CN106384441A - Granule blending equipment - Google Patents

Granule blending equipment Download PDF

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Publication number
CN106384441A
CN106384441A CN201611023371.7A CN201611023371A CN106384441A CN 106384441 A CN106384441 A CN 106384441A CN 201611023371 A CN201611023371 A CN 201611023371A CN 106384441 A CN106384441 A CN 106384441A
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CN
China
Prior art keywords
medicine
granule
bottle
blending equipment
delivery device
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CN201611023371.7A
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Chinese (zh)
Inventor
宁翰
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Individual
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Individual
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Priority to CN201611023371.7A priority Critical patent/CN106384441A/en
Publication of CN106384441A publication Critical patent/CN106384441A/en
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    • GPHYSICS
    • G07CHECKING-DEVICES
    • G07FCOIN-FREED OR LIKE APPARATUS
    • G07F17/00Coin-freed apparatus for hiring articles; Coin-freed facilities or services
    • G07F17/0092Coin-freed apparatus for hiring articles; Coin-freed facilities or services for assembling and dispensing of pharmaceutical articles
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06QINFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10Services
    • G06Q50/22Social work or social welfare, e.g. community support activities or counselling services

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  • Business, Economics & Management (AREA)
  • Tourism & Hospitality (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Human Resources & Organizations (AREA)
  • Economics (AREA)
  • General Health & Medical Sciences (AREA)
  • Child & Adolescent Psychology (AREA)
  • Marketing (AREA)
  • Primary Health Care (AREA)
  • Strategic Management (AREA)
  • General Business, Economics & Management (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Medical Preparation Storing Or Oral Administration Devices (AREA)

Abstract

The invention relates to the technical field of medical equipment and discloses granule blending equipment. The granule blending equipment comprises a rectangular medicine cabinet for storing a plurality of medicine bottles; a medicine delivery device in a rectangular ring shape, located on the circumference side of the medicine cabinet and used for conveying medicine cups; a granule preparation apparatus, located on the circumference side of part of a delivery rail of the medicine delivery device and used for quantitatively outputting medicines in a medicine bottle to a medicine cup; a medicine bottle gripping robot located between the medicine delivery device and the medicine cabinet and used for moving the medicine bottles stored in the medicine cabinet to the granule preparation apparatus; and a medicine cup sealing device, located directly above the medicine delivery device and used for sealing the medicine cup filled with prepared medicines. When the granule blending equipment provided by embodiments of the present invention is used for blending of granular medicines, the blending efficiency of the granular medicines can be enhanced and the accuracy of medicine dose is improved.

