CN111166108A - Medicine placing system - Google Patents
Medicine placing system Download PDFInfo
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- CN111166108A CN111166108A CN202010083524.7A CN202010083524A CN111166108A CN 111166108 A CN111166108 A CN 111166108A CN 202010083524 A CN202010083524 A CN 202010083524A CN 111166108 A CN111166108 A CN 111166108A
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- 239000003814 drug Substances 0.000 title claims abstract description 187
- 229940079593 drug Drugs 0.000 title claims abstract description 37
- 239000000463 material Substances 0.000 claims abstract description 33
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims description 17
- 238000005192 partition Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 abstract description 7
- 230000001502 supplementing effect Effects 0.000 description 6
- 238000003466 welding Methods 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 5
- 230000008901 benefit Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000004806 packaging method and process Methods 0.000 description 5
- 238000012856 packing Methods 0.000 description 5
- 239000010959 steel Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47F—SPECIAL FURNITURE, FITTINGS, OR ACCESSORIES FOR SHOPS, STOREHOUSES, BARS, RESTAURANTS OR THE LIKE; PAYING COUNTERS
- A47F1/00—Racks for dispensing merchandise; Containers for dispensing merchandise
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- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
为了解决现有盒装药品放入指定药仓时间长的问题，本发明提供一种药品安放系统，包括相互匹配的药品承接装置和药仓架；所述药品承接装置包括平面双向滑轨，平面双向滑轨连接有安放连接架，安放连接架包括底架和转动架，转动架包括平行设置的底板和顶板，底板与底架连接，底板和顶板通过支柱连接，顶板上设置有推板机构；所述药仓架包括机架，机架上倾斜叠层设置有两个或两个以上的料板，每个料板上设置有一个或一个以上的药仓，所述药仓前端设置有限位部和缺口。在本申请中，盒装药品可放置于顶板上，然后通过平面双向滑轨将药品送到药仓的补药口，能够实现自动、准确补药，避免人工投料的出错。
In order to solve the problem that the existing boxed medicines take a long time to put into a designated medicine warehouse, the present invention provides a medicine placement system, which includes a medicine receiving device and a medicine warehouse rack that match each other; The two-way sliding rail is connected with an installation connection frame, the installation connection frame includes a bottom frame and a turret, and the turret includes a bottom plate and a top plate arranged in parallel. The medicine warehouse rack includes a rack, and two or more material plates are arranged in an inclined stack on the rack, and each material plate is provided with one or more than one medicine warehouse, and the front end of the medicine warehouse is provided with a limited position. parts and gaps. In the present application, the boxed medicines can be placed on the top plate, and then the medicines are sent to the medicine refilling port of the medicine warehouse through the plane bidirectional slide rail, which can realize automatic and accurate medicine refilling and avoid errors in manual feeding.
Description
Technical Field
The invention relates to the technical field of placement of boxed medicines, in particular to a medicine placement system.
Background
The packaging forms of the medicines are various, such as box packaging, bag packaging, bottle packaging and the like, even if the medicines are packaged in boxes, the packaging sizes are various, and the unification in the industry is difficult; the existing common medicine identification is realized by manually placing the medicines on a shelf by a pharmacy doctor, and a large amount of human resources are needed due to the large area and the large inventory of the hospital pharmacy; in addition, with the recent move of drug stores into communities, each community also starts to configure automatic drug vending machines, for example, the automatic drug vending machines for boxed drugs disclosed in chinese patent document CN2549544Y, various drugs of the equipment also need to be manually placed into predetermined drug bins, the drug bin racks of the equipment are arranged in an array type window, and a plurality of drug replenishing ports are transversely and longitudinally arranged. Therefore, how to quickly and accurately place the medicine into the designated medicine bin becomes a problem to be solved by the technicians in the field.
Disclosure of Invention
The invention provides a medicine placing system, aiming at solving the problem that the time for placing the existing boxed medicine into a specified medicine bin is long.
The technical scheme adopted by the invention for solving the technical problems is as follows: a medicine placing system comprises a medicine bearing device and a medicine bin rack which are matched with each other; the medicine receiving device comprises a planar bidirectional slide rail, the planar bidirectional slide rail is connected with a placing connecting frame, the placing connecting frame comprises an underframe and a rotating frame, the rotating frame comprises a bottom plate and a top plate which are arranged in parallel, the bottom plate is connected with the underframe, the bottom plate is connected with the top plate through a support column, and a push plate mechanism is arranged on the top plate; the medicine bin rack comprises a rack, two or more than two material plates are obliquely and laminated on the rack, one or more than one medicine bin is arranged on each material plate, and the front end of each medicine bin is provided with a limiting part and a notch.
