CN108328313A - Medicine extractor tool hand and medicine taking device - Google Patents
Medicine extractor tool hand and medicine taking device Download PDFInfo
- Publication number
- CN108328313A CN108328313A CN201810212184.6A CN201810212184A CN108328313A CN 108328313 A CN108328313 A CN 108328313A CN 201810212184 A CN201810212184 A CN 201810212184A CN 108328313 A CN108328313 A CN 108328313A
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- Prior art keywords
- medicine
- plate
- guiding
- optical axis
- axis
- Prior art date
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- 239000003814 drug Substances 0.000 title claims abstract description 156
- 229940079593 drug Drugs 0.000 title claims abstract description 13
- 230000003287 optical effect Effects 0.000 claims abstract description 48
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 238000003756 stirring Methods 0.000 claims description 20
- 238000009434 installation Methods 0.000 abstract description 7
- 238000012423 maintenance Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
Classifications
-
- 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
Abstract
The present invention provides a kind of medicine extractor tool hand and medicine taking device, it is related to the technical field of manipulator, including bottom plate, guiding mechanism, driving mechanism, takes medicine optical axis and choose medicine plate；The guiding mechanism is provided on the bottom plate, be provided on the guiding mechanism with the guiding axis chosen medicine plate and connect, and the guiding axis slides on the guiding mechanism；Medicine optical axis is taken to do straight reciprocating motion along the length direction of the bottom plate described in the driving mechanism driving, it is described that medicine optical axis is taken to pass through connecting plate and the guiding axis connection, it solves existing in the prior art take often to be related to taking medicine plate length long during medicine, influence takes medicine；And take medicine plate during installation, to installation requirement height, production maintenance is of high cost；Furthermore take medicine plate own wt bigger, noise is big, the technical issues of certain influence is also brought to working environment.
Description
Technical field
The present invention relates to manipulator technical fields, more particularly, to a kind of medicine extractor tool hand and medicine taking device.
Background technology
Currently, allocation of the central pharmacy of most of hospital to drug, is all to rely on manual operation completely；It is taken by pharmacist
Drug, and will medicine distribution corresponding with patient to patient.
In order to ensure the accuracy made up a prescription, unnecessary trouble is reduced, the pharmacist of central pharmacy is in the whole process made up a prescription
It is required for attention high concentration；However, nonetheless, still will appear the case where making up a prescription error, being brought to patient and hospital
Unnecessary trouble, or even damage the health of patient.In addition, when taking medicine number more, pharmacist is too busy to do it at all, and patient is only
It can wait in line, this has just delayed the time of patient, and for some handicapped patients, this is even more a kind of torment.
At present when hospital takes medicine, also mostly uses intelligence and medicine is taken to replace manually taking medicine, and during taking medicine often
It is related to taking medicine plate length long, influence takes medicine；And take medicine plate during installation, to installation requirement height, production maintenance at
This height；Furthermore take medicine plate own wt bigger, noise is big, and certain influence is also brought to working environment.
The information for being disclosed in the background technology part is merely intended to deepen understanding of the general background technology to the present invention, and
It is not construed as recognizing or implying in any form that the information constitutes the prior art known to those skilled in the art.
Invention content
The purpose of the present invention is to provide medicine extractor tool hand and medicine taking device, existing in the prior art medicine is taken to alleviate
Often it is related to taking medicine plate length long in the process, influence takes medicine；And take medicine plate during installation, to installation requirement
Height, production maintenance are of high cost；Furthermore take medicine plate own wt bigger, noise is big, and certain shadow is also brought to working environment
Loud technical problem.
In a first aspect, a kind of medicine extractor tool hand provided by the invention, including：Bottom plate, driving mechanism, takes medicine at guiding mechanism
Optical axis and choose medicine plate；
It is provided with the guiding mechanism on the bottom plate, is provided on the guiding mechanism and is connect with the medicine plate of choosing
Guiding axis, and the guiding axis slides on the guiding mechanism；
Medicine optical axis is taken to do straight reciprocating motion along the length direction of the bottom plate described in the driving mechanism driving, it is described
Medicine optical axis is taken to pass through connecting plate and the guiding axis connection.
