CN102602648A - Medicine storage container - Google Patents
Medicine storage container Download PDFInfo
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- CN102602648A CN102602648A CN2012100540015A CN201210054001A CN102602648A CN 102602648 A CN102602648 A CN 102602648A CN 2012100540015 A CN2012100540015 A CN 2012100540015A CN 201210054001 A CN201210054001 A CN 201210054001A CN 102602648 A CN102602648 A CN 102602648A
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Abstract
The invention relates to a medicine storage container, which comprises a main body and a medicine shelf. The medicine shelf consists of counting mechanisms with a counting function. The quantities of medicines are recorded by the aid of the counting mechanisms according to the optical control principle, each counting mechanism consists of a photoelectric switch, a baffle plate, a support and a hinge pin, the baffle plates are fixed to the supports by the aid of the hinge pins via through holes on the supports and holes on the baffle plates, the baffle plates can rotate around the hinge pins, and each baffle plate moves between two components of the corresponding photoelectric switch to realize the counting. The medicine storage container has the advantages of simple structure and accuracy and reliability in counting, and is applicable to medium and large-sized hospitals, pharmacies and the like.
Description
Technical field:
The application relates to a kind of medicine reservoir vessel, particularly a kind of medicine box with automatic tally function that is used for medicine access cabinet or drug control station.
Background technology:
The storage of medicine and medical disposable material and manage the important process that hospital always faces in the hospital; Particularly the management of the common medicine of operating room, narcotics and consumptive material is a problem that relatively is difficult to solve concerning each hospital always; According to the regulation of the 47th and the 48th in China's " narcotics and control of psychochemicals regulations ", the narcotics that uses in the hospital stores special counter and should be provided with anti-thefting facility and warning device is installed; Medicine is put double examination in storage, and outbound is double checks.And the operating room Anesthetist need take required medicine and consumptive material fast in operation, but country is but loaded down with trivial details relatively to the laws and regulations on the management of narcotics.Therefore; No matter the Anesthetist is the banque that management oneself is got; Or in strong box, take medicine through special banque administrative nurse, use medicine all a lot of inconvenience can be arranged to the doctor, and be badly in need of the urgent moment of medication patient; If for the convenience of getting it filled fast just possibly violated the laws and regulations on the management of country, and the height of the level of management of medical personnel's quality and hospital also has material impact to the safety of drug control.
Present domestic hospital medicine (comprising that common medicine, banque and other cause unreal similar drug and strict management and control similar drug) and consumptive material leave in the common medicine locker; All be that there are following problem in this management and storing mode by drug control person or the manual access situation of registering or passing through computer input record medicine of medical personnel basically during use; One, is difficult to guarantee the medicine storage safe; Manual registration with computer input write down and all have very big subjective human element, medicine especially narcotics exists error of omission, incorrect posting and medicine unforeseen circumstances such as to lose easily, has serious security breaches; Two, be difficult to guarantee that medicine is safe in utilization; Because the anesthetist is busy in surgical procedure; Unavoidable in use appearance carelessness; Have little time when sometimes taking medicine on use is single with on the computer record, to register; The use of many medicines and consumptive material all is after the operation end, memoriter to register, and the phenomenon that can't avoid so leak counting or counting more takes place, the perhaps situation of overcharge thereby the generation leakage is charged; And may cause and in time not replenish behind the chemical consumption or cause the expiration date of drug miss tracking, and the consumption of medicine not have the in time additional delay of performing the operation of can causing; Three, drug control inefficiency, the human and material resources of labor; Drug control and expiration date of drug are followed the tracks of manual operations; The hospital that has is dealt into the doctor with narcotics, have plenty of the special banque administrative nurse of needs medicine is managed, so the use of medicine is in manual tracking fully; And when the narcotics nurse relieves; Need the expensive time to carry out the medicine statistics, cause the drug control inefficiency, error rate is higher; Four, be difficult to adapt to the construction of modernized hospital; The Joint Commission International Accreditation Standards for Hospital that generally acknowledges in the world (hospital of evaluation International Joint Commission of U.S. medical institutions evaluation standard) has specific requirement to the management of medicine; The Chinese Hospitals management system is wanted and international joint, can not lack this link of management of medicine.
