CN106743576A - Mechanism and method for detecting ampoule bottle specification - Google Patents
Mechanism and method for detecting ampoule bottle specification Download PDFInfo
- Publication number
- CN106743576A CN106743576A CN201710013515.9A CN201710013515A CN106743576A CN 106743576 A CN106743576 A CN 106743576A CN 201710013515 A CN201710013515 A CN 201710013515A CN 106743576 A CN106743576 A CN 106743576A
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- China
- Prior art keywords
- clamping jaw
- ampoule bottle
- control system
- detecting
- right clamping
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0244—Bottles
Abstract
The invention discloses a kind of mechanism for detecting ampoule bottle specification, hold assembly including control system and in the robot that makes up a prescription, hold assembly includes the left clamping jaw and right clamping jaw on base, left clamping jaw and right clamping jaw drive relative motion by each self-corresponding motor, to realize mutual folding holding ampoule bottle, left clamping jaw and right clamping jaw are connected with displacement transducer respectively, and displacement transducer is located on base and communication connection control systems.With the mechanism, the hold assembly made up a prescription in robot is in clamping ampoule bottle, change in location value during left clamping jaw and the rectilinear movement of right clamping jaw is displaced by sensor detection, and the value is fed back into control system, the change in location value of left clamping jaw and right clamping jaw can correspond to corresponding ampoule bottle bottle specification, i.e., by detecting the change in location of left clamping jaw and right clamping jaw, the identification to each ampoule bottle specification of hold assembly clamping can be completed, the apparatus structure is simple, and easy to use, effect is obvious.
Description
Technical field
The present invention relates to medical instruments field, more particularly to a kind of mechanism and method for detecting ampoule bottle specification.
Background technology
Chinese Patent Application No. is that 26210771664 patent discloses a kind of automated dispensing system of ampoule bottle, is used for
Solution ampoule bottle makes up a prescription and uses human configuration, the problem that its labour intensity is big, dangerous high, dispensing efficiency is relatively low, wherein using
The body of the hold assembly holding ampoule bottle for setting is slided, ampoule bottle bottle cap is cut off, contact pin to ampoule bottle inner bottom part is aspirated, will pacified
Small jar bottle Chinese medicine liquid is transferred in infusion bag, realizes that the fast automatic of ampoule bottle is made up a prescription, and alleviates hand labor intensity, operation side
Just, dispensing efficiency is substantially increased, the time is saved.
In the infusion bag that patient uses, generally require to configure several different medicines, the medicament of different components, pacify for application
Small jar is bottled carrying medicament, that is, need all to be configured at multiple ampoule bottle Chinese medicines in one infusion bag；Due to different size
Ampoule bottle height degree, diameter, capacity are different, automated dispensing system when contact pin is to ampoule bottle inner bottom part aspiration medicinal liquid, pin
Head walks that stroke is different, so automated dispensing system needs the specification of the ampoule bottle of identification institute clamping, so that postorder contact pin is taken out
Pin is accurately inserted into ampoule bottle bottom by control system during suction.
The content of the invention
Automated dispensing system it is an object of the invention to overcome the utilization ampoule bottle in the presence of prior art completes to match somebody with somebody
During medicine, because the ampoule bottle height degree of different size, diameter, capacity are different, automated dispensing system is in contact pin to ampoule bottle
During inner bottom part aspiration medicinal liquid, syringe needle walks that stroke is different, so automated dispensing system needs to recognize the ampoule bottle of institute's clamping
A kind of above-mentioned deficiency of specification, there is provided mechanism and method for detecting ampoule bottle specification.
In order to realize foregoing invention purpose, the invention provides following technical scheme：
A kind of mechanism for detecting ampoule bottle specification, including control system and the clamping part in the robot that makes up a prescription
Part, the hold assembly includes the left clamping jaw and right clamping jaw on base, and the left clamping jaw and the right clamping jaw are by respective
Corresponding motor drives relative motion, and to realize mutual folding holding ampoule bottle, the left clamping jaw and the right clamping jaw connect respectively
There is displacement transducer, institute's displacement sensors are located on the base and communicate to connect the control system.