Description

A kind of granule blending equipment
Technical field
The present invention relates to medical equipment technical field, more particularly to a kind of granule blending equipment.
Background technology
With social progress and expanding economy, the living standard of people constantly improves, and social health care is provided The demand in source is also gradually increased.Social health resource the most intuitively embodies be exactly medicine, medical auxiliary facility and medical treatment from Industry personnel, meanwhile, the allocative efficiency of health resource also affects indirectly the degree more than needed of health resource.
Currently for granule class medicine, hospital or pharmacy are usually taken the mode manually got it filled and weigh when making up a prescription, Join the medicine taking in prescription one by one.The defect of prior art is, manually gets it filled too low with the mode efficiency weighing, when need When medicine is more, can greatly lose time and manpower, meanwhile, relatively low to the control accuracy of drug dose using which, shadow Ring the accuracy of prescription.
Content of the invention
The purpose of the embodiment of the present invention is to provide a kind of granule blending equipment, is imitated with the allotment improving granule class medicine Rate, and improve the accuracy of drug dose.
Embodiments provide a kind of granule blending equipment, including:
The medicine-chest of rectangle, for storing multiple medicine bottles;
The drug delivery device of rectangular ring-type, positioned at the week side of boss of medicine-chest, for conveying medicine glass;
Granule dispensing equipment, positioned at the week side of boss of the fractional transmission track of drug delivery device, for by the medicine in medicine bottle Thing quantitatively exports to medicine glass;
Medicine bottle captures robot, positioned between described drug delivery device and described medicine-chest, is used for will be stored in medicine-chest Medicine bottle movement to granule dispensing equipment;
Medicine glass closing device, positioned at the top of drug delivery device, for equipped with the medicine glass allocating the medicine completing Carry out sealing treatment.
Preferably, described medicine-chest is provided with multiple medicine checkerwork cells for storing medicine bottle, and described medicine checkerwork cell is in cellular setting.
Preferably, described drug delivery device includes the conveyer belt of rectangular ring-type.
Preferably, described medicine bottle crawl robot includes:Support;Slidable fit in the riser guide of described support, and Slidable fit is in the slide block of described riser guide;The mechanical arm hinged with described slide block;The gripper hinged with described mechanical arm; Driver part, for driving riser guide along support lifting carriage, and drives slide block to slide on riser guide, and drives machinery Arm opposing slider rotates, and drives gripper relative mechanical arm to rotate, and drives gripper crawl and release medicine bottle.
Preferably, described granule dispensing equipment includes:
For the bottle head being connected with medicine bottle bottleneck, described bottle head includes bottle head body and rotationally conveying device, described bottle head Body is respectively arranged with the relative medicine access port in position and medicine near the side of medicine bottle bottleneck and the side away from medicine bottle bottleneck Thing delivery outlet, and described bottle head body has being connected with described medicine access port and described drug output mouth of being disposed radially Through hole;In described through hole, described rotationally conveying device includes the appearance of slidable fit to described rotationally conveying device slidable fit Long-pending coarse adjustment shaft part and volume fine adjustment shaft part, the week side of boss of described volume coarse adjustment shaft part is provided with has the first set volume First groove, the week side of boss of described volume fine adjustment shaft part is provided with second groove with the second set volume, and described first Groove can turn to place relative with described medicine access port or drug output mouth position respectively with described second groove;
For carrying the bottle headstock seat of described bottle head;
For driving the driving means group of volume coarse adjustment shaft part and the rotation of volume fine adjustment shaft part, described driving means group Including multiple driving means.
Preferably, described granule blending equipment also include above drug delivery device send out cup device, described Cup device is used for isolating single medicine glass from the medicine glass of stacking, and is placed on drug delivery device.
Preferably, described granule blending equipment also includes uninterrupted power supply(ups), environment defecator and dehumidifying dress Put, described uninterrupted power supply(ups) is used for granule blending equipment is powered, described environment defecator is used for granule is adjusted Arrange standby internal medium and carry out filtration treatment, described dehydrating unit is used for the internal medium of granule blending equipment is removed Wet process.
Preferably, described granule blending equipment also includes label printing device, for adding on the medicine glass after sealing Label.
Preferably, described granule blending equipment also includes covering at drug delivery device and granule dispensing equipment the week side of boss Outer housing, the outside of described outer housing is provided with touch screen, and described touch screen is used for inputting the operating parameter of making up prescription.
Brief description
Fig. 1 removes the structural representation after outer housing for embodiment of the present invention granule blending equipment;
Fig. 2 remove outer housing for embodiment of the present invention granule blending equipment after structural representation (from another visual angle);
Fig. 3 is the structural representation of embodiment of the present invention granule blending equipment;
Fig. 4 captures the structural representation of robot for embodiment of the present invention medicine bottle;
Fig. 5 captures the partial structural diagram of robot for embodiment of the present invention medicine bottle;
Fig. 6 is the structural representation of embodiment of the present invention granule dispensing equipment;
Fig. 7 is the cross section structure schematic diagram of embodiment of the present invention medicine bottle bottle head.
Reference:
1a- medicine-chest
1b- drug delivery device
1c- medicine bottle captures robot
1d- granule dispensing equipment
1e- medicine glass closing device
1f- sends out cup device
1g- label printing device
1i- moves cup device
1h- outer housing
10a- medicine checkerwork cell
10g- uninterrupted power supply(ups)
11g- environment defecator
12g- dehydrating unit
100- medicine bottle
10- bottle head
20- driving means
30- bottle headstock seat
110- bottle head body
