CN106214486A - A kind of Chinese medicine automated dispensing goes out medicine-chest system - Google Patents
A kind of Chinese medicine automated dispensing goes out medicine-chest system Download PDFInfo
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- CN106214486A CN106214486A CN201610594900.2A CN201610594900A CN106214486A CN 106214486 A CN106214486 A CN 106214486A CN 201610594900 A CN201610594900 A CN 201610594900A CN 106214486 A CN106214486 A CN 106214486A
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- medicine
- chest
- belt conveyor
- weighing
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J3/00—Devices or methods specially adapted for bringing pharmaceutical products into particular physical or administering forms
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B67/00—Chests; Dressing-tables; Medicine cabinets or the like; Cabinets characterised by the arrangement of drawers
- A47B67/02—Cabinets for shaving tackle, medicines, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47F—SPECIAL FURNITURE, FITTINGS, OR ACCESSORIES FOR SHOPS, STOREHOUSES, BARS, RESTAURANTS OR THE LIKE; PAYING COUNTERS
- A47F1/00—Racks for dispensing merchandise; Containers for dispensing merchandise
- A47F1/04—Racks or containers with arrangements for dispensing articles, e.g. by means of gravity or springs
- A47F1/08—Racks or containers with arrangements for dispensing articles, e.g. by means of gravity or springs dispensing from bottom
- A47F1/10—Racks or containers with arrangements for dispensing articles, e.g. by means of gravity or springs dispensing from bottom having mechanical dispensing means, e.g. with buttons or handles
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- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Medicinal Chemistry (AREA)
- Pharmacology & Pharmacy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The invention discloses a kind of Chinese medicine automated dispensing and go out the medicament discharge mechanism that medicine-chest system, medicine-chest, the pre-cut mechanism being arranged on medicine-chest, the medicine taking mechanism being arranged in medicine-chest and weighing mechanism and medicine weighing completed are seen off；Pre-cut mechanism includes the first belt conveyor, cutter and material chute, medicine taking mechanism includes receiving hopper, feed slot and electric pushrod, and weighing mechanism includes material baffle, the first cylinder, the second belt conveyor, reducing shape chute, batch meter, LOAD CELLS and feed back case；Medicament discharge mechanism includes the second cylinder, pushes away medicine plate, material blanking tube, the 3rd belt conveyor and pulp-collecting box, Chinese medicine automated dispensing of the present invention goes out medicine-chest system, its simple in construction, mechanism reliability is high, great majority, different size, automatically the getting it filled of difform Chinese crude drug, accurate weighing can be applicable to, efficiently make up a prescription, raising medical worker's work efficiency that can be the biggest, reduces labor intensity.
Description
Technical field
The invention belongs to mechanical, electrical, the intelligent agent technology field of control integration, particularly to a kind of in hospital, Chinese medicine pharmacy
Chinese medicine is made up the prescription the process of making up a prescription, and automatically gets it filled, quantitative weighing, and the device of punctual drug.
Background technology
Chinese medicine cabinet is commonly used to deposit various different medical material, and the Chinese medicine cabinet in current each big pharmacy is the most all fixed, letter
Single employing Combined wooden forms, and substantially uses the manual tradition captured and weigh to make up the prescription mode when getting it filled, prescription
Process the most loaded down with trivial details, complicated, time-consuming, there is also the drawbacks such as precision of making up the prescription is the highest, labor intensity is big.In recent years in order to improve Chinese medicine
Problem present in making up the prescription, also occurs in that many solutions.
Such as in order to improve efficiency of making up the prescription, it is simple to automatic business processing, traditional Chinese drug inspissation is become granule, but, in the mistake concentrated
Journey will necessarily cause the loss of Chinese medicine ingredients, form significant wastage, and with high costs；Scheme is also had to propose at each medicine-chest
Bottom increase projection electronic weighing unit to reduce the time weighing medical material, but this scheme still uses manual mode of making up the prescription,
Automaticity is the lowest；Also having scheme to propose first to be encapsulated by minimum dose by each taste Chinese medicine, centralized processing is to improve the most again
Efficiency, but this exist serious problem be exactly in prescription every taste medicine must be the integral multiple of every parcel, and this is often
Unpractical.