In order to solve the problem that medicine is taken and managed; The U.S. has had the operating room drug control cabinet of several types at present, and for example U.S. Pat 5745366A discloses a kind of drug control storage device, and this device can be realized automatic management, the registration of medicine; Device set inside drawer; Sensor on drawer back and the medicine box can note concrete which drawer respectively and medicine box is in the state of unlatching, and transmits signal and give treater, and indicating device can show the drawer or the medicine box of unlatching; U.S. Pat 20090187274A1 discloses a kind of medicine management system, the mode that has also adopted drawer manually to pump, and controller can be controlled the unlatching of each medicine box in the drawer, and has special indicating device to show the position of the medicine box that specifically is unlocked.The disclosed medicine storage facilities of above-mentioned patent all can't realize medicine real-time registration, check and record, need manual work check medicine quantity, the input record.
Japanese Patent TOHKEMY (p2009-261810A) discloses the automated record management equipment of consumptive materials such as a kind of medicine; It relies on the weight change of weight weighing testing of equipment medicament to judge the medicine store status; This patented technology can realize the automatic record and the registration of medicament, but because drug variety is various, it can only be used to store the medicament of single weight; And when between the medicament substance, having difference; Result of a measurement can not reflect that mistake can appear in the state of medicine or result of a measurement, may produce serious consequence, does not possess needed accuracy of drug control and safety;
Add person with power's patent CA2638564A1 and disclose the make up a prescription medicine memory system of usefulness of a kind of pharmacy, it can write down the medicine position, record medicine frequency of utilization.Same this equipment also exists can not write down medicine storing state and the defective of counting automatically, can not carry out the medicine auto inventory, and the single container of this system's storage medicine can only be stored single medicine.
In sum, present medicine memory system and equipment all possess realizes the medicine function of counting automatically, can not carry out auto inventory and record to medicine, can't accurately know the store status and the quantity of medicine.
Summary of the invention:
The present invention is directed to the problem that exists in the above-mentioned prior art; Provide a kind of simple in structure; Be easy to installation and maintenance, and can be to the medicine storage container of the automatic counting of medicine, this Vessel Design is simple and reliable; Safety and degree of automation are higher, meet Chinese medical drug control and hospital management system fully.
Medicine storage container of the present invention comprises main body and Drug shelf, and said body interior is a hollow structure, is used to hold Drug shelf; It is characterized in that; Said Drug shelf comprises base plate and is positioned at the medicine pad on the base plate;
Said base plate comprises medicine counting mechanism and control circuit board, and wherein counting mechanism is fixedly mounted on a side of control circuit board and is electrically connected with control circuit board, is used for detecting said Drug shelf medicine and deposits and/or taking-up information; Said counting mechanism comprises photoelectric switch, baffle plate, support and bearing pin; Said photoelectric switch and spacer support frame one segment distance are arranged in parallel, and this is complementary apart from size and baffle length; Said support is a concave structure, and both sides are provided with through hole supply and marketing axle and pass; Said baffle plate is that sheet or strip light-proof material are processed, and baffle plate is provided with the hole, and bearing pin is fixed together baffle plate and support through through hole on the support and the hole on the baffle plate, and baffle plate can be around the bearing pin rotation; Baffle plate is that boundary is divided into L1 section and L2 section with the hole, and wherein the L1 segment length is greater than the L2 section, and L1 section along continuous straight runs extends between the light source and signal receiver of photoelectric switch, and L2 section endwise skew extends; Said control circuit board is connected with central controller, is used for receiving from the instruction of central controller with the medicine signal of medicine reservoir vessel conveying to central controller;
Said medicine pad is provided with the space of placing medicine, and the space is corresponding one by one with counting mechanism; The L2 section end of said baffle plate extend in the space through the seam of bottom, space;
Further, said main body is square, rectangle or circular box body, and box body is provided with top cover; Cassette shapes can change as required, to satisfy installation requirement as far as possible;
Preferably, said counting mechanism is provided with in the medicine storage container more than 1 group or 1 group, and the dose of storage is freely selected according to actual needs, can improve medicine memory capacity, satisfies the medication demand;
Preferably, said medicine is an injection;
Preferably, said space and medicine form fit make things convenient for the medicine access, can effectively prevent and treat medicine and topple over;
Preferably, rebasing of said medicine also is provided with fixed leg and/or back-off, is used for fixing control circuit board and medicine pad.