111- medicine access port
112- drug output mouth
113- through hole
120- rotationally conveying device
121- volume coarse adjustment shaft part
122- volume fine adjustment shaft part
1210- first groove
1220- second groove
10c- support
20c- riser guide
30c- slide block
40c- mechanical arm
50c- gripper
91- medicine bottle loads position
92- medicine bottle is dished out position
93- medicine glass container
Specific embodiment
For improving the allotment efficiency of granule class medicine, and improve the accuracy of drug dose, the embodiment of the present invention provides A kind of granule blending equipment.For making the object, technical solutions and advantages of the present invention clearer, by the following examples to this Invention is described in further detail.
As shown in FIG. 1 to 3, granule blending equipment provided in an embodiment of the present invention, including:
The medicine-chest 1a of rectangle, for storing multiple medicine bottles;
The drug delivery device 1b of rectangular ring-type, positioned at the week side of boss of medicine-chest 1a, for conveying medicine glass;
Granule dispensing equipment 1d, positioned at the week side of boss of the fractional transmission track of drug delivery device 1b, for by medicine bottle Medicine quantitatively export to medicine glass;
Medicine bottle captures robot 1c, positioned between described drug delivery device 1b and described medicine-chest 1a, is used for will be stored in Medicine bottle movement in medicine-chest 1a is to granule dispensing equipment 1d;
Medicine glass closing device 1e, positioned at the top of drug delivery device 1b, for equipped with allocating the medicine completing Medicine glass carries out sealing treatment.
Carried out using granule blending equipment provided in an embodiment of the present invention granule class medicine allotment when, first pass through The medicine bottle that medicine bottle crawl robot 1c will be stored in medicine-chest 1a moves and is installed on granule dispensing equipment 1d, then utilizes Medicine glass is delivered to the lower section of medicine bottle by drug delivery device 1b, recycles granule dispensing equipment 1d that the medicine in medicine bottle is quantitative Export to medicine glass, seal to equipped with the medicine glass allocating the medicine completing finally by medicine glass closing device 1e, compare The mode manually got it filled in prior art and weigh, the program improves the allotment efficiency of granule class medicine, and improves medicine The accuracy of agent amount.
Wherein, medicine-chest 1a can arrange multiple medicine checkerwork cell 10a for storing medicine bottle it is preferred that storage in order to improve medicine bottle Deposit density, medicine checkerwork cell 10a is in cellular setting on medicine-chest.In concrete application, can arrange specific in each medicine checkerwork cell 10a Medicine category mark, to deposit and this medicine category medicine bottle of matching of mark;Or it is provided for knowing in each medicine checkerwork cell The reader of the medicine category information entrained by electronic tag of other medicine bottle bottle head, is taken with the electronic tag identifying medicine bottle bottle head The medicine category information of band.
Wherein, the concrete transmission means of drug delivery device 1b does not limit, for example, can be to carry out medicine glass by conveyer belt Transmission is it is preferred that conveyer belt at the uniform velocity moves ahead in motion, when needing the medicine glass on conveyer belt is operated accordingly, defeated Send the band can be with stop motion, after corresponding operation terminates, conveyer belt can recover uniform motion.
In a preferred embodiment of the invention, granule blending equipment is also included above drug delivery device Send out cup device 1f, send out cup device 1f and be used for isolating single medicine glass from the medicine glass of stacking, and be placed on drug delivery dress Put on 1b.
As shown in Figure 4 and Figure 5, in a preferred embodiment of the invention, medicine bottle crawl robot 1c includes:
Support 10c;
Slidable fit is in the riser guide 20c of support 10c, and slidable fit is in the slide block 30c of riser guide 20c;
The mechanical arm 40c hinged with slide block 30c;
The gripper 50c hinged with mechanical arm 40c;
Driver part, for driving riser guide 20c along support 10c lifting carriage, and drives slide block 30c in riser guide Slide on 20c, and drive mechanical arm 40c opposing slider 30c to rotate, and drive gripper 50c relative mechanical arm 40c to rotate, and Drive gripper 50c crawl and release medicine bottle 100.
Robot is captured using medicine bottle provided in an embodiment of the present invention, riser guide is driven along support liter by driver part Fall is slided, and drives slide block to slide along riser guide, and drives mechanical arm opposing slider to rotate, and drives gripper relative mechanical Arm rotates, and drives a series of actions such as gripper crawl and release medicine bottle, completes to be moved to granule medicine bottle by medicine-chest Operation on dispensing equipment, improves the efficiency that medicine bottle is moved, and is advantageously implemented granule class medicine further and joins take automatic Change.
It should be understood that in order to ensure medicine bottle crawl robot is capable of aforesaid operations, the preferably length of support 10c not Less than the length of medicine-chest 1a, the height of support 10c is not less than the height of medicine-chest 1a.
As shown in Figure 6 and Figure 7, in a preferred embodiment of the invention, granule dispensing equipment 1d includes:
For the bottle 10 being connected with medicine bottle 100 bottleneck, bottle 10 includes bottle head body 110 and rotationally conveying device 120, Bottle head body 110 is respectively arranged with the relative medicine in position near the side of medicine bottle bottleneck and the side away from medicine bottle bottleneck and accesses Mouthfuls 111 and drug output mouth 112, and bottle head body 110 have be disposed radially with medicine access port 111 and drug output mouth The through hole 113 that 112 are connected;In through hole 113, rotationally conveying device 120 includes sliding rotationally conveying device 120 slidable fit The volume coarse adjustment shaft part 121 of assembling and volume fine adjustment shaft part 122, it is recessed that the week side of boss of volume coarse adjustment shaft part 121 has first Groove 1210, the week side of boss of volume fine adjustment shaft part 122 has the second groove 1220, and the volume of the first groove 1210 is more than the second groove 1220 volume, and the first groove 1210 and the second groove 1220 can turn to respectively defeated with medicine access port 111 or medicine Export 112 positions relatively to locate;
For carrying the bottle headstock seat 30 of bottle 10;
For driving the driving means group of volume coarse adjustment shaft part 121 and volume fine adjustment shaft part 122 rotation, driving means Group includes multiple driving means 20.