In the structure of the present application, the planar bidirectional slide rail can be selected from structures known to those skilled in the art, such as a W40-10 i-shaped horizontal X \ Y two-dimensional gantry platform in a commercially available product, which is a precision electric numerical control linear slide table driven by a synchronous belt and can perform X \ Y axis bidirectional movement in a plane, the placing connection frame is fixedly connected with a slide block of the precision electric numerical control linear slide table through a bolt, and comprises a bottom frame and a rotating frame, wherein the bottom frame is formed by welding a first connection plate and a second connection plate, the first connection plate is a flange plate serving as a first connection part of the bottom frame, the flange plate is provided with a plurality of bolt holes for connecting the planar bidirectional slide rail, the end part of the second connection plate is a second connection part connected with the rotating frame, the rotating frame is used for bearing and conveying box-packed medicines and comprises a bottom plate and a top plate which are arranged in parallel up and down, the bottom plate and the second connecting part of the bottom frame are movably connected, the bottom plate and the second connecting part can be connected in a pin shaft mode or in a thread or other existing connecting modes, the bottom frame can support the rotating frame, the bottom plate and the top plate are connected through the support columns, namely one or more support columns are arranged between the bottom plate and the top plate, two ends of each support column are respectively connected with the bottom plate and the top plate, the support columns can be fixedly connected in a welding mode and the like, the support columns can also be movably connected in a thread mode and the like, a movable space is isolated between the bottom plate and the top plate through the support columns, and each part can be conveniently installed or; a push plate mechanism is arranged on the top plate, wherein the push plate mechanism can be a structure known by a person skilled in the art, for example, a push plate is driven by an air cylinder, and the push plate can move back and forth under the driving of the air cylinder; the rack in the medicine bin frame can be formed by welding a plurality of section steels, for example, a steel structure assembly is formed by welding square steels, and the rack can also be formed by combining bolts to form a common material frame structure; two or more than two flitches are obliquely arranged on the material rack from bottom to top, the flitches are overlapped, and a space capable of containing medicines is formed between the flitches; the flitch can select platelike structure, is provided with a plurality of medicine storehouses on the flitch side by side, and the medicine storehouse is used for holding the medicine, and wherein the size in medicine storehouse can be corresponding with medicine packing carton for hold corresponding medicine, be provided with spacing portion at the front end in medicine storehouse, prevent that the medicine from the landing in the medicine storehouse, the medicine storehouse front end still is provided with the breach simultaneously, is convenient for take off the medicine from the medicine storehouse.
In the application, boxed medicines can be placed on the top plate, then the medicines are sent to the medicine supplementing opening of the medicine bin through the planar bidirectional slide rail, after the top plate is aligned with the medicine supplementing opening of the medicine bin, the medicines are pushed into the medicine bin through the pushing mechanism, and therefore the medicine supplementing process is completed; when the medicine is taken down, the medicine can be taken out only by lifting the medicine from the notch and enabling the distance between the medicine and the medicine bin to be higher than the limiting part; for current artifical benefit medicine, automatic, accurate benefit medicine can be realized to this application structure, avoids artifical the mistake of throwing the material, has improved benefit medicine efficiency simultaneously, solves the long problem of appointed storehouse time is put into to current box-packed medicine, reduces the time that the medicine accuracy was laid. Colleagues have simple integral structure and are convenient to take the medicine from a single medicine bin.
Drawings
FIG. 1 is a schematic view of a first perspective of a drug placement system of the present invention;
FIG. 2 is a schematic view of a first perspective of a drug placement system placement frame of the present invention;
FIG. 3 is a schematic view of a first perspective of the chassis of the present invention;
FIG. 4 is a schematic view of a first perspective of the turret of the present invention;
FIG. 5 is a schematic view of a second perspective of the turret of the present invention;
FIG. 6 is a schematic view of a first perspective of the cartridge holder of the present invention;
FIG. 7 is a schematic view of a second perspective of the cartridge holder of the present invention;
FIG. 8 is a schematic view of a first perspective of the housing of the present invention;
FIG. 9 is a schematic view of a first perspective of the flitch of the present invention;
FIG. 10 is an enlarged view of a portion of FIG. 9;
in the figure: the device comprises a mounting connecting frame, a 110 bottom frame, a 111 first connecting part, a 112 second connecting part, a 120 rotating frame, a 121 bottom plate, a 122 top plate, a 123 support, a 124 push plate mechanism, a 125 clamping plate, a 126 sliding hole, a 127 scanning device, a 128 adsorption mechanism, a 200 machine frame, a 210 material plate, a 220 medicine bin, a 221 limiting part, a 222 notch, a 223 clapboard, a 230 connecting part, a 231 waist-shaped connecting hole and a 3-plane bidirectional sliding rail.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.
