "+" hold 220VAC, motor is rotated in the forward, run into forward limit switch rear motor and just changeing the contact disconnection, the motor forward crack closing of contact that disappears, motor "+" hold the 105VAC electricity, rotor obtains a forward holding torque, make that the motor reducer gears engaged is tight, can not produce return difference.When PLC control motor reverses the contact conducting (other closings of contact), motor "-" hold 220VAC, the motor reverse rotation, running into reverse limit switch rear motor counter-rotating contact disconnects, the motor crack closing of contact that oppositely disappears, motor "-" hold the 105VAC electricity, rotor obtains a reverse holding torque, make that the motor reducer gears engaged is tight, do not produce return difference.
The cross section of ramp type groove becomes the U type, as shown in Figure 3, puts into if medicine box lies low, and medicine box can't be put in groove neatly, may cause disorderly and unsystematic situation shown in Figure 4.At medicine box by the medicine-feeding induction system when being delivered to manipulator ramp type groove, the heeling mechanism action, ramp type U type groove as shown in Figure 5, medicine box is equivalent to enter the V-type groove, medicine box is in the V-type groove seamed edge snap of gravity effect lower edge, as shown in Figure 6.In the manipulator position fixing process, ramp type U type groove keeps the V-type attitude, prevents that medicine box from rocking back and forth because of action of inertia in acceleration or the moderating process.After manipulator arrived correct storage item, ramp type U type groove was turned to U type attitude again, the turnover panel action, and medicine box skids off.
Electromagnet panel turnover mechanism design turnover panel is equivalent to valve, and whether the control medicine box enters storage space.Electromagnet 22 is fixed on the below of frame 18, can drive turnover panel 23 and rotate, and roller 24 is equipped with in turnover panel 23 tops, is beneficial to medicine box and slides.When the medicine-feeding induction system was carried medicine box in manipulator U type groove, turnover panel 23 was subjected to the thrust that resets of push-down electromagnet, and rib is raised, and medicine box is blocked in the manipulator U type groove 10.When manipulator arrived correct storage space, the push-down electromagnet got electric, and push rod is subjected to electromagnetic attracting force, return, and drug turnover panel 23 is because the effect of gravity is overturn, and drug turnover panel 23 ribs reduce, and medicine box skids off manipulator U type groove 10, enters drug storage cabinet drug storage U type groove smoothly.Turnover panel action is divided into jack-up and reduces by two actions, adopts the power of simple push-down electromagnet as turnover panel, control simple, with low cost, convenient and reliable, electromagnet selection DC24V power supply, maximum thrust 5N, total travel 10mm.
During concrete utilization, when conveyer belt to the manipulator drug delivery, alternating current generator 11 counterclockwise (from the eyes front of manipulator rear portion) rotates, drive frame 18 and on 10 rotations of U type groove, thereby make medicine finish lateral register, and electromagnet 22 this moment jack-up turnover panel 23 upwards, the restriction medicine box skids off U type groove 10.When robot movement in the pharmacy during corresponding drug storage groove, alternating current generator 11 clockwise (from the eyes front of manipulator rear portion) rotation, drive frame 18 and on 10 rotations of U type groove, so that manipulator horizontal alignment drug storage U-lag, electromagnet 22 actions subsequently, make the top edge of turnover panel 23 be lower than the lower edge of U type groove 10, box-packed medicine skids off from manipulator U type groove 10 and drops into corresponding pharmacy drug storage U type groove, and the top edge of turnover panel 23 is equipped with roller 24 and helps medicine and slide smoothly.
Obviously, the present invention utilizes Cartesian robot to cooperate multifunction manipulator to finish the automatic medicine-feeding of box packed medicine, the medicine that transports from the medicine-feeding conveyer belt can be slided into smoothly the drug storage cabinet U type groove of appointment, and the medicine box regularly placing is on the medicine storage space of determining; Novel structure has been saved manpower greatly, has reduced pharmacists's labour intensity, and effect is remarkable, and application prospect is good.
Below only be concrete exemplary applications of the present invention, protection scope of the present invention is not constituted any limitation.All employing equivalents or equivalence are replaced and the technical scheme of formation, all drop within the rights protection scope of the present invention.
Claims (5)
1. the method for regularly placing box packed medicine, it is characterized in that: with plane rectangular coordinates robot configuration manipulator, manipulator is installed on the guide rail of described robot, described manipulator is provided with slope U type groove, U type groove heeling mechanism and turnover plate type medicament discharge mechanism, U type groove when U type attitude horizontal by 10～30 ° of inclination angles, U type groove heeling mechanism switches U type groove between U, V-type attitude, switch between this attitude to have adopted to keep the disappear method in crack of voltage; Described turnover plate type medicament discharge mechanism is set on the U type groove, blocks medicine box when static, the drug turnover panel ejects medicine box when being subjected to electromagnet thrust;
During use, before the manipulator location, described heeling mechanism slips in the U type groove slope U type groove canting, medicine box, medicine box is along the snap of U type groove seamed edge, in the manipulator position fixing process, slope U type groove keeps the V-type attitude, accept the medicine of certain box number when manipulator after, navigate to by robot and to store up item accurately, after manipulator arrived and stores up item accurately, slope U type groove was turned to U type attitude, was aimed at the seamed edge of medicine-chest drug storage groove by the seamed edge of medicine box snap, the action of turnover plate type medicament discharge mechanism, rib reduces, medicine box slips in the medicine-chest drug storage groove.