Wherein, institute's displacement sensors are used to detect the change in displacement value of the corresponding left clamping jaw and the right clamping jaw,
And the value that will be detected feeds back the control system, the hold assembly receives that clamping is manually installed or ampoule bottle conveying successively
The ampoule bottle that device is passed over, and all ampoule bottle Chinese medicine liquid displacements are made up a prescription to i.e. completion in infusion bag.
Using the mechanism for detecting ampoule bottle specification of the present invention, the hold assembly made up a prescription in robot exists
Described in clamping during ampoule bottle, the change in location value during the left clamping jaw and the right clamping jaw rectilinear movement is passed by the displacement
Sensor is detected, and the value fed back into the control system, and the change in location value of the left clamping jaw and the right clamping jaw can be right
Corresponding ampoule bottle bottle specification is answered, i.e., by detecting the change in location of the left clamping jaw and the right clamping jaw, it is right to complete
The identification of each ampoule bottle specification of the hold assembly clamping, the apparatus structure is simple, and easy to use, effect is obvious.
Preferably, the left clamping jaw and the right clamping jaw are the V-type of V-structure, the left clamping jaw and the right clamping jaw
Opening is oppositely arranged, and the inner edge of V-type opening two is used for the spacing ampoule bottle.
Using this structure setting, by setting the two left clamping jaws and right clamping jaw for being V-structure on base, wherein
Left clamping jaw and right clamping jaw can axially do relative open and close movement along same level, the two clamping zone for being formed is held
Clipped object block is received and is adapted to, no matter the volume size of clipped object block, the left clamping jaw and right clamping jaw are after clipped object block is clamped, equal energy
Enough ensure that the vertical center of geometry of clipped object block is respectively positioned on same position or same station, it is adaptable to medical pharmaceutical compounding techniques field,
The clamping for being particularly suited for the ampoule bottle of different capabilities size is made up a prescription needs, and its clamping device can avoid man-hour manually hand-held quilt
The potential safety hazard that folder thing block brings, for relative mechanical hand, its simple structure, clamping convenience, saving space reduce and make up a prescription into
This.
Preferably, the left clamping jaw is included in several left claws that vertical direction be arranged in parallel and refers to, by described in several
Left claw refers to the area of increase clamping.
Preferably, the inner edge that each described left claw refers to is provided with flexible structural member.
Using this structure setting, the flexible structural member depression at ampoule bottle described in clamping, remainder is constant, can
The steadiness clamped by the ampoule bottle body of clamping is protected, is increased all left claws and is referred to and the friction between the ampoule bottle
Resistance, makes the ampoule bottle be difficult to slide.
Preferably, the right clamping jaw is included in several right pawls that vertical direction be arranged in parallel and refers to, by described in several
Right pawl refers to the area of increase clamping.
Preferably, the inner edge that each described right pawl refers to is provided with flexible structural member.
Using this structure setting, the flexible structural member depression at ampoule bottle described in clamping, remainder is constant, can
The steadiness clamped by the ampoule bottle body of clamping is protected, is increased all right pawls and is referred to and the friction between the ampoule bottle
Resistance, makes the ampoule bottle be difficult to slide.
Preferably, all left claws refer to and all right pawls refer to intersect adaptation, i.e., all left claws refer to it
Between gap area can refer to and be adapted to that the gap area between all right pawls refer to can refer to the left claw with the right pawl
Adaptation.
Using this structure, the left claw that the left clamping jaw is provided with refers to that the described right pawl being provided with the right clamping jaw refers to energy
It is enough to intersect adaptation, clamping zone is further reduced, to be adapted to the clamping of specification clipped object block of different sizes,
Increase clamping accommodation.
Preferably, the motor is brushless servo motor.
Using brushless servo motor, its efficiency high, energy consumption are low, noise is low, long service life, reliability good, Neng Gouwu
Level frequency control, relatively low cost and easy to use, after adding servo-drive system, can form closed-loop control system, and system has feedback,
So that overall control is more accurate.
Preferably, the control system includes single-chip microcomputer.