As shown in fig. 1, a medicine placing system includes a medicine receiving device and a medicine bin rack which are matched with each other; the medicine receiving device comprises a planar bidirectional slide rail 3, the planar bidirectional slide rail 3 is connected with a placing connecting frame 1, the placing connecting frame 1 comprises an underframe 110 and a rotating frame 120, the rotating frame 120 comprises a bottom plate 121 and a top plate 122 which are arranged in parallel, the bottom plate 121 is connected with the underframe 110, the bottom plate 121 is connected with the top plate 122 through a support column 123, and a push plate mechanism 124 is arranged on the top plate 122; the medicine bin rack comprises a rack 200, two or more than two material plates 210 are obliquely and laminated on the rack 200, one or more than one medicine bin 220 is arranged on each material plate 210, and a limiting part 221 and a notch 222 are arranged at the front end of each medicine bin 220.
In this embodiment, the planar bidirectional sliding rail 3 may be a structure known to those skilled in the art, for example, a W40-10 i horizontal xy two-dimensional gantry platform in a commercially available product, which is formed by driving a precision electric numerical control linear sliding table through a synchronous belt, and can perform X \ Y axis bidirectional movement in a plane to drive the placing and connecting frame 1 to reach a predetermined position, in this embodiment, the chassis 110 is formed by welding a first connecting plate and a second connecting plate, wherein the first connecting plate is a flange plate serving as a first connecting portion 111 of the chassis 110, the flange plate is provided with a plurality of bolt holes for fixedly connecting with a slider of the precision electric numerical control linear sliding table, and an end portion of the second connecting plate is a second connecting portion 112, and is connected with the bottom plate 121 of the rotating frame 120 in a pin shaft manner, or in a threaded manner or in another existing connecting; the bottom plate 121 is connected with the top plate 122 through four support columns 123, and two ends of each support column 123 are respectively connected with the bottom plate 121 and the top plate 122 through threads; the top plate 122 is provided with a push plate mechanism 124, in the embodiment, the push plate mechanism 124 adopts an output end of a CDJ2B16-5-B type air cylinder, the air source of the air cylinder is provided with a push plate, the air source of the air cylinder can be connected with a common air source, for example, 0.4bar compressed air which is always provided in a factory, wherein the control part of the air cylinder can be connected into the control of the W40-10 i-shaped horizontal xy two-dimensional gantry platform for overall control, and can also be manually controlled by an operator.
During specific application, as shown in fig. 1 and fig. 2, boxed medicines can be placed on the top plate 122, then the horizontal xy two-dimensional gantry platform with the shape of W40-10H drives the placing connecting frame 1 to deliver the medicines to the medicine cabin 220 medicine supplementing port, and after the top plate 122 is aligned with the medicine cabin 220 medicine supplementing port, the medicines are pushed into the medicine cabin 220 through the pushing mechanism, so that the medicine supplementing process is completed. In addition, the medicine is put into the medicine bin 220 through the tail part of the medicine bin 220, and the material plate 210 is obliquely arranged, so that the medicine slides to the foremost end due to the self gravity, and the medicine is limited by the limiting part 221 to move continuously, so that the medicine stays in the medicine bin 220; when the medicine is taken down, the medicine can be taken out only by lifting the medicine from the notch 222 and enabling the distance between the medicine and the medicine bin 220 to be higher than the limiting part 221; compared with the prior art, the medicine cabin 220 shelf has the advantages that the baffle which is arranged independently is omitted, the limiting part 221 is only arranged in front of the medicine cabin 220, the whole structure is simple, medicine can be taken from the single medicine cabin 220 opening conveniently by arranging the notch 222, and the problem that the structure of the medicine cabin 220 shelf in the existing automatic medicine selling machine is complex is solved.
In order to improve the accuracy of the operation of the push plate mechanism, a material sensor is further arranged in the middle of the push plate, whether a medicine is on the top plate or not is sensed through the material sensor, the material sensor is connected with the cylinder control end of the push rod mechanism, misoperation of the push rod mechanism is prevented, and energy is saved.