Further,
The guiding mechanism includes：It is parallel opposite to be provided with left guiding trestle and right guiding trestle, the left guiding branch
The front of frame and the right guiding trestle is symmetrically arranged with guide groove, and the guiding axis is provided in the guide groove, institute
It is movable in the guide groove to state guiding axis.
Further,
The driving mechanism includes：Linear bearing；
It is described that medicine optical axis is taken to pass through the linear bearing, it is described to take medicine optical axis bottom to be provided with to stir sliding slot, described in driving
Stir takes medicine optical axis to do straight reciprocating motion described in sliding slot drive.
Further,
The medicine extractor tool hand further includes：Motor mounting plate and motor；
The motor mounting plate is provided with the motor, and the motor is connect with the sliding slot of stirring, and drives described dial
Dynamic sliding slot takes medicine optical axis to do straight reciprocating motion described in driving.
Further,
It is described to stir sliding slot respectively by the output axis connection of bearing, the small axis of bearing and connecting rod and motor.
Further,
It is provided with sensor on the side of the right guiding trestle, sensor chip is provided on the connecting plate, it is described
Sensor chip passes through sensor and does straight reciprocating motion with the connecting plate.
Further,
It is provided with grate on the opposite other end in end where medicine plate with described choose on the bottom plate, is passed through on the bottom plate
Electromagnet mounting groove is provided with electromagnet, and the electromagnet is connect or disconnected with the grate by power on/off.
Further,
Described that medicine optical axis is taken to be connect with connecting rod by connecting pin, the connecting rod is arranged on the guiding axis, described to choose medicine
Plate is connect with the connecting rod.
Further,
The guide groove is in step-like.
Second aspect, a kind of medicine taking device provided by the invention, including：First aspect any one of them medicine extractor tool
Hand.
It is had the advantages that using medicine extractor tool hand provided by the invention and medicine taking device：
Medicine extractor tool hand provided by the invention, including：Bottom plate, driving mechanism, takes medicine optical axis and chooses medicine plate guiding mechanism；
It is provided with guiding mechanism on bottom plate, the guiding axis of medicine plate connection is provided with and chosen on guiding mechanism, and guiding axis is being oriented to
It is slided in mechanism；Driving mechanism driving takes medicine optical axis to do straight reciprocating motion along the length direction of bottom plate, and medicine optical axis is taken to pass through
Connecting plate and guiding axis connection.Due to simple in structure, light and handy, using lightweight module design, running and comparing is flexible；Linear bearing is straight
Line moves back and forth, and substantially increases the stability of equipment, reduces maintenance cost.And medicine extractor tool hand fortune provided by the invention
Row noise is low, has been greatly reduced the noise pollution to environment.
Medicine taking device provided by the invention, including：First aspect any one of them medicine extractor tool hand.Here take medicine to fill
Set have the advantages that it is same as above-mentioned medicine extractor tool hand.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is the structural schematic diagram of medicine extractor tool hand provided by the invention；
Fig. 2 is the vertical view of Fig. 1；
Fig. 3 be Fig. 2 in A-A to sectional view.
Icon：1- bottom plates；The left guiding trestles of 2-；The right guiding trestles of 3-；4- guide grooves；5- guiding axis；6- straight lines
The support of bearing；7- takes medicine optical axis；8- linear bearings；9- chooses medicine plate；10- motor mounting plates；11- motors；12- connects medicine mouth
Sensor mounting plate；13- connects medicine oral instructions sensor；14- grates；15- electromagnet mounting grooves；16- electromagnet；17- is dialled
Dynamic sliding slot；18- bearings；The small axis of 19- bearings；20- connecting rods；21- connecting pins；22- connecting rods；23- sensors；24-
Sensor chip；25- connecting plates.
Specific implementation mode
Technical scheme of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
The every other embodiment that personnel are obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for the description present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for description purposes only, and is not understood to indicate or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
Fig. 1 is the structural schematic diagram of medicine extractor tool hand provided by the invention；Fig. 2 is the vertical view of Fig. 1；Fig. 3 is in Fig. 2
A-A to sectional view.
Fig. 1, Fig. 2, Fig. 3 are please referred to, to medicine extractor tool hand provided in an embodiment of the present invention and medicine is taken below in conjunction with attached drawing
Device elaborates.