In a word due to the multiformity of Chinese crude drug shape size, there is presently no one efficient, accurately, centralized processing
Method solve Chinese medicine and join the problem of taking.
Summary of the invention
In view of this, it is an object of the invention to provide a kind of Chinese medicine automated dispensing and go out medicine-chest system, to solve existing making up the prescription
Method is loaded down with trivial details, the most, automaticity is low, the shortcomings such as degree of accuracy is the highest of making up the prescription, it is achieved to automatically taking of most of Chinese crude drugs
Medicine, quantitative weighing, and punctual drug.
Chinese medicine automated dispensing of the present invention goes out medicine-chest system, the pre-cut mechanism that including several medicine-chests, is arranged on medicine-chest, sets
Put the medicine taking mechanism in medicine-chest and weighing mechanism and medicament discharge mechanism that the medicine that weighing completed is seen off；
Described pre-cut mechanism includes the first belt conveyor being arranged on medicine-chest, the transmission being positioned at the first belt conveyor
Cutter above band and the medical material for being discharged by the first belt conveyor import the blanking chute of medicine-chest；
Described medicine taking mechanism includes discharging the receiving hopper of medical material for receiving blanking chute, being connected in receiving hopper outlet
Feed slot and horizontally disposed electric pushrod, the expansion link end of described electric pushrod is provided with and feed slot inner chamber level
The piston that linear slide coordinates, and the top of piston connects to have and stops receiving hopper Chinese crude drug to fall into the horizontal baffle at piston rear；
Described weighing mechanism includes being arranged on the material baffle in feed slot exit, being vertically fixed on medicine-chest in order to drive
Material baffle move up and down the first cylinder, be arranged on feed slot outlet below the second belt conveyor, be connected to feed slot
Export department is in order to guide medical material to the reducing shape chute on the second belt conveyor, to be arranged under the second belt conveyor front end
Side batch meter, be arranged on the LOAD CELLS bottom batch meter and be arranged on below the second belt conveyor rear end return
Hopper；
Described medicament discharge mechanism includes being horizontally set on the second cylinder below the second belt conveyor, is fixed on the second cylinder
Piston rod end on push away medicine plate, the material blanking tube being arranged on outside medicine-chest, be positioned at the 3rd belt conveyor below material blanking tube, with
And be arranged on the pulp-collecting box on the 3rd belt conveyor, described in push away the inner chamber of medicine plate and batch meter and be slidably matched, described batch meter
Be provided with the medicine outlet connected with material blanking tube on medicine-chest.
Further, the rectangular permutation of described medicine-chest is arranged, the medicine-chest in same column shares same material blanking tube.
Beneficial effects of the present invention:
Chinese medicine automated dispensing of the present invention goes out medicine-chest system, its simple in construction, and mechanism reliability is high, it is possible to be applicable to mostly
Number, different size, automatically the getting it filled of difform Chinese crude drug, accurate weighing, efficiently makes up a prescription, it is possible to the biggest raising medical matters people
Member's work efficiency, reduces labor intensity.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram that Chinese medicine automated dispensing of the present invention goes out medicine-chest system；
Fig. 2 is the perspective view of single medicine-chest.
