CN108189042A - Endowment robot with intelligent medicine box - Google Patents
Endowment robot with intelligent medicine box Download PDFInfo
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- CN108189042A CN108189042A CN201711457936.7A CN201711457936A CN108189042A CN 108189042 A CN108189042 A CN 108189042A CN 201711457936 A CN201711457936 A CN 201711457936A CN 108189042 A CN108189042 A CN 108189042A
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- Prior art keywords
- medicine
- tablet
- cylindrantherae
- pack
- push
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
Abstract
Endowment robot with intelligent medicine box, belongs to robot field, mechanism and is capable of the medicine feeding mechanism of drug delivery automatically including robot body and the making up a prescription for automated dispensing of being capable of being arranged in robot body；The mechanism of making up a prescription, for taking out various tablets according to quantity successively one by one from each be mounted in the medicine bottle of tablet；The medicine feeding mechanism, for the tablet being put into medicine feeding mechanism timing is pushed out.The present invention can realize automated dispensing and automatic drug delivery.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of endowment robot with intelligent medicine box.
Background technology
As China steps into astogeny society comprehensively, endowment service becomes more and more important.Endowment service refers to for full
Sufficient the elderly's daily life demand makes a kind of life of elderly person easily integrated service.Present endowment service mostly artificially carries
For input cost is very big.
Because of the continuous degeneration of the elderly's physical function and increasing for disease, in order to which the elderly is made to mitigate the disease on body
Bitterly, substantially most of the elderly is required for timing to take various kinds of drug.Professional is needed to come in existing endowment service
Timing made up a prescription for each the elderly, is got it filled and drug delivery, is operated cumbersome, and easily make because of human error
The elderly eats wrong drug.In consideration of it, in order to which endowment service is made more to standardize and refine, applicant is proposed one kind can be certainly
The dynamic endowment robot to make up a prescription with automatic drug delivery.
Invention content
The invention is intended to provide a kind of endowment robot with intelligent medicine box for being capable of automated dispensing and automatic drug delivery.
To achieve the above objectives, following scheme is provided：
The endowment robot with intelligent medicine box in this programme, including robot body and is arranged on robot body
In making up a prescription for automated dispensing of being capable of mechanism and be capable of the medicine feeding mechanism of drug delivery automatically；
The mechanism of making up a prescription, for taking out various tablets according to quantity successively one by one from each be mounted in the medicine bottle of tablet；
The medicine feeding mechanism, for the tablet being put into medicine feeding mechanism timing is pushed out.
Principle and effect：
The medicine bottle for being mounted with tablet is put into mechanism of making up a prescription, mechanism of making up a prescription takes out various tablets according to quantity successively one by one.
Tablet is put into medicine feeding mechanism by staff, is pushed out tablet by medicine feeding mechanism.
The present invention can only be needed by the mechanism automated dispensing that makes up a prescription by the automatic drug delivery of medicine feeding mechanism, staff
The medicine that mechanism of making up a prescription matches is fitted into medicine feeding mechanism, it will be able to medicine feeding mechanism be made to push out tablet timing, realized automatic
Drug delivery.The present invention has not only saved staff and has made up a prescription time of drug delivery, moreover it is possible to provide for each the elderly and more standardize
With the drug delivery service of precision.
Further, the mechanism of making up a prescription including sequentially connected medicine bottle disk, grug transportation tube from top to bottom and goes out medicine-chest；
The medicine bottle disk, equipped with multiple separations for being used for loading medicine bottle, one separates a corresponding medicine bottle, each separates
Bottom be equipped be used for allowing tablet single by medicine outlet and the baffle of medicine outlet can be covered；The baffle is equipped with magnetic
Item, the bottom each separated are equipped with the electromagnet of adsorbable magnetic stripe；
The grug transportation tube, including the branch pipe connected with each medicine outlet and the manifold connected with each branch pipe；It is described total
The microcontroller counted in pipe equipped with counter and for control counter；Microcontroller controls each electromagnet to break successively
Electricity, meanwhile, microcontroller control counter counts each tablet quantity successively；
It is described go out medicine-chest, for receiving tablet from grug transportation tube.
In use, each medicine bottle equipped with tablet is opened, and medicine bottle mouth is made to be located in each separation towards medicine outlet.
Each break-make for separating the electromagnet on bottom is controlled by microcontroller, adsorb electromagnet or not adsorb magnetic stripe, into
And baffle is made to block or expose medicine outlet.When baffle blocks medicine outlet, the tablet in medicine bottle can not pass into
In branch pipe.When baffle exposes medicine outlet, the tablet in medicine bottle can be entered in branch pipe, make the tablet in medicine bottle in weight
Branch pipe is entered under the action of power, and manifold is entered by branch pipe, is entered finally into out in medicine-chest.When in manifold, always
Pipe counts the quantity of tablet by counter.Because only opening a baffle every time, and each medicine outlet only allows one
A tablet passes through, so, tablet in manifold always one by one by, this just enables counter understand to count each medicine
The quantity of each tablet in packet, convenient accurate completion are made up a prescription.
Further, the medicine feeding mechanism, including being used for sequentially holding the cylindrantherae of tablet and being pushed away with what cylindrantherae top connected
Send pipe；The bottom of the cylindrantherae is provided with the first delivery device for moving up and down；First delivery device has one certainly
By holding, the free end of first delivery device is connected with the push plate for pushing up tablet along cylindrantherae；The cylindrantherae
Top is provided with the guiding mechanism for tablet is made to enter push pipe；First delivery device, which has, to be used for by robot body
The driving mechanism of control.
In use, robot drives the first delivery device to push up all medicines in push plate and push plate by driving mechanism
Piece moves upwards.When Swertia Tablet is pushed to the top of cylindrantherae, guiding mechanism makes tablet enter in push pipe.Pass through push
Pipe, old man can take out tablet and be taken.
Medicine-chest of the entire intelligent medicine box for a cartridge-type, tablet is like bullet, is sequentially encased in cylindrantherae,
By the first delivery device and guiding mechanism, tablet is pushed in push pipe, the elderly is enable to take medicine by pushing pipe
Piece carries out tablet and takes.Robot only needs to move upwards by the first delivery device of driving mechanisms control, with regard to that can make below
Guiding mechanism links, and entire push process is made to become coherent complete.And the staff in service of supporting parents only needs unification
All kinds of tablets are configured to tablet according to the component that the elderly eats every time to be put into cylindrantherae, with regard to robot can be made to carry out drug delivery automatically
With make up a prescription, do not need to attendant and carry out drug delivery and work of making up a prescription again.It is easy to operate.