Medicine storage container of the present invention is used for medicine locker; Said medicine locker comprises the drawer of placing said medicine storage container more than 1 or 1; And master control system; The control circuit board and the master control system of medicine storage container are electrically connected, and medicine locker central controller record medicine quantity, take and information such as resting period.
Said medicine locker also comprises cabinet, electric power system and cabinet annex;
Said cabinet comprises: shell, top service platform, the beam that is installed in the wheel of bottom of cabinet bulk and is arranged at wheel top protecting sheathing; Can prevent that collision causes the cabinet damage in the medicine locker moving process; Shell adopts the integrally closed structure to install and forms; Adopt metal frame, make it whole firm reliable, and possess the certain electromagnetic screening ability.
In one embodiment, wheel can be selected directional wheel or dual brake car cardan wheel, to make things convenient for the medicine access system in hospital, to move and to fix.
Place a plurality of medicine storage containers of the present invention in the described drawer;
Said master control system comprise main frame, with main frame bonded assembly interactive device and with controlled target bonded assembly control path, wherein main frame is integrated is arranged in the cabinet in-to-in equipment compartment; Interactive device comprises telltale, Fingerprint Identification Unit, scanning device, operation control, keyboard, chopping machine (not shown in figure 1) etc.; Said telltale, Fingerprint Identification Unit, scanning device and operation control be integrated to be arranged on the erecting stage of cabinet peripheral hardware; It below the service platform on cabinet top equipment compartment; The built-in main frame of equipment compartment and accessory and mains connection set are responsible for carrying out the functions such as man-machine interaction, calculating, control and power management of entire product.
In one embodiment, wherein telltale can be touch-screen display, and can integrated camera.
In one embodiment, said operation control is touch pad or mouse.
Electric power system is built in the equipment compartment below the service platform; It is connected through power control circuit with the main frame of control system, comprises ac-powered device and built-in backup power, obtains electric power for the medicine access system through external ac power source; And externally under the situation of AC interruptions; Launch inner backup power, prevent the delay that outage causes in surgical procedure, and in time write down, preserve relevant information.
The cabinet annex comprises parcel tray and extensible frame, rubbish container, hook, handle, emergent unlocking device etc., and said parcel tray and extensible frame are installed in the cabinet rear portion, and is positioned at cabinet top operational flat-bed top; Main purpose is upwards to expand the storage space of product; Can be used for placing some article commonly used, be easy to open, the user can take the article that need easily and fast; Parcel tray adopts simple Fixed Design; Can when opening to maximum angle, just can take out and change through rotating freely the certain angle open and close, efficient and convenient; Said rubbish container is arranged on the shell of cabinet one side, and the cabinet opposite side is provided with handle, and hook is set on it.
Medicine storage container of the present invention and medicine locker have the following advantages:
Medicine storage container of the present invention and medicine locker are simple in structure; Diverse in function; Have high safety and dead front type, improved the safety and the comfort feature of medicine storage greatly, stopped leak and managing risk that manual operation exists; Practice thrift cost of labor and handling cost, be fit to uses such as big-and-middle-sized hospital and pharmacy; Automatic tally function of medicine and structure that the present invention is exclusive, simple and reliable, degree of automation is high, and drug control efficient and safety performance are also improved greatly.Medicine storage container of the present invention and medicine locker can be used for various hospitals, operating room and pharmacy; Also can be used for laboratory and research institute and be used to deposit reagent and all kinds of hazardous chemicals; It is safe in utilization to help improving medicine, improves drug control efficient, stops the medicine risk.