When being made up a prescription using granule dispensing equipment provided in an embodiment of the present invention, driving means group can drive volume thick Adjust shaft part and the rotation of volume fine adjustment shaft part, volume coarse adjustment shaft part the week side of boss is provided with has the first recessed of the first set volume Groove, volume fine adjustment shaft part is provided with second groove with the second set volume, needs to join the granules medicine taking when determining Dosage after, volume coarse adjustment shaft part and volume fine adjustment shaft part can be made to rotate certain number of turns respectively, thus being combined into needs Join the dosage of the granules medicine taking, compared to existing technology in the mode manually getting it filled and weigh, the embodiment of the present invention carries significantly The high dispensing efficiency of granules medicine, further increases the accuracy of drug dose.
Refer to shown in Fig. 3, in the preferred embodiment, granule blending equipment also includes uninterrupted power source dress Put 10g, environment defecator 11g and dehydrating unit 12g, wherein, uninterrupted power supply(ups) 10g is used for granule allotment is set Available electricity, environment defecator 11g is used for carrying out filtration treatment, dehydrating unit 12g to the internal medium of granule blending equipment For dehumidification treatments are carried out to the internal medium of granule blending equipment.
Using this technical scheme, uninterrupted power supply(ups) can provide stable, continual electricity for granule blending equipment Power is supplied, and in the allocation process of medicine, environment defecator can filter to the internal medium of granule blending equipment Process, dehydrating unit can carry out dehumidification treatments to the internal medium of granule blending equipment, so that granule blending equipment Internal medium keep being dried, clean, be conducive to carrying out deployment operations to medicine and deposit, therefore, the program improves Environmental quality within granule blending equipment, and then improve the quality of medicine.
Preferably, granule blending equipment provided in an embodiment of the present invention also includes label printing device 1g, in envelope Label is added on the medicine glass after mouthful.Specifically, label substance can include the prescription information of patient, and patient's name, medicine join and take The contents such as time.Wherein, the label adding on medicine glass can be attached at medicine glass cup by label printing device after printing Label is directly printed in medicine glass cup body by way of laser printing by body or label printing device, and here is not done Concrete restriction.
It should be noted that as shown in Fig. 2 granule blending equipment is also included for moving the medicine glass completing label printing Move the shifting cup device 1i to medicine glass closing device, be specifically as follows the robot with crawl, release and locomotive function, when Complete, after label printing, to move cup device 1i by above-mentioned medicine glass movement to medicine glass container equipped with the medicine bottle allocating the medicine completing In 93, when granule blending equipment quit work or medicine glass container 93 in fill with medicine glass after, staff can be by medicine glass Container takes out, and will be equipped with allocating and completes the medicine glass of medicine and consign to the corresponding patient of prescription.
In a specific embodiment, granule blending equipment also includes covering at drug delivery device and granule makes up a prescription The outer housing 1h of equipment the week side of boss, the outside of outer housing is provided with touch screen, and touch screen is used for inputting the operating parameter of making up prescription.At this In embodiment, user can be by being manually entered the parameter of medicine allocation, thus realizing oneself of granule class medicine on the touchscreen Dynamic allocation process.
The specific work process in normal operation for the granule blending equipment provided in an embodiment of the present invention is as follows:
User configures equipment operational factor on the touch screen of outer housing, confirms to need at the electronics of allotment granules medicine Side;
The drug variety being comprised according to selected electronic prescription, medicine bottle capture robot will be stored in medicine bottle in medicine-chest by Individual it is installed on granule dispensing equipment;
Send out cup device and isolate single medicine glass from the medicine glass of stacking, and the medicine glass separated is placed in drug delivery dress Put;
Medicine glass is delivered to the lower section of medicine bottle by medicine bottle transmitting device;
Granule dispensing equipment quantitatively exports the medicine in medicine bottle to medicine glass;
Medicine glass closing device seals to equipped with the medicine glass allocating the medicine completing;
Label printing device adds label to the medicine glass after sealing;
Move cup device and will add the medicine glass movement after label to medicine glass container.
Carry out in the allocation process of granule class medicine in granule blending equipment, if it find that medicine bottle crawl robot 1c Drug condition from the medicine bottle of medicine-chest 1a crawl is abnormal (to find that for example during medicine bottle is got it filled medicine may hardened or medicine Medicine in bottle is used up), then medicine bottle crawl robot 1c dishes out medicine bottle to medicine bottle and dishes out position 92, again grabs from medicine-chest 1a Take qualified medicine bottle;When detect staff by the new medicine bottle filling medicine put into medicine bottle load position 91 when, medicine Bottle crawl robot 1c can load position 91 from medicine bottle and capture new medicine bottle, and put according to Drug Utilizations in medicine-chest In the medicine checkerwork cell 10a of medicine-chest 1a;When in the medicine checkerwork cell of medicine-chest, medicine bottle layout is unreasonable, medicine bottle crawl robot can be to medicine Bottle carries out position transfer, so that medicine bottle is transferred in rational medicine checkerwork cell, thus optimizing the layout of medicine-chest, etc., mentioned above It is only the partial function that medicine bottle captures robot, during the joining and take of granule class medicine, medicine bottle crawl robot is acceptable Cooperation whole equipment carries out the work such as other medicine bottle accesses, scheduling, numerous to list herein.
Obviously, those skilled in the art can carry out the various changes and modification essence without deviating from the present invention to the present invention God and scope.So, if these modifications of the present invention and modification belong to the scope of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to comprise these changes and modification.