Further, be connected on the medicine bottle disk for drive medicine bottle disk shake the first motor, first motor by
Microcontroller control starts or closes.
In addition to the kinetic energy generated using robot displacement, moreover it is possible to by the first motor, tablet is transported in branch pipe.
Medicine bottle disk is driven to shake by the first motor, the tablet in medicine bottle is enable to be rapidly introduced into branch pipe.Pass through the first motor band
Dynamic medicine bottle disk shake, enables the tablet in medicine bottle to be rapidly introduced into branch pipe.It can be used for controlling by the first microcontroller
First motor, electromagnet and counter works.Robot only needs that by the first microcontroller entire dispensing machine can be controlled
Structure works.If without the first microcontroller, robot needs the control mechanism by robot to control respectively
The work of one motor, electromagnet and counter.Using the first microcontroller, dispensing machine can be made, which to be configured to one, can coordinate machine
Device people uses, and the mechanism of making up a prescription that can independently use.
Further, it is described go out medicine-chest top support plate is equipped on the circumferential position of manifold, the support plate is equipped with
The strip bag being pre-placed；The strip bag is the barrel-like structure of both ends open；There are for growing between the support plate and manifold
Item bag extends downwardly the annulus for surrounding manifold；The lower section of the manifold, which is equipped with, to be used for for strip bag being located at the part below manifold
The cutting machine that sealing forms Bag for holding medicine is carried out, the cutting machine is additionally operable to that after every batch of tablet drops into Bag for holding medicine tablet will have been filled
Part carry out sealing form pack and cut down pack from Bag for holding medicine.
Strip bag is hung to get off to surround the outlet of manifold by the annulus in support plate.Cutting machine will be located at manifold
The strip bag of lower section is sealed, and makes the Bag for holding medicine of one end closure of strip bag formation, the tablet energy fallen from manifold at this time
Enough enter in Bag for holding medicine, after tablet all falls within Bag for holding medicine, cutting machine again seals tablet of the Bag for holding medicine together with the inside,
While sealing, cutting machine seals the part of the packed tablet of powder charge, forms pack, while pack is formed, cuts
Cutting mill also makes pack part above form a new Bag for holding medicine, and cutting machine cuts down pack from Bag for holding medicine.This
When pack be exactly that old man once needs the set of various tablets taken, robot is by controlling the work of its cutting machine with regard to energy
It is enough that tablet is subjected to automatic packaging.
Further, the cutting machine includes the second motor controlled by the first microcontroller and can by the drive of the second motor
The cutter and pressing plate moved toward one another；The cutter is equipped with by the resistive heater of the first microcontroller control work.
Cutting machine is controlled to work by the first microcontroller, the second motor driving cutter and pressing plate in cutting machine are transported in opposite directions
It is dynamic, cutter and pressing plate is made to form the pressure for clamping strip bag or Bag for holding medicine, during clamping, the adding thermal resistance on cutter
Silk carries out heating sealing to strip bag or Bag for holding medicine.Wherein, the second motor uses existing with the connection mode of cutter and pressing plate
Connection mode.
Further, the push pipe is set diagonally downward to the direction far from cylindrantherae.
The junction for pushing Guan Congyu cylindrantheraes is set diagonally downward to one end far from cylindrantherae, this to enter push pipe
In tablet can under gravity along push pipe be pushed away outward.It is very laborsaving and very practical, as long as in advance
The gradient of push pipe is first set, it is ensured that pack can be pushed out by suitable dynamics.
Further, the guiding mechanism include be arranged on push tube bottom facial canal wall on be used for stop tablet drop back into cylindrantherae every
Plate is slidably connected at the jacking block for being used for being pushed upwards at the top of cylindrantherae by tablet and is used for blocking push pipe and stops that partition board is put in
The baffle of cylindrantherae；The jacking block is integrally formed with baffle.
Tube bottom face is pushed, refers to position of the push pipe on the side wall on ground.When the first delivery device pushes up medicine
After piece moves upwards, the first delivery device moves downward again, and tablet first pushes jacking block upwards under the promotion of the first delivery device,
Jacking block and baffle are moved upwardly together, baffle is made to expose the communication port between push pipe and cylindrantherae, makes baffle that can no longer prevent
Partition board makes partition board put in cylindrantherae.At this point, the first delivery device moves downward, tablet is fallen on partition board under gravity,
And slided into push pipe along partition board, cylindrantherae is then sent from by push pipe.
Whole process pushes jacking block by tablet, because jacking block is integrally formed with baffle, jacking block is pushed up
Dynamic when moving upwards, baffle also moves upwards together, makes to be put in cylindrantherae by the partition board of baffle, prevents what tablet was fallen after rise
Path makes to be exposed by the push pipe of baffle, can only when Swertia Tablet can not be fallen back in cylindrantherae downwards from original path
It is moved along partition board to push pipe.
The entire push process and the push process of the first delivery device of guiding mechanism link, and structure setting is exquisite, movement
Process links up, easy to use.
Further, the tablet package is vacuum pack；Magnetic pole magnetic sheet setting up and down is provided on the pack, it is described
Magnetic sheet is permanent magnet.
Staff is placed in same pack after all kinds of tablets are configured and vacuumizes to form vacuum pack, so not
The volume of entire pack can be only reduced, makes that in a cylindrantherae more packs can be placed, moreover it is possible to the drug in pack be made to exist
The holding time is more long in the case of completely cutting off air.Magnetic sheet is permanent magnet, and the magnetic pole of the magnetic sheet in each pack is setting up and down, this
As long as each pack of sample is placed on all in accordance with same direction in cylindrantherae, magnetic in upper and lower two adjacent packs one side close to each other
Pole easily makes all packs on the contrary, because two opposite magnetic poles are close to each other is attached together between can making two packs
A unified entirety is formed, facilitates all pack Fast Fillings into cylindrantherae, is also convenient for compiling for all packs.
Further, magnetic pole magnetic patch setting up and down is provided on the jacking block, the magnetic patch is permanent magnet；The magnetic patch with
Magnetic sheet side magnetic pole close to each other is identical.