A kind of medicine extractor tool hand provided by the invention, including：Bottom plate, driving mechanism, takes medicine optical axis and chooses medicine guiding mechanism
Plate；
It is provided with guiding mechanism on bottom plate, the guiding axis of medicine plate connection is provided with and chosen on guiding mechanism, and be oriented to
Axis slides on guiding mechanism；
Driving mechanism driving takes medicine optical axis to do straight reciprocating motion along the length direction of bottom plate, and medicine optical axis is taken to pass through connecting plate
With guiding axis connection.
It should be noted that due to simple in structure, light and handy, using lightweight module design, running and comparing is flexible；Linear axis
Straight reciprocating motion is held, the stability of equipment is substantially increased, reduces maintenance cost.And medicine extractor tool provided by the invention
Hand runs low noise, has been greatly reduced the noise pollution to environment.
As shown in Figure 1 to Figure 3, parallel on the bottom plate 1 the invention discloses a kind of medicine extractor tool hand, including bottom plate 1
It is provided with left guiding trestle 2 and right guiding trestle 3, it is corresponding on the front of the left and right guiding trestle to be provided with guide groove 4,
Guiding axis 5 is provided in guide groove 4, guiding axis 5 is movable in guide groove 4；Linear bearing holder is additionally provided on the bottom plate 1
6, it is provided with by linear bearing 8 on linear bearing holder 6 and takes medicine optical axis 7, medicine optical axis 7 is taken to pass through linear bearing 8；It is described to take medicine
The end set of optical axis 7 has connecting plate 25, connecting plate 25 to be arranged on guiding axis 5, be additionally provided on the guiding axis 5 and choose medicine plate 9；Institute
It states and motor 11 is provided with by motor mounting plate 10 on linear bearing holder 6, take 7 bottom of medicine optical axis to be additionally provided with and stir sliding slot
17；Motor 11 is connect with sliding slot 17 is stirred, and driving stirs the drive of sliding slot 17 and medicine optical axis 7 is taken to do straight reciprocating motion；Positioned at the right side
It is provided with sensor 23 on the side of guiding trestle 3, sensor chip 24 is provided on connecting plate 25, sensor chip 24 is worn
It crosses sensor 23 and does straight reciprocating motion with connecting plate.The sensor 23 and sensor chip 24 are in order to past to straight line is done
The volume mechanism positioning origin moved again, the position of origin i.e. each start and stop.
The side of bottom plate 1 is equipped with by connecing medicine oral instructions sensor mounting plate 12 and connects medicine oral instructions sensor 13.Connect medicine oral instructions sensor
13 be provided with is primarily used to the medicine box that induction conveying comes, and is counted.
It is provided with grate 14 on the other end opposite with 9 place end of medicine plate is chosen on the bottom plate 1, passes through electricity on bottom plate 1
Magnet mounting groove 15 is provided with electromagnet 16, and electromagnet 16 is connect or disconnected with grate 14 by power on/off.Grate 14
Be arranged primarily to catching the medicine box sent and putting medicine.
It is described to stir sliding slot 17 respectively by the output of bearing 18, the small axis 19 of bearing and connecting rod 20 and motor 11
Axis connection.Motor driving stirs sliding slot 17 and does straight reciprocating motion, stirs the drive of sliding slot 17 and medicine optical axis 7 is taken to do linear reciprocation fortune
It is dynamic, it chooses medicine plate 9 to reach and does straight line according to desired trajectory under the collective effect for taking medicine optical axis 7 and guiding axis 5, guide groove 4
It moves back and forth.
It is described that medicine optical axis 7 is taken to be connect with connecting rod 22 by connecting pin 21, connecting rod 22 be arranged on guiding axis 5, choose medicine plate 9 with
Connecting rod 22 connects.Medicine optical axis 7 is taken to do straight reciprocating motion under the drive of motor 11, to drive connecting rod 22 to do linear reciprocation fortune
Dynamic, connecting rod 22 drives in turn chooses medicine plate 9 according to the movement of setting track.
The guide groove 4 is step-like.The step-like guide groove is set as step-like, and main purpose is to make to choose
Medicine plate has the action chosen on suddenly during the motion, medicine box can be chosen.
The angle of inclination of the bottom plate 1 is 20 °~30 °, and setting is primarily to medicine box can slide in this way.