2. the method for regularly placing box packed medicine according to claim 1 is characterized in that: described slope U type groove when U type attitude horizontal by 20 ° of inclination angles.
3. the method for regularly placing box packed medicine according to claim 1, it is characterized in that: the guide rail of described plane rectangular coordinates robot comprises the electronic guide rails of horizontal direction and the electronic guide rail of a cover vertical direction of the parallel placement of two covers, the electronic guide rail of described two cover horizontal directions comes to by X-axis servomotor (1), X-axis first horizontal guide rail (2), synchronizing shaft (3) and X-axis second horizontal guide rail (4) constitute, described X-axis first horizontal guide rail (2) adopts described synchronizing shaft (3) to be connected with described X-axis second horizontal guide rail (4), rotatablely moving of X-axis servomotor (1) drives slide block (8) move left and right of described X-axis first horizontal guide rail, and be delivered to X-axis second horizontal guide rail (4) by described synchronizing shaft (3), drive slide block (5) move left and right of described X-axis second horizontal guide rail; The electronic guide rail of described vertical direction is made of Y-axis servomotor (9) and Y-axis guide rail (6), Y-axis guide rail (6) two ends are attached on the slide block (5) of the slide block (8) of X-axis first horizontal guide rail and X-axis second horizontal guide rail, slide block (7) is arranged on the Y-axis guide rail, and Y-axis servomotor (9) slide block (7) that drives on the Y-axis guide rail that rotatablely moves moves up and down; Manipulator is installed on the slide block (7) on the Y-axis guide rail, thus realize manipulator about move up and down.
4. the method for regularly placing box packed medicine according to claim 1, it is characterized in that: the described U type groove of manipulator is connected on the robot gantry (18), frame (18) is connected with clutch shaft bearing seat (14), the output shaft of motor (11) links to each other with long driven axle (16) by shaft coupling (13), long driven axle (16) is connected with U type piece (17), and the slide block (7) on the Y-axis guide rail of U type piece (17) and described guide rail is connected; During work, long driven axle (16) does not rotate, the casing of motor (11) rotates, rotatablely moving of casing is delivered to clutch shaft bearing seat (14) by motor flange (12), clutch shaft bearing seat (14) rotates around long driven axle (16) by clutch shaft bearing (15), the energising of motor (11) positive, and described slope U type groove clockwise rotates, the anti-phase energising of motor (11), described slope U type groove rotates counterclockwise.
5. the method for regularly placing box packed medicine according to claim 1, it is characterized in that: the front portion of manipulator is provided with unpowered rotating mechanism, comprise second bearing (21), second bearing block (20) and short driven axle (19), short driven axle (19) is connected with U type piece (17), described second bearing block (20) is connected with robot gantry (18), and described second bearing block (20) flexibly connects by second bearing (21) and short driven axle (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200710022276XA CN100534731C (en) | 2007-05-11 | 2007-05-11 | Method for regularly placing box packed medicine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200710022276XA CN100534731C (en) | 2007-05-11 | 2007-05-11 | Method for regularly placing box packed medicine |
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| CN101058182A CN101058182A (en) | 2007-10-24 |
| CN100534731C true CN100534731C (en) | 2009-09-02 |
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| CNB200710022276XA Active CN100534731C (en) | 2007-05-11 | 2007-05-11 | Method for regularly placing box packed medicine |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214107B (en) * | 2008-01-11 | 2010-08-25 | 苏州艾隆科技有限公司 | Automatization hospital pharmacy |
| CN101691035B (en) * | 2009-09-25 | 2011-06-15 | 北京航空航天大学 | Cartridge-type medicine-loading manipulator |
| CN103253479B (en) * | 2013-04-27 | 2016-03-23 | 苏州市艾信物联网技术有限公司 | Rectangular robot and medical disposable material thesaurus |
| CN103253478B (en) * | 2013-04-27 | 2015-08-05 | 苏州市艾信物联网技术有限公司 | Rectangular robot and medical disposable material thesaurus |
| CN110127257A (en) * | 2019-04-16 | 2019-08-16 | 江苏叶雨智能科技有限公司 | A kind of automatic medicine-applicating mechanism |
| CN116551654A (en) * | 2022-01-28 | 2023-08-08 | 腾讯科技（深圳）有限公司 | Mechanical arm, mechanical arm control method, mechanical arm control device, robot and storage medium |
| CN116985148B (en) * | 2023-09-27 | 2023-12-15 | 苏州艾隆科技股份有限公司 | Method and device for placing medicine in manipulator back to medicine tray |
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- 2007-05-11 CN CNB200710022276XA patent/CN100534731C/en active Active
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| 智能化药房的研究. 周万勇，员超，刘晏，吴平龙，李展翅，郝华增.包装与食品机械，第21卷第5期. 2003 |
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Address after: 215123 No. 28, Xinchang Road, Suzhou Industrial Park, Jiangsu, China Patentee after: Suzhou Iron Technology Co., Ltd. Address before: 215123 Jiangsu Province, wangdun road Suzhou City Industrial Park Housing Building Patentee before: Suzhou Iron Technology Co., Ltd. |