The magnetic patch set on jacking block, the magnetic pole on the direction of magnetic sheet is same, this allow for pack by
On push during, for pack when jacking block is touched not yet, the repulsive force that is generated between magnetic sheet and magnetic patch will be to
Upper promotion jacking block moves upwards, and enables by pipe is pushed to expose with the integrally formed baffle of jacking block, Guan Lu will be pushed in baffle
During out, equally put in cylindrantherae because of the partition board in the sliding slot that baffle leaves and is exposed, it will be uppermost
Pack and pack thereafter rush open, under repulsive force effect of the uppermost pack between gravity and magnetic sheet and magnetic patch under fall on every
It on plate, and moves towards push pipe along partition board, is finally seen off by push pipe.
Description of the drawings
Fig. 1 is the structure diagram for the endowment robotic embodiment that the present invention has intelligent medicine box；
Fig. 2 is the structure diagram that the present invention has mechanism of making up a prescription in the endowment robotic embodiment of intelligent medicine box；
Fig. 3 is the another structure diagram that the present invention has mechanism of making up a prescription in the endowment robotic embodiment of intelligent medicine box；
Fig. 4 is the structure diagram of medicine feeding mechanism in endowment robotic embodiment of the present invention with intelligent medicine box；
Fig. 5 is the another structure diagram of medicine feeding mechanism in endowment robotic embodiment of the present invention with intelligent medicine box.
Specific embodiment
Below by the further details of explanation of specific embodiment：
Reference numeral in Figure of description includes：Reference numeral in Figure of description includes：Medicine bottle disk 1, grug transportation tube
2nd, go out medicine-chest 3, first baffle 4, branch pipe 5, manifold 6, support plate 7, puckered ring 8, separate 9, electromagnet 10, magnetic stripe 11, Bag for holding medicine
12nd, cutter 13, pressing plate 14, bearing plate 15, stent 16, the first bottom plate 17, first show plate 18, medicine bottle 19, switch 20, cylindrantherae outside
21st, cylinder 22, push plate 23, pack 24, push pipe 25, partition board 26, spring 27, second baffle 28, jacking block 29, top cap 30, second
Aobvious plate 31, the second bottom plate 32 outside.
Embodiment is substantially as shown in Figure 1：Endowment robot with intelligent medicine box, including robot body and installation
Make up a prescription mechanism and medicine feeding mechanism in robot body, wherein, it dismantles for convenience, mechanism of making up a prescription and medicine feeding mechanism can either
It is used cooperatively with robot body, also can independently go out to be used cooperatively with other mechanisms.In order to reach this purpose, dispensing machine
Structure and medicine feeding mechanism include a bottom plate and outer aobvious plate, one end welding of bottom plate and outer aobvious plate, and bottom plate and outer aobvious plate form one
The shape of a semi-surrounding, the mechanism that will can make up a prescription respectively and medicine feeding mechanism are surrounded, and make bottom plate together with the institute installed on bottom plate
There is structure that can be slided into the mounting groove opened up on robot body along bottom plate, make the other outer of outer aobvious plate and robot body
Table structure forms a complete robot surface structure together.
In the present embodiment, two mounting grooves are opened above and below the belly part of robot, mechanism of making up a prescription passes through its outer aobvious plate
In that mounting groove being mounted above with bottom plate, medicine feeding mechanism is mounted on that following installation by its outer aobvious plate and bottom plate
In slot.In order to which back facilitates description, the outer aobvious plate in mechanism of making up a prescription and bottom plate are referred to as aobvious 18 and first bottom of plate outside first
Outer aobvious plate in medicine feeding mechanism and bottom plate are referred to as 31 and second bottom plate 32 of aobvious plate outside second by plate 17.
As shown in attached drawing 2 and attached drawing 3, mechanism of making up a prescription including sequentially connected medicine bottle disk 1, grug transportation tube 2 from top to bottom and goes out
Medicine-chest 3, the bottom for going out medicine-chest 3 are welded with the first bottom plate 17 for carrying the above structure, and the first bottom plate 17 is located at drug
The right side of case 3 is welded with the outer aobvious plate vertical with bottom plate.Entire outer aobvious plate can block medicine bottle disk 1, grug transportation tube 2 and go out from the outside
Medicine-chest 3.
As shown in attached drawing 2 and attached drawing 3, the medicine bottle disk 1 can select disk, be used for corresponding loading medicine including 6
The separation 9 of bottle 19, it is each separate 9 bottom be provided with for allow tablet single by medicine outlet, cut with scissors in the bottom of medicine bottle disk 1
It is connected to the first baffle 4 that medicine outlet is covered for covering.One end of first baffle 4 and the bottom surface of medicine bottle disk 1 are hinged, first baffle
Inlayed in 4 other end and magnetic stripe 11 be installed, magnetic stripe 11 is permanent magnet, each separate on medicine bottle disk 19 bottom installation it is useful
To adsorb the electromagnet 10 of magnetic stripe 11；When electromagnet 10 is powered, electromagnet 10 generates the attraction of absorption first baffle 4, makes
First baffle 4 is adjacent to medicine bottle disk 1, makes first baffle 4 that the tablet in 9 medicine bottle 19 of separation be prevented to drop into branch pipe 5.Work as electromagnetism
When iron 10 powers off, electromagnet 10 cannot adsorb first baffle 4 without this row, and first baffle 4 rotates down under gravity,
Expose medicine outlet, the tablet in medicine bottle 19 is made to pass through medicine outlet and is entered one by one in branch pipe 5.For medicine outlet, pass through
Limit its diameter, come achieve the purpose that every time only allow a tablet by.It can also be by only permitting in medicine outlet installation
Perhaps unidirectionally by similar existing expansion sleeve structure.
The grug transportation tube 2 connects total including the branch pipe 5 connected with 6 medicine outlet one-to-one correspondence and with each branch pipe 5
Pipe 6；The counter for entering its Chinese medicine tablet quantity for counting is installed on 6 inner walls of manifold；Counter in this programme is adopted
With existing counter.The detection module counted for flip-flop number is connected on counter, this detection module includes inlaying
Electroluminescent lamp on 6 inner walls of manifold and the photo-resistor for receiving luminous lamp wiring, electroluminescent lamp and photo-resistor
It is all controlled by the first microcontroller and starts or close.Electroluminescent lamp and photo resistance are separately positioned on opposite two in 6 lower sections of manifold
On side.When Swertia Tablet falls, tablet stops the light of electroluminescent lamp, makes photo-resistor that can not receive light, photosensitive
Resistor transmits electric signal to counter, counts counter.Counter can count all tablets fallen in manifold 6 in this way
Quantity.