Present invention also offers a kind of method for detecting ampoule bottle specification, used using the one kind as described in any of the above
In the mechanism of detection ampoule bottle specification, comprise the following steps：
A, control system start motor and drive left clamping jaw and right clamping jaw with same speed move toward one another；
B, when the left clamping jaw and the right clamping jaw touch ampoule bottle retard motion, i.e., hold assembly clamping finishes institute
When stating ampoule bottle, the control system closes the rotation of the motor；
C, each displacement transducer detect the change in displacement value of the corresponding left clamping jaw and the right clamping jaw, and will detection
Value feed back the control system, the control system records the detected value of the ampoule bottle and initial with the control system
A reference value is contrasted, and completes the identification to ampoule bottle specification each described.
The control system initial baseline value refer to different size size ampoule bottle when clamped part is clamped, two clamping jaws
The value of the length sum stretched, therefore displacement transducer detects two by recognizing two clamping jaws in the tested ampoule bottle of clamping
The value of clamping jaw institute collapsing length sum, that is, be capable of identify that the corresponding ampoule bottle specification size of the collapsing length value.
Using the method for detecting ampoule bottle specification of the present invention, the hold assembly made up a prescription in robot exists
Described in clamping when ampoule bottle, institute's displacement sensors detect the change in displacement value of the hold assembly immediately, and feed back to
The control system, the control system contrasts the value and initial baseline value, and the clamping part is fast and accurately recognized with this
The specification of each ampoule bottle of part institute clamping, the method is simply used, easy to operate.
In sum, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1st, with the mechanism for detecting ampoule bottle specification of the present invention, the hold assembly made up a prescription in robot
In ampoule bottle described in clamping, the change in location value during the left clamping jaw and the right clamping jaw rectilinear movement is by the displacement
Sensor is detected, and the value fed back into the control system, and the change in location value of the left clamping jaw and the right clamping jaw can
The corresponding ampoule bottle bottle specification of correspondence, i.e., by detecting the change in location of the left clamping jaw and the right clamping jaw, can complete
Identification to each ampoule bottle specification of the hold assembly clamping, the apparatus structure is simple, and easy to use, effect is bright
It is aobvious；
2nd, with the mechanism for detecting ampoule bottle specification of the present invention, V is by setting two on base
The left clamping jaw and right clamping jaw of type structure, wherein left clamping jaw and right clamping jaw can axially do relative folding fortune along same level
It is dynamic, the two clamping zone for being formed is accommodated and is adapted to clipped object block, no matter the volume size of clipped object block, the left clamping jaw
With right clamping jaw after clipped object block is clamped, ensure that the vertical center of geometry of clipped object block is respectively positioned on same position or same
Station, it is adaptable to medical pharmaceutical compounding techniques field, the clamping for being particularly suited for the ampoule bottle of different capabilities size is made up a prescription needs,
Its clamping device can avoid the potential safety hazard that man-hour manually hand-held clipped object block brings, for relative mechanical hand, its simple structure, folder
Hold convenience, save space, reduce the cost that makes up a prescription；
3rd, with the mechanism for detecting ampoule bottle specification of the present invention, the inner edge that each described left claw refers to sets
Flexible structural member, the inner edge that each described right pawl refers to is provided with flexible structural member, using this structure setting, described in clamping
Flexible structural member depression at ampoule bottle, remainder is constant, can protect what is clamped by the ampoule bottle body of clamping
Steadiness, increase all left claws refer to and the right pawl refer to the frictional resistance between the ampoule bottle, make the ampoule bottle not
Easily slide；
4th, with the mechanism for detecting ampoule bottle specification of the present invention, the left claw that the left clamping jaw is provided with refers to
The described right pawl being provided with the right clamping jaw is referred to intersect and is adapted to, and clamping zone is further reduced, to be adapted to rule
The clamping of the different clipped object block of lattice size, increases clamping accommodation；
5th, with the mechanism for detecting ampoule bottle specification of the present invention, using brushless servo motor, its efficiency high,
Energy consumption is low, noise is low, long service life, reliability are good, can stepless frequency control, relatively low cost and easy to use, plus
After upper servo-drive system, closed-loop control system can be formed, system has feedback so that overall control is more accurate；
6th, with the method for detecting ampoule bottle specification of the present invention, the hold assembly made up a prescription in robot
When ampoule bottle described in clamping, institute's displacement sensors detect the change in displacement value of the hold assembly immediately, and feed back
To the control system, the control system contrasts the value and initial baseline value, and the clamping is fast and accurately recognized with this
The specification of each ampoule bottle of part institute clamping, the method is simply used, easy to operate.