Detailed description of the invention
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
The present embodiment Chinese medicine automated dispensing goes out medicine-chest system, including several medicine-chests 1, the pre-cut machine that is arranged on medicine-chest
The medicament discharge mechanism that structure, the medicine taking mechanism being arranged in medicine-chest and weighing mechanism and medicine weighing completed are seen off；
Described pre-cut mechanism includes the first belt conveyor 2 being arranged on medicine-chest, the biography being positioned at the first belt conveyor
The cutter 3 above band and the medical material for being discharged by the first belt conveyor is sent to import the blanking chute 4 of medicine-chest；
Described medicine taking mechanism includes discharging the receiving hopper 5 of medical material for receiving blanking chute, being connected to receiving hopper outlet
Feed slot 6 and horizontally disposed electric pushrod 7, the expansion link end of described electric pushrod is provided with and feed slot inner chamber
The piston that horizontal linear is slidably matched, and piston top connect have stop receiving hopper Chinese crude drug fall into piston rear level gear
Plate 8；
Described weighing mechanism includes being arranged on the material baffle 9 in feed slot exit, being vertically fixed on medicine-chest in order to drive
The first cylinder 10 that dynamic material baffle moves up and down, it is arranged on the second belt conveyor 11 below feed slot outlet, is connected to
Feed slot export department is in order to guide medical material to the reducing shape chute 12 on the second belt conveyor, to be arranged on the second Belt Conveying
Batch meter 13 below machine front end, it is arranged on the LOAD CELLS 14 bottom batch meter and is arranged on the second belt conveyor
Feed back case 15 below rear end；
Described medicament discharge mechanism includes being horizontally set on the second cylinder 16 below the second belt conveyor, is fixed on the second gas
The material blanking tube 18 pushing away medicine plate 17, being arranged on outside medicine-chest on the piston rod end of cylinder, to be positioned at the 3rd belt below material blanking tube defeated
Send machine 19 and be arranged on the pulp-collecting box 20 on the 3rd belt conveyor, described in push away the inner chamber of medicine plate and batch meter and be slidably matched,
Described batch meter be provided with the medicine outlet 21 connected with material blanking tube on medicine-chest.
The present embodiment Chinese medicine automated dispensing goes out medicine-chest system work process:
First, medical material passes to receiving hopper 5 by the first belt conveyor 2, owing to Chinese crude drug shape size is different, in order to
The medical material of specified wt can be gone out by precise, the weight of monolithic medical material need to be made to be considerably less than mesh nominal magnitude, i.e. require medicine
Material should be the least, is therefore provided with cutter 3 at the first belt conveyor 2, so that medical material to carry out precut process, i.e. according to being somebody's turn to do
The attribute of taste medical material, the cutting frequency of rotating speed and cutter by controlling the first belt conveyor, to the medical material on conveyer belt
Carry out precut.
Then, the medical material after being pre-cut enters into receiving hopper 5 and falls in feed slot 6 again, then pushes away by controlling electric pushrod 7
Medical material in feed slot is released by dynamic piston, and the medical material of release falls on the second belt conveyor of lower section.During pusher,
The horizontal baffle being arranged on piston can avoid medical material to fall into piston rear, simultaneously during pusher, and can be according to current goal
The size of weighing value suitably regulates fltting speed and material baffle 9 openings of sizes of electric pushrod 7, controls the drug of feed slot
Flow, and then carry out place mat for follow-up precise.
Then, control the second belt conveyor and medical material is sent into batch meter 13 weigh, can first control in weighing process
Second belt conveyor 11, with fast speed drug delivery, so can accelerate weighing process, when LOAD CELLS 14 detects batch meter
When dose in 13 is soon close to desired value, then control the second belt conveyor reduction speed slow drug delivery process of entrance, the most logical
Cross LOAD CELLS 14 and constantly current weight signal fed back to control end, and constantly adjust the second belt feeder speed of service,
To ensure that the dose fallen in batch meter moves closer to desired value, it is achieved the most quickly weigh.And slowly send in the weighing later stage
During medicine, the first cylinder 10 can be controlled simultaneously and drive 9 times movements of material baffle, to reduce the medical material stream discharged from feed slot
Amount, so stays the residual drug on the second belt conveyor 11 the most less after weighing terminates.After weighing completes, control immediately
Material baffle moves down closedown feed slot, controls the second belt conveyor reversion simultaneously, can be by unnecessary on the second belt conveyor
Medical material put in feed back case 5 and keep in.