It is described go out medicine-chest 3, for receiving various tablets from grug transportation tube 2 and the tablet received every time being packaged into pack
24.The top for going out medicine-chest 3 is connected with support plate 7 on the circumferential position of manifold 6, is placed with and is pre-placed in the support plate 7
Strip bag；The strip bag is the barrel-like structure of both ends open.In order to facilitate storage strip bag, it is placed in support plate 7
For strip bag is opened, and the puckered ring 8 that strip bag is axially folded.This puckered ring 8 include upper ring and a lower ring, upper ring and
Spring 27 is connected between lower ring.Strip bag is entirely opened, axially along direction folding strip bag, be folded strip bag
Ring 8 is folded into a loop configuration.Puckered ring 8 is centered around around manifold 6, and there are the bottoms for strip bag on lower puckered ring 8 to stretch
The gap gone out.Equally, there are the annulus that encirclement manifold 6 is extended downwardly for strip bag between the support plate 7 and manifold 6；It will
Strip bag stretches downwards, and the bag wall of strip bag can be made to surround the exit of manifold 6.The lower section of the manifold 6 is going out medicine-chest 3
Inner wall on the cutting machine for carrying out sealing for strip bag to be located to the part of the lower section of manifold 6 and forming Bag for holding medicine 12, institute are installed
State cutting machine after tablet drops into Bag for holding medicine 12 by the part for having filled tablet carry out sealing formed pack 24 and by pack 24 from
It is cut down on Bag for holding medicine 12.
Strip bag is hung by the annulus in support plate 7 and gets off to surround the outlet of manifold 6.Cutting machine will be located at total
The strip bag of 6 lower section of pipe is sealed, and is made the Bag for holding medicine 12 of one end closure of strip bag formation, is fallen from manifold 6 at this time
Tablet can be entered in Bag for holding medicine 12, and after tablet all falls within Bag for holding medicine 12, cutting machine is again by Bag for holding medicine 12 together with the inside
Tablet sealing, sealing while, the part that Bag for holding medicine 12 has been filled tablet by cutting machine is sealed, formed pack 24,
While forming pack 24, cutting machine also makes 24 part above of pack form a new Bag for holding medicine 12, and cutting machine is by medicine
Packet 24 is cut down from Bag for holding medicine 12.Pack 24 at this time is exactly that old man once needs the set of various tablets taken, machine
Device people is by controlling the work of its cutting machine just can tablet be carried out automatic packaging.
The cutting machine includes the second motor controlled by the first microcontroller and can be transported in opposite directions by the drive of the second motor
Dynamic cutter 13 and pressing plate 14；The cutter 13 is equipped with by the resistive heater of the first microcontroller control work.Pass through
One microcontroller control cutting machine works, and the second motor driving cutter 13 and pressing plate 14 in cutting machine move toward one another, and make cutter
13 and pressing plate 14 form the pressure for clamping strip bag or Bag for holding medicine 12, during clamping, the adding thermal resistance on cutter 13
Silk carries out heating sealing to strip bag or Bag for holding medicine 12.Wherein, the connection mode of the second motor and cutter 13 and pressing plate 14 is adopted
With existing connection mode.The fire tongs that entire cutting machine is heated similar to one, can add the strip bag clamped by it
Thermal cutting can carry out heat sealing to it again while cutting.On cutting machine have it is down-set, can press, open upwards
Dynamic second motor drives cutter 13 and pressing plate 14 to clamp the switch 20 of strip bag or Bag for holding medicine 12.It is welded with going out in medicine-chest 3
The up-small and down-big stent 16 in terrace with edge structure being vertically arranged is hinged with bearing plate 15 in the form of an " L " on stent 16.Bearing plate
The 15 one end faces switches 20 to raise up, 15 horizontally disposed one end of bearing plate be located at cutter 13 and Bag for holding medicine 12 just under
Side.After Swertia Tablet drops into Bag for holding medicine 12, when Swertia Tablet is accumulated to constant weight, Bag for holding medicine 12 makes pressure-bearing together with the tablet of the inside
Plate 15 is rotated around interface point, is rotated down 15 part of bearing plate immediately below Bag for holding medicine 12, is made the lug boss of bearing plate 15
Divide and be rotated up.The protrusion of bearing plate 15 pushes switch 20 during being rotated up, and starts the second motor, makes the second motor
The Bag for holding medicine 12 above cutter 13 and the clamping tablet of pressing plate 14 is driven, pack 24 is formed and simultaneously cuts pack 24 from Bag for holding medicine 12
Come.Connection structure between second motor and cutter 13 and pressing plate 14 uses existing common structure, and silk is used in this example
Thick stick and silk seat, the second motor drives leading screw rotation, moves toward one another two on leading screw silk seats, and cutter 13 and pressing plate 14 are distinguished
It is arranged on a silk seat.
In order to which the pack to be formed 24 is made to preserve more permanent, protrusion is set on the edge of a knife of cutter, two adjacent protrusions it
Between distance be less than tablet diameter.In this way, when cutter seals pack, pack is simultaneously unsealed, and there are convex on pack
Play multiple gaps of the length distance between protrusion.Vacuum machine is connected in the lower section for going out medicine-chest 3, pack enters vacuum machine
In, vacuum machine is evacuated and hermetically sealed pack.Vacuum machine is using the Household vacuum machine sold currently on the market.It is true by taking out
Empty pack, will be more favorable for preserving.
The first motor for medicine bottle disk 1 is driven to shake is welded on the bottom surface of the medicine bottle disk 1.In addition to utilizing robot
The kinetic energy that displacement generates, moreover it is possible to by the first motor, tablet is transported in branch pipe 5.Medicine bottle is driven by the first motor
Disk 1 is shaken, and the tablet in medicine bottle 19 is enable to be rapidly introduced into branch pipe 5.
First microcontroller be mounted on bottom plate on, for control the first motor rotate, for control 10 break-make of electromagnet with
And it is counted again for control counter.After the first microcontroller controls an electromagnet 10 to disconnect, the first microcontroller control
During counter processed counts again, in this way can understand the quantity statistics of each tablet, and the first microcontroller will make up a prescription every time
Total quantity counted and recorded.
It can be used for controlling the first motor, electromagnet 10 and counter works by the first microcontroller.Robot only needs
Entire mechanism of making up a prescription can be controlled to work by the first microcontroller.If without the first microcontroller, machine
People needs the control mechanism by robot to control the work of the first motor, electromagnet 10 and counter respectively.Use first
Microcontroller can make dispensing machine be configured to a mechanism of making up a prescription that robot can be coordinated to use and independently use.