Its course of work is：The rotation driving of motor 11 stirs sliding slot 17 and does straight reciprocating motion, stirs sliding slot drive and takes medicine
Optical axis 7 does straight reciprocating motion, chooses medicine plate 9 to reach and pacifies under the collective effect for taking medicine optical axis 7, guide groove 4 and guiding axis 5
Dress desired trajectory does linear reciprocation operation.
The setting of sensor 23 and sensor chip 24 can give the mechanism of straight reciprocating motion to position origin, that is, find accurately
The position of each start and stop.
Specifically, guiding mechanism includes：It is parallel opposite to be provided with left guiding trestle and right guiding trestle, the left guiding
The front of holder and the right guiding trestle is symmetrically arranged with guide groove, and the guiding axis is provided in the guide groove,
The guiding axis is movable in the guide groove.
Guiding trestle disposed in parallel so that can be more steady when whole guiding axis moves in guide groove, in this way will
It can considerably increase and be oriented to a smooth motion of the axis connection by the other component of guiding axis movement driving.
Other, driving mechanism has multiple choices mode：
Mode one, driving mechanism include：Linear bearing；
It is described that medicine optical axis is taken to pass through the linear bearing, it is described to take medicine optical axis bottom to be provided with to stir sliding slot, described in driving
Stir takes medicine optical axis to do straight reciprocating motion described in sliding slot drive.
The movement of medicine optical axis is taken by taking movement of the medicine optical axis in bearing to realize, main power source is electricity here
Machine is provided with the motor by the motor mounting plate, and the motor is connect with the sliding slot of stirring, and is stirred described in driving
Sliding slot takes medicine optical axis to do straight reciprocating motion described in driving.
Mode two, driving mechanism include：Cylinder or hydraulic cylinder, by cylinder or the stretching motion of hydraulic cylinder, to push away
A dynamic linear motion for taking medicine optical axis in the length direction of its bottom plate.But the movement of said cylinder or hydraulic cylinder is not
Such as steady and length is controllable adjustable, and therefore, only this is as feasible replacement with taking medicine optical axis to behave for linear bearing
Scheme.
Also, medicine extractor tool hand further includes：Motor mounting plate and motor；
The motor mounting plate is provided with the motor, and the motor is connect with the sliding slot of stirring, and drives described dial
Dynamic sliding slot takes medicine optical axis to do straight reciprocating motion described in driving.
Motor is either inverted by its rotating forward, and sliding slot drive is stirred described in whole motor driving to realize
It is described that medicine optical axis is taken to do straight reciprocating motion.
Specifically, sliding slot is stirred respectively by the output axis connection of bearing, the small axis of bearing and connecting rod and motor.
It is provided with sensor on the side of right guiding trestle, sensor chip, the sensing are provided on the connecting plate
Device sensing chip passes through sensor and does straight reciprocating motion with the connecting plate.
The setting of sensor 23 and sensor chip 24 can give the mechanism of straight reciprocating motion to position origin, that is, find accurately
The position of each start and stop.
It is provided with grate on the opposite other end in end where medicine plate with described choose on bottom plate, passes through electromagnetism on the bottom plate
Iron mounting groove is provided with electromagnet, and the electromagnet is connect or disconnected with the grate by power on/off.Take medicine optical axis logical
It crosses connecting pin to connect with connecting rod, the connecting rod is arranged on the guiding axis, and the medicine plate of choosing is connect with the connecting rod.Guide groove
In step-like.Main purpose is that have the action chosen on suddenly in order to make to choose medicine plate during the motion, medicine box can be chosen
Get off.
Second aspect, a kind of medicine taking device provided by the invention, including：Medicine extractor tool hand described in first aspect.
It should be noted that medicine taking device provided by the invention, including：First aspect any one of them medicine extractor tool
Hand.Here medicine taking device has the advantages that same as above-mentioned medicine extractor tool hand.
The medicine extractor tool hand and medicine taking device of the present invention are illustrated above, still, the present invention is not limited to above-mentioned
Specific embodiment can carry out various deformations or change without departing from the scope of the claims.Packet of the present invention
Include various modifications within the scope of the claims and change.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of medicine extractor tool hand, which is characterized in that including：Bottom plate, driving mechanism, takes medicine optical axis and chooses medicine plate guiding mechanism；
The guiding mechanism is provided on the bottom plate, be provided on the guiding mechanism with it is described choose that medicine plate connect lead
To axis, and the guiding axis slides on the guiding mechanism；
Medicine optical axis is taken to do straight reciprocating motion along the length direction of the bottom plate described in the driving mechanism driving, it is described to take medicine
Optical axis passes through connecting plate and the guiding axis connection.