Description of drawings:
Fig. 1 is the scheme drawing of medicine storage container of the present invention;
Fig. 2 A is the structural representation of Drug shelf of the present invention, and Fig. 2 B is the decomposing schematic representation of Drug shelf of the present invention;
Fig. 3 is the front schematic view of medicine pad 5, and Fig. 4 representes the schematic rear view of medicine pad 5;
Fig. 5 A is the decomposing schematic representation of counting mechanism; Fig. 5 B is a counting mechanism assembling back block diagram;
Fig. 6 is a counting mechanism principle of work scheme drawing;
Fig. 7 A is the view of counting mechanism when medicine is arranged, and Fig. 7 B is the view of counting mechanism when not having medicine;
Fig. 8 counts the medicine locker drawer scheme drawing of medicine storage container automatically for adopting the present invention;
Fig. 9 is for using the medicine cabinet scheme drawing of medicine storage container of the present invention
The specific embodiment:
As shown in Figure 1, the medicine storage container that the present invention asks for protection comprises main body 1 and Drug shelf 2, can place medicine 3 on the Drug shelf 2.That said main body 1 adopts is square, the box body or the container body of rectangle, circle or other conventional shape, and said main body 1 top is provided with top cover, and inside is hollow structure, and Drug shelf 2 places main body 1 bottom;
Fig. 3 and 4 is specific embodiment of medicine pad 5 according to the invention; Wherein medicine pad 5 is provided with a plurality of spaces 501; The shape in space 501 is according to the medicine shaped design, and with the form fit of medicine, what a specific embodiment of the present invention adopted is the injection medicine; Space 501 is cylindric, and the space shape also can be designed as the suitable shape of placing medicine of triangular prism or polygon prism or other certainly; The number in space can be provided with as required, more than 1 or 1 all can, corresponding one by one with counting mechanism,, embodiments of the invention adopt and to be provided with 6 altogether with counting mechanism 400 identical numbers; As shown in Figure 4,501 bottoms, described space are provided with seam 502, match with counting mechanism 400, and when medicine pad 5 and base plate 4 are installed to a time-out, the L2 section end of the baffle plate 402 of the counting mechanism 400 on the base plate 4 extend in the space 501 through stitching 502; Said medicine pad 5 bottoms also are provided with fixed leg 503 and/or back-off 504, are used for control circuit board 406 and medicine pad 5 are secured together.
The principle of work of the automatic counting mechanism of the present invention is shown in Fig. 7 A and Fig. 7 B, and when medicine was put into space 501, the L2 section of baffle plate 402 received the pressure that drug weight brings and moves down; According to leverage; The L1 section of baffle plate 402 is upturned, and breaks away from photoelectric switch 401, and the receptor on the photoelectric switch 401 receives light signal; Send out the medicine signal of packing into to central controller, by the central controller record medicine information of packing into; When not having medicine to put into space 501 or after medicine taken away; The L1 section of baffle plate 402 is in horizontality; The L1 section is positioned in the middle of the photoelectric switch 401, shelters from the signal that the photoelectric switch light source sends, and at this moment photoelectric switch can send the signal that does not have medicine to central controller;
Shown in Figure 8ly put into medicine locker drawer 6 for medicine storage container of the present invention, each drawer 6 can be placed a plurality of medicine storage containers of the present invention.
Shown in Figure 9 for using the medicine locker that the present invention has the medicine storage container of automatic tally function; Wherein said medicine locker comprises the drawer 6 and the central controller of the said medicine storage container of a plurality of placements; The control circuit board 406 of medicine storage container is electrically connected with central controller, medicine locker central controller record medicine quantity, takes and information such as resting period.Said medicine locker comprises cabinet 101, drawer 6, control system, electric power system and cabinet annex etc.Wherein cabinet 101 comprises: shell 103, top service platform 100, the beam 106 that is installed in the wheel 105 of cabinet 101 bottoms and is arranged at wheel 105 top protecting sheathings; Can prevent that collision causes the cabinet damage in the medicine locker moving process; Shell 103 adopts the integrally closed structure to install and forms; Adopt metal frame, make it whole firm reliable, and possess the certain electromagnetic screening ability.
In one embodiment, wheel 105 can be selected directional wheel or dual brake car cardan wheel, to make things convenient for the medicine access system in hospital, to move and to fix.
Place a plurality of medicine storage containers of the present invention in the described drawer 6.Said master control system comprise main frame, with main frame bonded assembly interactive device and with controlled target bonded assembly control path, wherein main frame (not shown among Fig. 9) is integrated is arranged in the cabinet 101 in-to-in equipment compartments 111; Interactive device comprises telltale 122, Fingerprint Identification Unit 112, scanning device 113, operation control 114, keyboard 115, chopping machine (not shown in figure 1) etc.; As shown in Figure 9; Telltale 122, Fingerprint Identification Unit 112, scanning device 113 and operation control 114 be integrated to be arranged on the erecting stage 116 of cabinet 101 peripheral hardwares; Below the top service platform 100 of cabinet 101 is equipment compartment 111; Equipment compartment 111 built-in main frames and accessory and mains connection set are responsible for carrying out the functions such as man-machine interaction, calculating, control and power management of entire product.