First microcontroller uses STM32 microcontrollers, and 2 I/O ports on STM32 microcontrollers are respectively intended to the first electricity of control
Machine and counter control electromagnet 10 at least six I/O port.Wherein it is used for that each I/O port of 10 break-make of electromagnet is controlled to connect
There is the relay for controlling each 10 power on/off of electromagnet respectively, concrete structure is using circuit structure generally used now
Can, this will not be repeated here.
In use, pulling open aobvious plate 18 outside first outward first, make the first bottom plate 17 by entire mechanism slave device people's sheet of making up a prescription
A part of structure is pulled out in body.Each medicine bottle 19 equipped with tablet is opened, and 19 mouthfuls of medicine bottle is made to be located in often towards medicine outlet
It is a to separate on 9.It is used for controlling each electronic device in mechanism of making up a prescription to control by the central processing unit in robot body
First level controller works.
Each break-make for separating the electromagnet 10 on 9 bottoms is controlled by the first microcontroller, adsorb electromagnet 10
It does not adsorb 11 first baffle 4 of magnetic stripe either and blocks or expose medicine outlet.When first baffle 4 blocks medicine outlet, medicine bottle
Tablet in 19 can not be passed into branch pipe 5.When first baffle 4 exposes medicine outlet, the tablet energy in medicine bottle 19
It enough enters in branch pipe 5, particularly when robot body is in movement, robot body movement drives medicine bottle disk 1 to occur
Vibration, makes the tablet in medicine bottle 19 enter branch pipe 5 under the action of gravity and vibration force, and enter manifold 6 by branch pipe 5,
It enters finally into out and is packaged into pack 24 in medicine-chest 3 together with other tablets.When in manifold 6, manifold 6 passes through counter
The quantity of tablet is counted.Because only opening a first baffle 4 every time, and each medicine outlet only allows a tablet to lead to
Cross, so, tablet in manifold 6 always one by one by, this just enables counter understand to count in each pack 24
The quantity of each tablet, convenient accurate completion are made up a prescription.
In order to mechanism of making up a prescription can be independently operated, the first motor installed on medicine bottle disk 1 can be in no robot sheet
When body or static robot body, the power dropped downward into branch pipe 5 is provided for tablet.And make up a prescription mechanism mainly still
For robot is coordinated to use, it can be automatically performed and make up a prescription in robot, be packaged, avoid go out in medicine-chest 3 to complete tablet
The situation that tablet is omitted, facilitate the pack 24 after packing being filled into medicine feeding mechanism and carry out drug delivery, and old man is made to get it filled
When, what is taken is a pack 24, and clean hygiene is easy to operate.
As shown in Figure 4 and Figure 5, medicine feeding mechanism, including be used for sequentially holding from top to bottom pack 24 cylindrantherae 21 and with
The push pipe 25 of 21 upper portion side wall of cylindrantherae connection.Push pipe 25 is communicated to outside second diagonally downward to the direction far from cylindrantherae 21
On the opening for getting medicine opened on aobvious plate 31.Push pipe 25 is threadedly coupled with cylindrantherae 21, is clamped or snapping is (one on the lateral wall of cylindrantherae 21
It is body formed to have outwardly directed connecting tube, external screw thread is provided on the lateral wall of connecting tube, pushes and is provided with phase on the madial wall of pipe 25
Matched internal thread.Alternatively, be provided with buckling groove in connecting tube, push on pipe 25 integrally formed with may be inserted into the convex of buckling groove
Block.Alternatively, being equipped with buckle on push pipe 25, it is provided in connecting tube for the buttonhole for buckle across snapping.)
Cylindrantherae 21 includes being used for sequentially placing the containing part of pack 24 from top to bottom and for installing the first delivery device
Power part.Containing part and power part are setting up and down.Containing part is threadedly coupled with power part, is clamped or snapping.
The first delivery device for moving up and down is installed in power part；The free end connection of first delivery device is useful
To push up the push plate 23 of pack 24 along cylindrantherae 21.It is provided on the inner wall of containing part for putting in containing part simultaneously for push plate 23
The sliding rail slided up and down along containing part.It smoothly moves up and down in order to facilitate push plate 23, integrally formed with outside in push plate 23
The sliding block of stretching, sliding block are arranged in a one-to-one correspondence with sliding rail, and sliding block is put in sliding rail, and are slided up and down along sliding rail.For convenience
Pack 24 is held to be slided with push plate 23, can be by containing part selected as cylindrical shape, and by 23 selected as round sheet of push plate, sliding block is all
To being arranged in push plate 23, sliding rail is circumferentially provided on the inner wall of containing part.First delivery device can select cylinder 22, hydraulic pressure
Cylinder or electric pushrod.Driving mechanism for the first delivery device is driven to move, driving machine are installed on the first delivery device
Structure is used for being controlled by robot.This driving mechanism is just mounted on cylinder 22, hydraulic cylinder or electric pushrod, for starting
The switch 20 of its work or included control chip itself.This switch 20 or control chip can be by electric signals by machine
Device people, which controls, to start or closes.It is this that the technology that driving mechanism is turned on or off is controlled as the prior art by electric signal,
It is not repeated secondary.When the first delivery device selects cylinder 22, cylinder 22 has piston rod flexible up and down, the freedom of piston rod
End is connect with push plate 23.
The top of cylindrantherae 21 is equipped with the guiding mechanism for pack 24 to be pushed into push pipe 25.Guiding mechanism includes being opened in
It is used for stopping that pack 24 drops back into the partition board 26 of cylindrantherae 21 on push 25 bottom surface side wall of pipe, is slidably connected at 21 top of cylindrantherae and is used for quilt
Jacking block 29 that pack 24 pushes upwards and for blocking push pipe 25 and stopping that partition board 26 puts in the second baffle 28 of cylindrantherae 21；
Jacking block 29 is integrally formed with second baffle 28.The top setting crown cap 30 of jacking block 29, top cap 30 are located at the top of cylindrantherae 21.Medicine
Cylinder 21 has top plate, in guiding mechanism the integrated molding of jacking block 29 be connected with through top plate and the traveller that can slide up and down, traveller
Top is threadedly coupled with top cap 30.By traveller, jacking block 29 and top cap 30 can be made all to be connected on cylindrantherae 21, without taking off
It falls.