Finally, the second cylinder 16 driving in medicament discharge mechanism pushes away medicine plate 17 and the medical material in batch meter is pushed material blanking tube 18,
Medical material falls into pulp-collecting box 20 through material blanking tube, and pulp-collecting box is sent by the 3rd belt conveyor 19.
The present embodiment Chinese medicine automated dispensing goes out medicine-chest system, its simple in construction, and mechanism reliability is high, it is possible to be applicable to mostly
Number, different size, automatically the getting it filled of difform Chinese crude drug, accurate weighing, it is possible to the biggest raising medical worker works effect
Rate, reduces labor intensity.
In the present embodiment, the described rectangular permutation of medicine-chest 1 is arranged, the medicine-chest in same column shares same material blanking tube, makes
This Chinese medicine automated dispensing to go out medicine-chest system structure simple, and can efficiently make up a prescription, raising medical worker's work efficiency that can be the biggest,
Reduce labor intensity.
Finally illustrating, above example is only in order to illustrate technical scheme and unrestricted, although with reference to relatively
The present invention has been described in detail by good embodiment, it will be understood by those within the art that, can be to the skill of the present invention
Art scheme is modified or equivalent, and without deviating from objective and the scope of technical solution of the present invention, it all should be contained at this
In the middle of the right of invention.
Claims (2)
1. a Chinese medicine automated dispensing goes out medicine-chest system, it is characterised in that: include several medicine-chests, the pre-cut being arranged on medicine-chest
The medicament discharge mechanism that mechanism, the medicine taking mechanism being arranged in medicine-chest and weighing mechanism and medicine weighing completed are seen off；
On the conveyer belt that described pre-cut mechanism includes the first belt conveyor being arranged on medicine-chest, be positioned at the first belt conveyor
The cutter of side and the medical material for being discharged by the first belt conveyor import the blanking chute of medicine-chest；
Described medicine taking mechanism includes the receiving hopper discharging medical material for receiving blanking chute, the feeding being connected in receiving hopper outlet
Groove and horizontally disposed electric pushrod, the expansion link end of described electric pushrod is provided with and feed slot inner chamber horizontal linear
The piston being slidably matched, and the top of piston connects to have and stops receiving hopper Chinese crude drug to fall into the horizontal baffle at piston rear；
Described weighing mechanism includes being arranged on the material baffle in feed slot exit, being vertically fixed on medicine-chest in order to drive material
Baffle plate move up and down the first cylinder, be arranged on feed slot outlet below the second belt conveyor, be connected to feed slot outlet
Portion is in order to guide medical material to the reducing shape chute on the second belt conveyor, to be arranged on below the second belt conveyor front end
Batch meter, it is arranged on the LOAD CELLS bottom batch meter and is arranged on the feed back case below the second belt conveyor rear end；
Described medicament discharge mechanism includes being horizontally set on the second cylinder below the second belt conveyor, is fixed on the work of the second cylinder
Pushing away medicine plate, the material blanking tube being arranged on outside medicine-chest, be positioned at the 3rd belt conveyor below material blanking tube, Yi Jishe on stopper rod end
Put the pulp-collecting box on the 3rd belt conveyor, described in push away the inner chamber of medicine plate and batch meter and be slidably matched, described batch meter and medicine
Cashier's office in a shop it is provided with the medicine outlet connected with material blanking tube.