Claims (9)

1. a kind of granule blending equipment is it is characterised in that include:
The medicine-chest of rectangle, for storing multiple medicine bottles;
The drug delivery device of rectangular ring-type, positioned at the week side of boss of medicine-chest, for conveying medicine glass;
Granule dispensing equipment, positioned at the week side of boss of the fractional transmission track of drug delivery device, for fixed by the medicine in medicine bottle Amount output is to medicine glass;
Medicine bottle captures robot, positioned between described drug delivery device and described medicine-chest, for will be stored in the medicine in medicine-chest Bottle moves to granule dispensing equipment;
Medicine glass closing device, positioned at the top of drug delivery device, for carrying out to equipped with the medicine glass allocating the medicine completing Sealing treatment.
2. granule blending equipment as claimed in claim 1 it is characterised in that described medicine-chest be provided with multiple for storing medicine The medicine checkerwork cell of bottle, described medicine checkerwork cell is in cellular setting.
3. granule blending equipment as claimed in claim 1 is it is characterised in that described drug delivery device includes rectangular ring The conveyer belt of shape.
4. granule blending equipment as claimed in claim 1 is it is characterised in that described medicine bottle crawl robot includes:
Support;
Slidable fit is in the riser guide of described support, and slidable fit is in the slide block of described riser guide;
The mechanical arm hinged with described slide block;
The gripper hinged with described mechanical arm;
Driver part, for driving riser guide along support lifting carriage, and drives slide block to slide on riser guide, and drives Mechanical arm opposing slider rotates, and drives gripper relative mechanical arm to rotate, and drives gripper crawl and release medicine bottle.
5. granule blending equipment as claimed in claim 1 is it is characterised in that described granule dispensing equipment includes:
For the bottle head being connected with medicine bottle bottleneck, described bottle head includes bottle head body and rotationally conveying device, described bottle head body It is respectively arranged with the relative medicine access port in position near the side of medicine bottle bottleneck with the side away from medicine bottle bottleneck and medicine is defeated Outlet, and described bottle head body has the logical of being connected with described medicine access port and described drug output mouth of being disposed radially Hole;, in described through hole, the volume that described rotationally conveying device includes slidable fit is thick for described rotationally conveying device slidable fit Adjust shaft part and volume fine adjustment shaft part, the week side of boss of described volume coarse adjustment shaft part is provided with has the first of the first set volume Groove, the week side of boss of described volume fine adjustment shaft part is provided with second groove with the second set volume, and described first groove Place relative with described medicine access port or drug output mouth position can be turned to described second groove respectively;
For carrying the bottle headstock seat of described bottle head;
For driving the driving means group of volume coarse adjustment shaft part and the rotation of volume fine adjustment shaft part, described driving means group includes Multiple driving means.
6. granule blending equipment as claimed in claim 1 is it is characterised in that described granule blending equipment also includes being located at A cup device above drug delivery device, described cup device is used for isolating single medicine glass from the medicine glass of stacking, and It is placed on drug delivery device.
7. granule blending equipment as claimed in claim 1 is it is characterised in that between described granule blending equipment also includes not Power-off source device, environment defecator and dehydrating unit, described uninterrupted power supply(ups) is used for granule blending equipment is supplied Electricity, described environment defecator is used for the internal medium of granule blending equipment is carried out filtration treatment, and described dehydrating unit is used Carry out dehumidification treatments in the internal medium to granule blending equipment.
8. the granule blending equipment as described in any one of claim 1~7 is it is characterised in that described granule blending equipment Also include label printing device, for label is added on the medicine glass after sealing.
9. granule blending equipment as claimed in claim 8 is it is characterised in that described granule blending equipment also includes cover sets In the outer housing of drug delivery device and granule dispensing equipment the week side of boss, the outside of described outer housing is provided with touch screen, described touch Shield the operating parameter for inputting making up prescription.
CN201611023371.7A 2016-11-21 2016-11-21 Granule blending equipment Pending CN106384441A (en)