The cross-sectional area of top cap 30 is more than the cross-sectional area of cylindrantherae 21, and top cap 30 is covered on the top of cylindrantherae 21, makes jacking block
29 extreme lengths extending into cylindrantherae 21 are certain.Every time when pack 24 rises to this position, you can push jacking block 29 upwards.
The groove slided up and down for jacking block 29 is provided on 21 side wall of cylindrantherae.By groove, jacking block 29 is made to be slidably connected on cylindrantherae 21, it can
So that jacking block 29 can smoothly move up and down, while avoid detaching with cylindrantherae 21.
Push the sliding slot that connection cylindrantherae 21 is provided on the tube wall of bottom surface pipe, partition board 26 is arranged in sliding slot, sliding slot bottom with
The spring 27 for partition board 26 is pushed to put in cylindrantherae 21 is connected between partition board 26.
When second baffle 28 blocks sliding slot, partition board 26 cannot be put in cylindrantherae 21.When second baffle 28 is transported upwards
During dynamic exposing sliding slot, the spring 27 compressed always restores shape, and driving partition board 26 is put in cylindrantherae 21, and pack 24 is prevented to fall after rise
Into cylindrantherae 21.
25 bottom surface of pipe is pushed, refers to push position of the pipe 25 on the side wall on ground.When the first delivery device pushes up
After dynamic pack 24 moves upwards, the first delivery device moves downward again, and pack 24 is first upward under the promotion of the first delivery device
Jacking block 29 is pushed, moves upwardly together jacking block 29 and second baffle 28, second baffle 28 is made to expose push pipe 25 and cylindrantherae 21
Between communication port, make second baffle 28 that can no longer prevent partition board 26, partition board 26 made to put in cylindrantherae 21.At this point, the first push
Mechanism moves downward, and pack 24 is fallen under gravity on partition board 26, and is slided into push pipe 25 along partition board 26, then
Cylindrantherae 21 is sent from by push pipe 25.
Whole process pushes jacking block 29 by pack 24, because jacking block 29 is to be integrally formed with second baffle 28
, jacking block 29 is pushed when moving upwards, and second baffle 28 also moves upwards together, makes the partition board stopped by second baffle 28
26 put in cylindrantherae 21, and the path that pack 24 is prevented to fall after rise makes to be exposed by the push pipe 25 that second baffle 28 stops, works as pack
24 from original path when can not downwards fall back in cylindrantherae 21, can only be moved along partition board 26 to push pipe 25.
The entire push process and the push process of the first delivery device of guiding mechanism link, and structure setting is exquisite, movement
Process links up, easy to use.
In order to facilitate filling pack 24, the top of cylindrantherae 21 is mounted with that the part of jacking block 29 and second baffle 28 is not belonging to contain
Portion is put, but belongs to the head cover of cylindrantherae 21.The head cover of cylindrantherae 21 is detachably connected with containing part (to be threadedly coupled, be clamped or buckle
It connects).In this way, every time when containing part is replaced, the head cover and power part of cylindrantherae 21 are constant, i.e. the first push of medicine feeding mechanism
Mechanism and guiding mechanism all do not become, and the containing part for being only loaded with pack 24 of change operates more convenient in this way, and into
This minimum.In order to facilitate the filling of containing part, can be used after pack 24 is packed into containing part in the top and bottom of containing part
Paper seals, and when in use, the thrust that delivery device is formed can break through the paper of top and bottom, enable on pack 24
Lower movement.Alternatively, directly first each paper for sealing containing part is taken away when in use.
Magnetic pole magnetic sheet setting up and down is pasted on the pack 24, the magnetic sheet is permanent magnet.
Staff is placed in same pack 24 after various kinds of drug is configured and vacuumizes to form vacuum pack 24, this
Sample can not only reduce the volume of entire pack 24, make that more packs 24 can be placed in a cylindrantherae 21, moreover it is possible to make pack
Drug in 24 holding time in the case where completely cutting off air is more long.Magnetic sheet is permanent magnet, the magnetic of the magnetic sheet in each pack 24
Pole is all setting up and down, as long as pack 24 each in this way is placed on all in accordance with same direction in cylindrantherae 21, upper and lower two adjacent medicines
24 one side upper magnetic poles close to each other are wrapped on the contrary, because of two opposite magnetic pole suctions close to each other between two packs 24 can be made
It is attached to together, all pack 24 is easily made to form a unified entirety, facilitate all 24 Fast Fillings of pack into cylindrantherae 21
In, it is also convenient for compiling for all packs 24.
Magnetic pole magnetic patch setting up and down is inlaid on jacking block 29, the magnetic patch is permanent magnet；The magnetic patch and magnetic sheet are each other
Close side magnetic pole is identical.
The magnetic patch set on jacking block 29, the magnetic pole on the direction of magnetic sheet is same, this is allowed in pack 24
During being pushed upwards, pack 24 when jacking block 29 are touched not yet, the repulsion that is generated between magnetic sheet and magnetic patch
Power will push up jacking block 29 and move upwards, and enable by pipe 25 is pushed to expose with 29 integrally formed baffle of jacking block,
Baffle will be pushed during pipe 25 exposes, and equally be put in because of the partition board 26 in the sliding slot that baffle leaves and is exposed
In cylindrantherae 21, pack 24 by uppermost pack 24 and thereafter rushes open, and uppermost pack 24 is in gravity and magnetic sheet and magnetic patch
Between bat magnetic force under fall on partition board 26, and along partition board 26 towards push pipe 25 move, finally seen off by push pipe 25.
Jacking block 29 can be pushed to move upwards by the magnetic force between magnetic sheet and magnetic patch.
As shown in figure 5, the jacking block 29 has from top to bottom to far from the push inclined inclined-plane in 25 direction of pipe, the jacking block
It is pushed in 26 retraction sliding slot of partition board during 29 slide downwards.
The inclined-plane of jacking block 29 from top to bottom to far from push pipe 25 direction tilt, i.e., the inclined-plane of jacking block 29 from the bottom up by
Gradually close to push pipe 25, when jacking block 29 is when falling after rise, jacking block 29 moves downward the partition board 26 for pushing and stretching out and is retracted into sliding slot
In, baffle is made to block out the partition board 26 in sliding slot again, is moved upwards for pack 24 below and channel is provided.