2. medicine extractor tool hand according to claim 1, which is characterized in that the guiding mechanism includes：Parallel opposite sets
It is equipped with left guiding trestle and right guiding trestle, the front of the left guiding trestle and the right guiding trestle, which is symmetrically arranged with, leads
To slot, and the guiding axis is provided in the guide groove, the guiding axis is movable in the guide groove.
3. medicine extractor tool hand according to claim 1, which is characterized in that the driving mechanism includes：Linear bearing；
It is described that medicine optical axis is taken to pass through the linear bearing, it is described to take medicine optical axis bottom to be provided with to stir sliding slot, stir described in driving
Sliding slot takes medicine optical axis to do straight reciprocating motion described in driving.
4. medicine extractor tool hand according to claim 3, which is characterized in that the medicine extractor tool hand further includes：Motor is installed
Plate and motor；
The motor mounting plate is provided with the motor, and the motor is connect with the sliding slot of stirring, and stirs cunning described in driving
Slot takes medicine optical axis to do straight reciprocating motion described in driving.
5. medicine extractor tool hand according to claim 4, which is characterized in that described to stir sliding slot respectively by bearing, bearing
The output axis connection of small axis and connecting rod and motor.
6. medicine extractor tool hand according to claim 2, which is characterized in that be provided with biography on the side of the right guiding trestle
Sensor, sensor chip is provided on the connecting plate, and the sensor chip passes through sensor and done directly with the connecting plate
Line moves back and forth.
7. medicine extractor tool hand according to claim 2, which is characterized in that choose medicine plate place end phase with described on the bottom plate
To the other end on be provided with grate, electromagnet, the electromagnetism Tie Tong are provided with by electromagnet mounting groove on the bottom plate
Power on/off is crossed to connect or disconnect with the grate.
8. medicine extractor tool hand according to claim 1, which is characterized in that described that medicine optical axis is taken to connect by connecting pin and connecting rod
It connects, the connecting rod is arranged on the guiding axis, and the medicine plate of choosing is connect with the connecting rod.
9. medicine extractor tool hand according to claim 2, which is characterized in that the guide groove is in step-like.
10. a kind of medicine taking device, which is characterized in that including：Claim 1-9 any one of them medicine extractor tool hands.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810212184.6A CN108328313A (en) | 2018-03-15 | 2018-03-15 | Medicine extractor tool hand and medicine taking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810212184.6A CN108328313A (en) | 2018-03-15 | 2018-03-15 | Medicine extractor tool hand and medicine taking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108328313A true CN108328313A (en) | 2018-07-27 |
Family
ID=62930810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810212184.6A Pending CN108328313A (en) | 2018-03-15 | 2018-03-15 | Medicine extractor tool hand and medicine taking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108328313A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113876150A (en) * | 2021-09-15 | 2022-01-04 | 北京三快在线科技有限公司 | Medicine taking device, medicine distribution system and medicine distribution method |
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| CN106956884A (en) * | 2017-04-27 | 2017-07-18 | 苏州市厚宏智能科技有限公司 | Deposit medicine device, get it filled manipulator and dispensing machine |
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|---|---|---|---|---|
| CN102616516A (en) * | 2012-03-16 | 2012-08-01 | 上海运斯自动化技术有限公司 | Medicine placing, neatening and lifting device |
| CN102785932A (en) * | 2012-07-13 | 2012-11-21 | 深圳市因沃客科技有限公司 | Material loading mechanism of full automatic die bonder |
| CN102976067A (en) * | 2012-11-05 | 2013-03-20 | 苏州尚原工业技术有限公司 | Locating device of high precise locating chain conveying line for liquid shampoo caps |
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| CN106956884A (en) * | 2017-04-27 | 2017-07-18 | 苏州市厚宏智能科技有限公司 | Deposit medicine device, get it filled manipulator and dispensing machine |
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| CN113876150A (en) * | 2021-09-15 | 2022-01-04 | 北京三快在线科技有限公司 | Medicine taking device, medicine distribution system and medicine distribution method |
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