In one embodiment, wherein telltale 122 can be touch-screen display, and can integrated camera.
In one embodiment, said operation control 114 is touch pad or mouse.
Electric power system (Fig. 1 is not shown) is built in the equipment compartment 111 below the service platform 100; It is connected through power control circuit with the main frame of control system, comprises ac-powered device and built-in backup power, obtains electric power for the medicine access system through external ac power source; And externally under the situation of AC interruptions; Launch inner backup power, prevent the delay that outage causes in surgical procedure, and in time write down, preserve relevant information.
The cabinet annex comprises parcel tray 118 and extensible frame 117, rubbish container 119, hook 120, handle 121, emergent unlocking device etc., and as shown in Figure 1, said parcel tray 118 is installed in cabinet 101 rear portions with extensible frame 117; And being positioned at cabinet 101 top operational flat-beds top, main purpose is upwards to expand the storage space of product, can be used for placing some article commonly used; Be easy to open; The user can take the article that need easily and fast, and parcel tray 118 adopts simple Fixed Design, can be through rotating freely the certain angle open and close; When opening to maximum angle, just can take out and change, efficient and convenient; Said rubbish container 119 is arranged on the shell of cabinet 101 1 sides, and cabinet 101 opposite sides are provided with handle 121, and hook 120 is set on it.Medicine locker of the present invention has simple in structure; Diverse in function and high safety and dead front type; The safety and the comfort feature of medicine storage have been improved greatly; Stop leak and managing risk that manual operation exists, practiced thrift cost of labor and handling cost, be fit to uses such as big-and-middle-sized hospital and pharmacy; Automatic tally function of medicine and structure that the present invention is exclusive, simple and reliable, degree of automation is high, and drug control efficient and safety performance are also improved greatly.
Above-mentioned embodiment only represent of the present invention a kind of maybe implementation, those skilled in the art can know any in the foreseeable distortion on the basis of the present invention with change at the embodiment in spirit of the present invention or category all within protection scope of the present invention.
Claims (16)
1. medicine reservoir vessel, it comprises box body and Drug shelf, said box body inside is hollow structure, is used to place said Drug shelf; It is characterized in that;
Said Drug shelf comprises base plate and is positioned at the medicine pad on the base plate;
Said base plate comprises medicine counting mechanism and control circuit board,
Said counting mechanism comprises photoelectric switch, baffle plate, support and bearing pin; Said medicine counting mechanism is connected with said control circuit board, is used for detecting said Drug shelf medicine and deposits and/or taking-up information;
Said control circuit board is connected with central controller, is used for receiving from the instruction of central controller with the medicine canned data of medicine storage container being transferred to central controller.
2. according to the medicine storage container of claim 1, it is characterized in that: said photoelectric switch and spacer support frame one segment distance are arranged in parallel, and this is complementary apart from size and baffle length; Said support is a concave structure, and both sides are provided with through hole supply and marketing axle and pass; Said baffle plate is that sheet or strip light-proof material are processed, and baffle plate is provided with the hole, and bearing pin is fixed together baffle plate and support through through hole on the support and the hole on the baffle plate, and baffle plate can be around the bearing pin rotation; Said baffle plate is that boundary is divided into L1 section and L2 section with the hole, and wherein the L1 segment length is greater than the L2 section, and L1 section along continuous straight runs extends between the light source and signal receiver of photoelectric switch, and L2 section endwise skew extends; Said control circuit board is connected with central controller, is used for receiving from the instruction of central controller with the medicine signal of medicine reservoir vessel conveying to central controller;
Said medicine pad is provided with the space of placing medicine, and the space is corresponding one by one with counting mechanism; The L2 section end of said baffle plate extend in the space through the seam of bottom, space.
3. according to the medicine storage container of claim 1, it is characterized in that: said main body is square, rectangle or circular box body, and main body is provided with top cover.