As shown in attached drawing 1 and attached drawing 5, the bottom of cylindrantherae 21 is welded with the second bottom plate 32 for placing cylindrantherae 21, and second
It is integrally formed on bottom plate 32 and is connected with aobvious plate 31 outside second；Push pipe 25, which is connected, to be shown outside second on plate 31.When entire drug delivery machine
When structure is installed in robot, sees can only see outer aobvious plate from the outside.Because entire medicine feeding mechanism is in robot to be mounted on
, entire medicine feeding mechanism can be integrated by bottom plate and outer aobvious plate by an easy-to-dismount entirety.During installation, directly the bottom of by
Plate is inserted into the installation space flowed out in robot together with the cylindrantherae 21 on bottom plate.It and can be by cartridge-type medicine by outer aobvious plate
Case shelters from, and makes an internal mechanism of the entire cartridge-type medicine-chest as robot, makes robot automated dispensing and drug delivery
Function.And with outer aobvious plate together with push pipe 25, then the pack 24 in cylindrantherae 21 can be pushed to outside robot, convenient for old
Year, people took.
Actuating unit each in medicine feeding mechanism is uniformly controlled for convenience, is installed on the second bottom plate 32 and is used for driving
Second microcontroller of the first delivery device movement.STM32 microcontrollers, STM32 monolithics equally may be used in second microcontroller
Machine only need with 1 I/O port come control cylinder 22 in the first delivery device, motor either hydraulic cylinder startup or closing i.e.
It can.
Pulley is installed on the bottom surface of first bottom plate 17 and the second bottom plate 32.Can facilitate will be entire from robot body
Medicine feeding mechanism and mechanism of making up a prescription take out or are pumped into, convenient repair to entire medicine feeding mechanism and mechanism of making up a prescription, replace or
Person fills the pack 24 in cylindrantherae 21.
When in use, staff takes the situation of tablet according to each the elderly, by the central processing of robot
Related dispensing operation instruction is inputted in device, and (dispensing operation instruction is to provide various tablets in each situation of making up a prescription with existing instruction
Quantity), the quantity of each tablet is sent to the first microcontroller, the first microcontroller evidence in making central processing unit that will make up a prescription every time
This controls the time of each 10 power on/off of electromagnet, and passes through the number of the counters count 10 power-off time Chinese medicine tablet of electromagnet
Amount, the tablet for loading type in each 10 corresponding medicine bottle 19 of electromagnet to be enable to reach the quantity required that makes up a prescription.And it is making up a prescription
After the completion, it is only necessary to pack 24 is taken out from mechanism of making up a prescription.Pack 24 is sticked magnetic sheet disease and sequentially puts into containing part by staff
In, then the containing part for filling full pack 24 is installed in cylindrantherae 21.It is pushed away by central processing unit to the transmission of the second microcontroller
Send time (the push time can also be written directly in the second microcontroller), the second microcontroller timing the first pusher of driving
Structure makes entire medicine feeding mechanism timing release pack 24 in push pipe 25, old man is allow to be shown on plate 31 directly outside second
Opening for getting medicine in take out pack 24, the tablet in pack 24 is taken.
Wherein, when pack 24 are loaded, each pack 24 is sequentially put into as bullet from top to bottom each
In containing part.When pack 24 are placed, first take away for blocking containing part top surface, bottom surface and the paper of side, make Sheng
The portion of putting can be connected with power part, head cover and push pipe 25.Push plate 23 in first delivery device is protruded into containing part,
The first delivery device and delivery device is enable to work.The electric signal that robot body can directly be sent out by central processing unit
Timing is moved up and down by the first delivery device of driving mechanisms control, can also control the second microcontroller by central processing unit
Device, the second microcontroller pass through the first delivery device of driving mechanisms control again.When driving mechanism drives the first delivery device upward
When all packs 24 in promotion push plate 23 and push plate 23 move upwards.Uppermost pack 24 is pushed to the top of cylindrantherae 21
Portion pushes jacking block 29, and the second baffle 28 for making jacking block 29 and being attached thereto moves upwardly together.Second baffle 28 is moving upwards
During, expose sliding slot and push pipe 25.Partition board 26 in sliding slot is put under the impetus of spring 27 in cylindrantherae 21, resistance
It has kept off uppermost pack 24 and has returned to the path in containing part.Because push pipe 25 is set diagonally downward, it is arranged on push
Partition board 26 during pipe 25 is closed is also what is set diagonally downward.
When partition board 26 is stretched, other than uppermost pack 24 continues up under effect of inertia, after
The pack 24 in face because having the blocking of pack 24 above along with the first delivery device does not give the power pushed up again, this
A little packs 24 move downward under the effect of gravity, so being stretched completely when uppermost pack 24 is being fallen after rise
The partition board 26 gone out stops.At this point, this pack 24 can only be along the push channel that partition board 26 and push pipe 25 are formed to machine
People's external movement.Into in push pipe 25, pack 24 slowly skids off robot interior under the effect of gravity, makes old age
People can push in the push mouth of the formation of pipe 25 from outer aobvious plate and take out all drugs for needing to take at this time.It needs to take when next time
When medicine, robot the first delivery device of secondary control can move upwards again.Jacking block 29 in guiding mechanism along groove always
The top of groove is moved under effect of inertia, then, original position is fallen back to further along groove.Jacking block 29 falling when
It waits, extends downwardly into cylindrantherae 21, jacking block 29 is oppressed partition board 26 by gravity and is retracted into sliding slot.Jacking block 29 makes while falling after rise
Second baffle 28 is fallen after rise together also with jacking block 29, and second baffle 28 is made to block sliding slot and push pipe 25, makes containing part and head cover
Space connect again, moved upwards convenient for pack 24 below.
In entire medicine feeding mechanism, pack 24 is like bullet, is sequentially encased in containing part, and a containing part
It is like a cartridge clip for filling bullet, and entire cylindrantherae 21 is like the rifle for having filled cartridge clip, can push pack 24
It goes out.By the push of the first delivery device and guiding mechanism, pack 24 is pushed in push pipe 25, the elderly is enable to lead to
It crosses push pipe 25 and takes the progress drug administration of pack 24.Robot only needs upward by the first delivery device of driving mechanisms control
Movement, just can make guiding mechanism below link, and entire push process is made to become coherent complete.And the work in service of supporting parents
Make personnel only need it is unified various kinds of drug be configured to pack 24 according to the component that the elderly eats every time be put into cylindrantherae 21, with regard to energy
Robot is made to carry out drug delivery automatically and make up a prescription, attendant is not needed to and carries out drug delivery and work of making up a prescription again.It is easy to operate.