Chinese medicine automated dispensing the most according to claim 1 goes out medicine-chest system, it is characterised in that: the rectangular permutation of described medicine-chest
Arranging, the medicine-chest in same column shares same material blanking tube.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610594900.2A CN106214486B (en) | 2016-07-26 | 2016-07-26 | A kind of Chinese medicine automated dispensing goes out medicine-chest system |
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| CN201610594900.2A CN106214486B (en) | 2016-07-26 | 2016-07-26 | A kind of Chinese medicine automated dispensing goes out medicine-chest system |
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| CN106214486A true CN106214486A (en) | 2016-12-14 |
| CN106214486B CN106214486B (en) | 2019-07-16 |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106742103A (en) * | 2017-01-09 | 2017-05-31 | 成都宇亨工业制造有限公司 | A kind of medicine discharging mechanism |
| CN107804642A (en) * | 2017-10-26 | 2018-03-16 | 星际（重庆）智能装备技术研究院有限公司 | Inner wrapping Chinese medicine medicine-chest automatic medicine outlet mechanism |
| CN107840062A (en) * | 2017-10-26 | 2018-03-27 | 星际（重庆）智能装备技术研究院有限公司 | Institute of traditional Chinese medicine's automatic medicament discharging system |
| CN108022377A (en) * | 2017-11-30 | 2018-05-11 | 亳州市谯城区鹤名养殖专业合作社 | One kind picks up medicine device and its application method |
| CN109131962A (en) * | 2018-07-13 | 2019-01-04 | 苏州信亨自动化科技有限公司 | The automatic administration equipment of Chinese medicine in bulk |
| CN109204902A (en) * | 2018-10-23 | 2019-01-15 | 中国矿业大学 | A kind of prescription conditioning system automating Chinese medicine pharmacy |
| CN109276082A (en) * | 2018-09-06 | 2019-01-29 | 上海超客机器人有限公司 | Chinese medicine pharmacy's automation prepared slices of Chinese crude drugs dispensing system |
| CN109292121A (en) * | 2018-10-23 | 2019-02-01 | 中国矿业大学 | A kind of weighing dispensation apparatus of Chinese medicine pharmacy |
| CN109515776A (en) * | 2018-07-13 | 2019-03-26 | 苏州信亨自动化科技有限公司 | The automatic administration equipment of Chinese medicine in bulk |
| CN110037924A (en) * | 2019-05-24 | 2019-07-23 | 张克 | A kind of Pharmacy's drug dispensing device |
| CN110859431A (en) * | 2019-11-26 | 2020-03-06 | 江苏中美达制冷科技有限公司 | Traditional chinese medicine freezer |
| CN111000408A (en) * | 2019-12-26 | 2020-04-14 | 北京师范大学珠海分校 | Pharmacy goods shelves |
| CN111265064A (en) * | 2020-03-18 | 2020-06-12 | 嵊州风浦医疗设备科技有限公司 | Take medicine collator of medicinal material distribution function |
| CN111728428A (en) * | 2020-07-06 | 2020-10-02 | 天津长风中济高新技术有限公司 | Injection medicine storage device |
| CN112591492A (en) * | 2018-09-19 | 2021-04-02 | 浙江厚达智能科技股份有限公司 | Traditional Chinese medicine production method suitable for automatic traditional Chinese medicine decoction production line |
| CN113398833A (en) * | 2021-06-23 | 2021-09-17 | 杭州聪宝科技有限公司 | Intelligent traditional chinese medicine dispensing equipment |
| CN117429790A (en) * | 2023-10-28 | 2024-01-23 | 南京埃伯顿自动化设备有限公司 | Automatic sorting and medicine grabbing device for traditional Chinese medicine pharmacy |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106742103B (en) * | 2017-01-09 | 2023-04-28 | 成都宇亨智能科技有限公司 | Medicine discharging mechanism |
| CN106742103A (en) * | 2017-01-09 | 2017-05-31 | 成都宇亨工业制造有限公司 | A kind of medicine discharging mechanism |
| CN107840062B (en) * | 2017-10-26 | 2019-11-19 | 星际（重庆）智能装备技术研究院有限公司 | Institute of traditional Chinese medicine's automatic medicament discharging system |