4. according to the medicine storage container of right 1, it is characterized in that: said counting mechanism is provided with more than 1 group or 1 group in the medicine storage container.
5. according to the medicine storage container of right 1, it is characterized in that: said medicine is an injection.
6. according to the medicine storage container of right 2, it is characterized in that: said space is cylindric.
7. according to the medicine storage container of right 1, it is characterized in that: rebasing of said medicine also is provided with fixed leg and/or back-off, is used for fixing control circuit board and medicine pad.
8. medicine access cabinet, it comprises the drawer and the master control system of placing more than 1 or 1 like the described medicine storage container of claim 1-6, the control circuit board and the master control system of said medicine storage container are electrically connected.
9. according to the medicine access cabinet of claim 7, it is characterized in that: said medicine access cabinet also comprises cabinet, electric power system and cabinet annex.
10. according to Claim 8 medicine access cabinet is characterized in that: the beam that said cabinet comprises shell, top service platform, is installed in the wheel of bottom of cabinet bulk and is arranged at wheel top protecting sheathing.
11. the medicine access cabinet according to right 9 is characterized in that: said wheel is directional wheel or dual brake car cardan wheel.
12. the medicine access cabinet according to right 7 is characterized in that: said master control system comprise main frame, with main frame bonded assembly interactive device and with controlled target bonded assembly control path.
13. the medicine access cabinet according to right 7 is characterized in that: said main frame is integrated to be arranged in the cabinet in-to-in equipment compartment; Said interactive device comprises telltale, Fingerprint Identification Unit, scanning device, operation control, keyboard, chopping machine.
14. the medicine access cabinet according to right 12 is characterized in that: said telltale, Fingerprint Identification Unit, scanning device and operation control be integrated to be arranged on the erecting stage of cabinet peripheral hardware.
15. according to the medicine access cabinet of right 12, it is characterized in that: said telltale can be touch-screen display.
16. the medicine access cabinet according to right 12 is characterized in that: said operation control is touch pad or mouse.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210054001.5A CN102602648B (en) | 2012-03-05 | 2012-03-05 | Medicine storage container |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210054001.5A CN102602648B (en) | 2012-03-05 | 2012-03-05 | Medicine storage container |
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| Publication Number | Publication Date |
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| CN102602648A true CN102602648A (en) | 2012-07-25 |
| CN102602648B CN102602648B (en) | 2014-06-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210054001.5A Active CN102602648B (en) | 2012-03-05 | 2012-03-05 | Medicine storage container |
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| Country | Link |
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| CN (1) | CN102602648B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108514488A (en) * | 2018-04-12 | 2018-09-11 | 李健 | Nurse medical tray |
| CN114291465A (en) * | 2021-12-08 | 2022-04-08 | 中国兵器装备集团自动化研究所有限公司 | Safe storage and taking and placing device for dangerous explosive |
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| CN202508542U (en) * | 2012-03-05 | 2012-10-31 | 北京华兴长泰物联网技术研究院有限责任公司 | Medicine storage container and medicine storage and fetching cabinet |
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| US5745366A (en) * | 1994-07-14 | 1998-04-28 | Omnicell Technologies, Inc. | Pharmaceutical dispensing device and methods |
| US20090187274A1 (en) * | 2007-01-22 | 2009-07-23 | John David Higham | Pharmaceutical dispensing system with coordinate guidance |
| JP2009261810A (en) * | 2008-04-29 | 2009-11-12 | Multi Solution:Kk | Management system for automatically recording change of weight of commodity on shelf |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108514488A (en) * | 2018-04-12 | 2018-09-11 | 李健 | Nurse medical tray |
| CN108514488B (en) * | 2018-04-12 | 2020-10-27 | 天津市雷升科技有限公司 | Nursing medical tray |
| CN114291465A (en) * | 2021-12-08 | 2022-04-08 | 中国兵器装备集团自动化研究所有限公司 | Safe storage and taking and placing device for dangerous explosive |
| CN114291465B (en) * | 2021-12-08 | 2023-09-19 | 中国兵器装备集团自动化研究所有限公司 | Dangerous explosive safe storage and picking and placing device |
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| Publication number | Publication date |
|---|---|
| CN102602648B (en) | 2014-06-11 |
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