Above-described is only the embodiment of the present invention, and the common sense such as well known concrete structure and characteristic are not made herein in scheme
Excessive description, technical field that the present invention belongs to is all before one skilled in the art know the applying date or priority date
Ordinary technical knowledge can know the prior art all in the field, and with using routine experiment hand before the date
The ability of section, one skilled in the art with reference to self-ability can improve and implement under the enlightenment that the application provides
This programme, some typical known features or known method should not implement the application as one skilled in the art
Obstacle.It should be pointed out that for those skilled in the art, without departing from the structure of the invention, it can also make
Go out several modifications and improvements, these should also be considered as protection scope of the present invention, these all do not interfere with the effect that the present invention is implemented
Fruit and practical applicability.The scope of protection required by this application should be based on the content of the claims, the tool in specification
The records such as body embodiment can be used for explaining the content of claim.
Claims (10)
1. the endowment robot with intelligent medicine box, it is characterised in that：
Including robot body and the mechanism and can be automatic of making up a prescription for being capable of automated dispensing being arranged in robot body
The medicine feeding mechanism of drug delivery；
The mechanism of making up a prescription, for taking out various tablets according to quantity successively one by one from each be mounted in the medicine bottle of tablet；
The medicine feeding mechanism, for the tablet being put into medicine feeding mechanism timing is pushed out.
2. the endowment robot according to claim 1 with intelligent medicine box, it is characterised in that：
Including sequentially connected medicine bottle disk, grug transportation tube from top to bottom and go out medicine-chest；
The medicine bottle disk, equipped with multiple separations for being used for loading medicine bottle, one separates a corresponding medicine bottle, the bottom each separated
Equipped with for allow tablet single by medicine outlet and the baffle of medicine outlet can be covered；The baffle is equipped with magnetic stripe,
The bottom each separated is equipped with the electromagnet of adsorbable magnetic stripe；
The grug transportation tube, including the branch pipe connected with each medicine outlet and the manifold connected with each branch pipe；In the manifold
The microcontroller counted equipped with counter and for control counter；Microcontroller controls each electromagnet to power off successively, together
When, microcontroller control counter counts each tablet quantity successively；
It is described go out medicine-chest, for receiving tablet from grug transportation tube.
3. the endowment robot according to claim 1 with intelligent medicine box, it is characterised in that：The medicine feeding mechanism, packet
Include the cylindrantherae for sequentially holding tablet and the push pipe connected with cylindrantherae top；The bottom of the cylindrantherae is provided with for upper
First delivery device of lower movement；First delivery device has a free end, and the free end of first delivery device connects
It is connected to the push plate for pushing up tablet along cylindrantherae；It is provided at the top of the cylindrantherae for tablet is made to enter push pipe
Guiding mechanism；First delivery device has the driving mechanism for being used for being controlled by robot body.
4. the endowment robot according to claim 2 with intelligent medicine box, it is characterised in that：It is connected on the medicine bottle disk
There is the first motor for medicine bottle disk is driven to shake, first motor is controlled by microcontroller to start or close.
5. the endowment robot according to claim 2 with intelligent medicine box, it is characterised in that：It is described go out medicine-chest top
Support plate is equipped on the circumferential position of manifold, the support plate is equipped with the strip bag being pre-placed；The strip bag is two
The barrel-like structure of end opening；There are the annulus that encirclement manifold is extended downwardly for strip bag between the support plate and manifold；Institute
The lower section for stating manifold is equipped with the cutting machine for being used for carrying out sealing and form Bag for holding medicine the part that strip bag is located at below manifold, described
Cutting machine is additionally operable to after every batch of tablet drops into Bag for holding medicine the part for having filled tablet carrying out sealing to form pack and by pack
It is cut down from Bag for holding medicine.
6. the endowment robot according to claim 5 with intelligent medicine box, it is characterised in that：The cutting machine include by
Second motor of the first microcontroller control and the cutter and pressing plate that can be moved toward one another by the drive of the second motor；On the cutter
Equipped with the resistive heater by the control work of the first microcontroller.
7. the endowment robot according to claim 3 with intelligent medicine box, it is characterised in that：The push pipe is to separate
The direction of cylindrantherae is set diagonally downward.
8. the endowment robot according to claim 7 with intelligent medicine box, it is characterised in that：The guiding mechanism includes
It is arranged on push tube bottom facial canal wall and is used for stopping that tablet drops back into the partition board of cylindrantherae, be slidably connected at the top of cylindrantherae and be used for by tablet
It the jacking block that pushes upwards and manages for blocking push and stops that partition board puts in the baffle of cylindrantherae；The jacking block and baffle one into
Type.
9. the endowment robot according to claim 7 with intelligent medicine box, it is characterised in that：The tablet package is true
Empty pack；Magnetic pole magnetic sheet setting up and down is provided on the pack, the magnetic sheet is permanent magnet.
10. the endowment robot according to claim 9 with intelligent medicine box, it is characterised in that：It is set on the jacking block
There is the magnetic patch that magnetic pole is setting up and down, the magnetic patch is permanent magnet；The magnetic patch is identical with the side magnetic pole that magnetic sheet is close to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711457936.7A CN108189042B (en) | 2017-12-28 | 2017-12-28 | Endowment robot with intelligent medicine chest |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711457936.7A CN108189042B (en) | 2017-12-28 | 2017-12-28 | Endowment robot with intelligent medicine chest |
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| Publication Number | Publication Date |
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| CN108189042A true CN108189042A (en) | 2018-06-22 |
| CN108189042B CN108189042B (en) | 2020-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN108938286A (en) * | 2018-09-05 | 2018-12-07 | 佳木斯大学 | It is a kind of for nursing the drug trolley of department |
| CN109205305A (en) * | 2018-08-07 | 2019-01-15 | 河北盛世天昕电子科技有限公司 | A kind of control method for inhaling object manipulator |
| CN109199863A (en) * | 2018-10-09 | 2019-01-15 | 成都迪澳生物科技有限公司 | A kind of included drug storage is made up a prescription the cup type drug dispensing device of function |
| CN111317671A (en) * | 2020-02-27 | 2020-06-23 | 中国人民解放军陆军军医大学第一附属医院 | Medical intelligent medicine delivery robot |
| CN114403648A (en) * | 2022-02-28 | 2022-04-29 | 安阳工学院 | Automatic medicine distribution device and medicine distribution method |
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|---|---|
| CN108189042B (en) | 2020-06-05 |
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