| CN107804642A (en) * | 2017-10-26 | 2018-03-16 | 星际（重庆）智能装备技术研究院有限公司 | Inner wrapping Chinese medicine medicine-chest automatic medicine outlet mechanism |
| CN107840062A (en) * | 2017-10-26 | 2018-03-27 | 星际（重庆）智能装备技术研究院有限公司 | Institute of traditional Chinese medicine's automatic medicament discharging system |
| CN108022377A (en) * | 2017-11-30 | 2018-05-11 | 亳州市谯城区鹤名养殖专业合作社 | One kind picks up medicine device and its application method |
| CN108022377B (en) * | 2017-11-30 | 2020-11-27 | 亳州市爱开发网络科技有限公司 | Medicine picking device, intelligent medicine storage device and using method thereof |
| CN109131962A (en) * | 2018-07-13 | 2019-01-04 | 苏州信亨自动化科技有限公司 | The automatic administration equipment of Chinese medicine in bulk |
| CN109515776A (en) * | 2018-07-13 | 2019-03-26 | 苏州信亨自动化科技有限公司 | The automatic administration equipment of Chinese medicine in bulk |
| CN109276082A (en) * | 2018-09-06 | 2019-01-29 | 上海超客机器人有限公司 | Chinese medicine pharmacy's automation prepared slices of Chinese crude drugs dispensing system |
| CN109276082B (en) * | 2018-09-06 | 2020-05-05 | 上海超客机器人有限公司 | Automatic traditional Chinese medicine decoction piece dispensing system for traditional Chinese medicine pharmacy |
| CN112591492B (en) * | 2018-09-19 | 2022-04-22 | 浙江厚达智能科技股份有限公司 | Traditional Chinese medicine production method suitable for automatic traditional Chinese medicine decoction production line |
| CN112591492A (en) * | 2018-09-19 | 2021-04-02 | 浙江厚达智能科技股份有限公司 | Traditional Chinese medicine production method suitable for automatic traditional Chinese medicine decoction production line |
| CN109204902B (en) * | 2018-10-23 | 2019-07-26 | 中国矿业大学 | A kind of prescription conditioning system automating Chinese medicine pharmacy |
| CN109292121A (en) * | 2018-10-23 | 2019-02-01 | 中国矿业大学 | A kind of weighing dispensation apparatus of Chinese medicine pharmacy |
| CN109204902A (en) * | 2018-10-23 | 2019-01-15 | 中国矿业大学 | A kind of prescription conditioning system automating Chinese medicine pharmacy |
| WO2020082932A1 (en) * | 2018-10-23 | 2020-04-30 | 中国矿业大学 | Prescription dispensing system for automated traditional chinese medicine pharmacy |
| CN110037924A (en) * | 2019-05-24 | 2019-07-23 | 张克 | A kind of Pharmacy's drug dispensing device |
| CN110859431A (en) * | 2019-11-26 | 2020-03-06 | 江苏中美达制冷科技有限公司 | Traditional chinese medicine freezer |
| CN111000408A (en) * | 2019-12-26 | 2020-04-14 | 北京师范大学珠海分校 | Pharmacy goods shelves |
| CN111265064B (en) * | 2020-03-18 | 2020-10-23 | 安徽贺林中药饮片科技有限公司 | Take medicine collator of medicinal material distribution function |
| CN111265064A (en) * | 2020-03-18 | 2020-06-12 | 嵊州风浦医疗设备科技有限公司 | Take medicine collator of medicinal material distribution function |
| CN111728428A (en) * | 2020-07-06 | 2020-10-02 | 天津长风中济高新技术有限公司 | Injection medicine storage device |
| CN111728428B (en) * | 2020-07-06 | 2021-08-03 | 河南科技大学第一附属医院 | Injection medicine storage device |
| CN113398833A (en) * | 2021-06-23 | 2021-09-17 | 杭州聪宝科技有限公司 | Intelligent traditional chinese medicine dispensing equipment |
| CN117429790A (en) * | 2023-10-28 | 2024-01-23 | 南京埃伯顿自动化设备有限公司 | Automatic sorting and medicine grabbing device for traditional Chinese medicine pharmacy |
| CN117429790B (en) * | 2023-10-28 | 2024-04-26 | 南京埃伯顿自动化设备有限公司 | Automatic sorting and medicine grabbing device for traditional Chinese medicine pharmacy |
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| CN106214486B (en) | 2019-07-16 |
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