Brief description of the drawings
Fig. 1 is the three dimensional structure diagram for detecting the mechanism of ampoule bottle specification of the present invention；
Fig. 2 is the schematic flow sheet for detecting the method for ampoule bottle specification of the present invention.
Marked in figure：1- hold assemblies, the left clamping jaws of 2-, 21- left claws refer to that the right clamping jaws of 3-, the right pawls of 31- refer to, 4- motors, 5-
Displacement sensor.
Specific embodiment
With reference to test example and specific embodiment, the present invention is described in further detail.But this should not be understood
For the scope of above-mentioned theme of the invention is only limitted to following embodiment, all technologies realized based on present invention belong to this
The scope of invention.
Embodiment 1
As shown in figure 1, a kind of mechanism for detecting ampoule bottle specification of the present invention, including control system and it is located at
The hold assembly 1 made up a prescription in robot.
The hold assembly 1 includes the left clamping jaw 2 and right clamping jaw 3 on base, the left clamping jaw 2 and the right clamping jaw
3 drive relative motion by each self-corresponding motor 4, to realize mutual folding holding ampoule bottle, the left clamping jaw 2 and the right side
Clamping jaw 3 is connected with displacement transducer 5 respectively, and institute's displacement sensors 5 are located on the base and communicate to connect the control system.
Wherein, institute's displacement sensors 5 are used to detect the change in displacement of the corresponding left clamping jaw 2 and the right clamping jaw 3
Value, and the value that will be detected feeds back the control system, the hold assembly 1 receives that clamping is manually installed or ampoule bottle successively
The ampoule bottle that conveying device is passed over, and all ampoule bottle Chinese medicine liquid displacements are matched somebody with somebody to i.e. completion in infusion bag
Medicine.
Used as a preferred scheme of the present embodiment, the left clamping jaw 2 and the right clamping jaw 3 are V-structure, the left side
The V-type opening of clamping jaw 2 and the right clamping jaw 3 is oppositely arranged, and the inner edge of V-type opening two is used for the spacing ampoule bottle, uses
This structure setting, by setting the two left clamping jaws 2 and right clamping jaw 3 for being V-structure on base, wherein the He of left clamping jaw 2
Right clamping jaw 3 can axially do relative open and close movement along same level, the two clamping zone for being formed is accommodated and is fitted
With clipped object block, no matter the volume size of clipped object block, the left clamping jaw 2 and right clamping jaw 3 can be protected after clipped object block is clamped
The vertical center of geometry for demonstrate,proving clipped object block is respectively positioned on same position or same station, it is adaptable to medical pharmaceutical compounding techniques field, especially
Clamping suitable for the ampoule bottle of different capabilities size is made up a prescription needs, and its clamping device can avoid man-hour manually hand-held clipped object
The potential safety hazard that block brings, for relative mechanical hand, its simple structure, clamping convenience, saving space reduce the cost that makes up a prescription.
The left clamping jaw 2 is included in several left claws that vertical direction be arranged in parallel and refers to 21, by left claw several described
Refer to 21 areas that can increase clamping.Each described left claw refers to that 21 inner edge is provided with flexible structural member, using this structure
Set, the flexible structural member depression at ampoule bottle described in clamping, remainder is constant, can protect by the ampoule of clamping
The steadiness of bottle body clamping, increases the frictional resistance that all left claws refer between 21 and the ampoule bottle, makes the ampoule bottle
It is difficult to slide.
The right clamping jaw 3 is included in several right pawls that vertical direction be arranged in parallel and refers to 31, by right pawl several described
Refer to 31 areas that can increase clamping.Each described right pawl refers to that 31 inner edge is provided with flexible structural member, using this structure
Set, the flexible structural member depression at ampoule bottle described in clamping, remainder is constant, can protect by the ampoule of clamping
The steadiness of bottle body clamping, increases the frictional resistance that all right pawls refer between 31 and the ampoule bottle, makes the ampoule bottle
It is difficult to slide.