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Application Number Priority Date Filing Date Title
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Cited By (5)

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CN109567429A (en) * 2019-01-24 2019-04-05 北京鸿庄医疗器械科技有限公司 A kind of medicine-chest
CN111292473A (en) * 2018-12-10 2020-06-16 上海宝群医疗科技有限公司 Medicine bottle grabbing system and medicine bottle grabbing method
CN112489308A (en) * 2020-12-01 2021-03-12 上海电机学院 Automatic Chinese herbal medicine dispensing system
CN112754924A (en) * 2020-12-31 2021-05-07 北京恒安众生科技有限公司 Dispensing equipment of medicine prescription granule
CN113066233A (en) * 2021-04-02 2021-07-02 上海点拾科技有限公司 PLC intelligent medicine dispensing system

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CN111292473A (en) * 2018-12-10 2020-06-16 上海宝群医疗科技有限公司 Medicine bottle grabbing system and medicine bottle grabbing method
CN111292473B (en) * 2018-12-10 2023-10-13 上海宝群医疗科技有限公司 Medicine bottle grabbing system and medicine bottle grabbing method
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CN112489308A (en) * 2020-12-01 2021-03-12 上海电机学院 Automatic Chinese herbal medicine dispensing system
CN112754924A (en) * 2020-12-31 2021-05-07 北京恒安众生科技有限公司 Dispensing equipment of medicine prescription granule
CN113066233A (en) * 2021-04-02 2021-07-02 上海点拾科技有限公司 PLC intelligent medicine dispensing system

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Application publication date: 20170208