All left claws refer to 21 and all right pawls refer to that 31 can intersect adaptation, i.e., all left claws refer between 21
Gap area can refer to that 31 are adapted to the right pawl, all right pawls refer to that the gap area between 31 can be with the left claw
Refer to that 21 are adapted to, using this structure, the left claw that the left clamping jaw 2 is provided with refers to 21 right sides being provided with the right clamping jaw 3
Pawl refers to that 31 can intersect adaptation, clamping zone is further reduced, the clipped object of different sizes to be adapted to specification
The clamping of block, increases clamping accommodation.The motor 4 is brushless servo motor, using brushless servo motor, its efficiency
It is high, energy consumption is low, noise is low, long service life, reliability good, can stepless frequency control, relatively low cost and easy to use,
After plus servo-drive system, closed-loop control system can be formed, system has feedback so that overall control is more accurate.The control system
System includes single-chip microcomputer.
With the mechanism for detecting ampoule bottle specification of the present invention, the hold assembly 1 made up a prescription in robot
In ampoule bottle described in clamping, the change in location value during the left clamping jaw 2 and the right clamping jaw 3 rectilinear movement is by institute's rheme
Displacement sensor 5 is detected, and the value is fed back to the change in location value of the control system, the left clamping jaw 2 and the right clamping jaw 3
Corresponding ampoule bottle bottle specification can be corresponded to, i.e., by detecting the change in location of the left clamping jaw 2 and the right clamping jaw 3, energy
The enough identification completed to each ampoule bottle specification of the clamping of the hold assembly 1, the apparatus structure is simple, easy to use,
Effect is obvious.
Embodiment 2
As shown in Figure 1-2, a kind of method for detecting ampoule bottle specification of the present invention, using such as institute of embodiment 1
A kind of mechanism for detecting ampoule bottle specification for stating, comprises the following steps：
A, control system start motor 4 and drive left clamping jaw 2 and right clamping jaw 3 with same speed move toward one another；
B, when the left clamping jaw 2 and the right clamping jaw 3 touch ampoule bottle retard motion, i.e. the clamping of hold assembly 1 is complete
During Bi Suoshu ampoule bottles, the control system closes the rotation of the motor 4；
C, each displacement transducer 5 detect the change in displacement value of the corresponding left clamping jaw 2 and the right clamping jaw 3, and will
The value of detection feeds back the control system, the control system record the detected value of the ampoule bottle and with the control system
Initial baseline value is contrasted, and completes the identification to ampoule bottle specification each described.
With the method for detecting ampoule bottle specification of the present invention, the hold assembly 1 made up a prescription in robot
When ampoule bottle described in clamping, institute's displacement sensors 5 detect the change in displacement value of the hold assembly 1 immediately, and instead
Feed the control system, the control system contrasts the value and initial baseline value, and the folder is fast and accurately recognized with this
The specification of each ampoule bottle of 1 clamping of part is held, the method is simply used, easy to operate.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of mechanism for detecting ampoule bottle specification, including control system and the hold assembly in the robot that makes up a prescription
(1), it is characterised in that the hold assembly (1) includes the left clamping jaw (2) and right clamping jaw (3) on base, the left clamping jaw
(2) and the right clamping jaw (3) drives relative motion by each self-corresponding motor (4), to realize mutual folding holding ampoule bottle,
The left clamping jaw (2) and the right clamping jaw (3) are connected with displacement transducer (5) respectively, and institute's displacement sensors (5) is located at the bottom
On seat and communicate to connect the control system.
2. the mechanism for detecting ampoule bottle specification according to claim 1, it is characterised in that the left clamping jaw (2) and
The right clamping jaw (3) is V-structure, and the V-type opening of the left clamping jaw (2) and the right clamping jaw (3) is oppositely arranged, the V
The inner edge of type opening two is used for the spacing ampoule bottle.
3. the mechanism for detecting ampoule bottle specification according to claim 2, it is characterised in that left clamping jaw (2) bag
Several left claws being be arranged in parallel in vertical direction are included to refer to (21).
4. the mechanism for detecting ampoule bottle specification according to claim 3, it is characterised in that each described left claw refers to
(21) the inner edge is provided with flexible structural member.
5. the mechanism for detecting ampoule bottle specification according to claim 3, it is characterised in that right clamping jaw (3) bag
Several the right pawls being be arranged in parallel in vertical direction are included to refer to (31).
6. the mechanism for detecting ampoule bottle specification according to claim 5, it is characterised in that each described right pawl refers to
(31) the inner edge is provided with flexible structural member.
7. the mechanism for detecting ampoule bottle specification according to claim 5, it is characterised in that all left claws refer to
(21) and all right pawls refer to that (31) can intersect adaptation, i.e., all left claws refer to that gap area between (21) can be with
The right pawl refers to that (31) are adapted to, and all right pawls refer to that the gap area between (31) can refer to that (21) are adapted to the left claw.
8. the mechanism for detecting ampoule bottle specification according to claim 1, it is characterised in that the motor (4) is nothing
Brush servomotor.
9. according to any described mechanisms for detecting ampoule bottle specification of claim 1-8, it is characterised in that the control system
System includes single-chip microcomputer.
10. a kind of method for detecting ampoule bottle specification, is used to detect and pacifies using the one kind as described in claim 1-9 is any
The mechanism of small jar bottle specification, it is characterised in that comprise the following steps：
A, control system start motor (4) and drive left clamping jaw (2) and right clamping jaw (3) with same speed move toward one another；
B, when the left clamping jaw (2) and the right clamping jaw (3) touch ampoule bottle retard motion, i.e. hold assembly (1) clamping
When finishing the ampoule bottle, the control system closes the rotation of the motor (4)；
C, each displacement transducer (5) detect the change in displacement value of the corresponding left clamping jaw (2) and the right clamping jaw (3), and
The value that will be detected feeds back the control system, and the control system records the detected value of the ampoule bottle and is with the control
System initial baseline value contrast, completes the identification to ampoule bottle specification each described.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710013515.9A CN106743576A (en) | 2017-01-09 | 2017-01-09 | Mechanism and method for detecting ampoule bottle specification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710013515.9A CN106743576A (en) | 2017-01-09 | 2017-01-09 | Mechanism and method for detecting ampoule bottle specification |
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Cited By (5)
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| CN109394535A (en) * | 2018-09-10 | 2019-03-01 | 深圳市博为医疗机器人有限公司 | A kind of automated dispensing machine people for ampoule bottle |
| CN109434412A (en) * | 2018-12-27 | 2019-03-08 | 武汉联航机电有限公司 | A kind of transfer feeding tooling |
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| CN113333327A (en) * | 2021-07-02 | 2021-09-03 | 安徽机电职业技术学院 | Automatic conveying and sorting system based on industrial robot |
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| CN109394535A (en) * | 2018-09-10 | 2019-03-01 | 深圳市博为医疗机器人有限公司 | A kind of automated dispensing machine people for ampoule bottle |
| CN109394535B (en) * | 2018-09-10 | 2021-11-19 | 深圳市博为医疗机器人有限公司 | A automatic medicine dispensing robot for ampoule |
| CN109434412A (en) * | 2018-12-27 | 2019-03-08 | 武汉联航机电有限公司 | A kind of transfer feeding tooling |
| CN109909603A (en) * | 2019-03-11 | 2019-06-21 | 大族激光科技产业集团股份有限公司 | Automatic charging method, apparatus, storage medium and automatic charging control device |
| CN112520665A (en) * | 2019-09-19 | 2021-03-19 | 深圳三林医疗自动化有限公司 | Ampoule clamping mechanism and control system thereof |
| CN113333327A (en) * | 2021-07-02 | 2021-09-03 | 安徽机电职业技术学院 | Automatic conveying and sorting system based on industrial robot |
| CN113333327B (en) * | 2021-07-02 | 2022-09-23 | 安徽机电职业技术学院 | Automatic conveying and sorting system based on industrial robot |
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Application publication date: 20170531 |