Further, as shown in fig. 3, in order to receive medicines from different angles, in the present application, the bottom plate 121 is rotatably disposed with the bottom chassis 110, specifically, an angle cylinder is disposed at the second connecting portion 112 of the bottom chassis 110, in this embodiment, a CDRB2BW rotary swing cylinder is selected to be fixedly disposed at an end portion of the second connecting plate, and a CDRB2BW rotary swing cylinder is connected with the bottom plate 121, so that the rotary frame 120 can be driven to rotate, medicines from different angles can be received, and an application range is improved.
Further, as shown in fig. 2, 4 and 5, in order to prevent the medicine from sliding on the top plate 122, two corresponding clamping plates 125 are further disposed on the top plate 122 in the present application, so as to limit the moving range of the medicine on the top plate 122, in this embodiment, the device further comprises a driving motor arranged on the bottom plate 121, the driving motor can be a commercially available product 57BYG250B stepping motor, the output end of the driving motor is connected with a transmission shaft, the transmission shaft can be a bidirectional transmission threaded shaft, wherein one side is sleeved with the clamp plate 125 moving in the forward direction, the other side is sleeved with the clamp plate 125 moving in the reverse direction, when the motor drives the transmission shaft to rotate clockwise, the two clamping plates 125 can simultaneously move in opposite directions, so as to clamp the medicine packing box, when the motor drives the transmission shaft to rotate counterclockwise, the two clamping plates 125 can simultaneously move in opposite directions so as to loosen the medicine packing box; through setting up splint 125 and setting up mechanisms such as driving motor, can further regular medicine gesture on roof 122, improve the rate of accuracy that the medicine drops into the granary, further raise the efficiency.
Further, as shown in fig. 2, 4, and 5, in order to prevent the medicine from falling on the top plate 122, an adsorption mechanism 128 may be further disposed on the push plate in the present application, and specifically, a vacuum chuck structure is disposed on the push plate, for example, in this embodiment, a CV-15/25HS negative pressure generator is mounted on the push plate, after the medicine is placed on the top plate 122, the medicine packing box is adsorbed on the push plate by the negative pressure generator, so as to prevent the medicine from falling off during the process that the mounting link 1 moves along with the planar bidirectional sliding rail 3.
Further, as shown in fig. 2, 4 and 5, in order to facilitate the sliding of the push plate on the top plate 122, the top plate 122 of the present application is provided with a groove or a sliding hole 126; the groove or the sliding hole 126 can be used as a sliding rail of the push plate, that is, the push plate slides along the groove or the sliding hole 126, so that the medicine can be accurately pushed into the medicine bin by the push plate, in order to further improve the pushing accuracy of the medicine, one or more grooves or sliding holes 126 can be arranged, in this embodiment, two parallel sliding holes 126 are arranged, the push plate is provided with an extending end which extends into the sliding hole 126, the push plate slides along the sliding hole 126 under the driving of the cylinder during use, and the medicine can be accurately put into the medicine bin.
Furthermore, as shown in fig. 2 and 4, in order to prevent the medicine from being delivered to the medicine compartment by mistake, in the present application, the bottom plate 121 is further provided with a scanning device 127, wherein the scanning device 127 can select a camera, for example, a JA-516KRB type camera, before the medicine is delivered to the medicine compartment on the top plate 122, the information of the medicine compartment can be scanned by the camera and transmitted to the control device for comparison, if the information is found to be wrong, the medicine can be discarded, and when the information is correct, the medicine can be delivered, so that the accuracy of the medicine delivery can be further improved.
Further, as shown in fig. 2, 4, and 5, in order to facilitate installation and maintenance, through holes are further provided on the bottom plate 121 and the top plate 122 in the present application, as shown in the accompanying drawings, in this embodiment, a plurality of through holes are provided on the bottom plate 121 and the top plate 122, and a plurality of gaps are further provided on the top plate 122, so as to facilitate installation and maintenance of each component, and the through holes and the gaps are provided to reduce the overall weight of the rotating frame 120, thereby improving the flexibility of movement of the apparatus of the present application.
Further, as shown in fig. 9 and 10, in order to facilitate taking out the medicine from the medicine bin 220, in the present application, the height of the limiting part 221 is smaller than the width of the notch 222, in the present embodiment, the limiting part 221 adopts a protruding structure integrally formed on the material plate 210, if the height of the limiting part 221 is too high, the distance between two material plates 210 needs to be increased, the storage quantity of the medicine in a unit volume is reduced, and the moving range of the medicine is expanded when the medicine is taken out, which is not beneficial to taking out the medicine; if the height of the stopper 221 is too low, it is difficult to perform stopper; in addition, when getting it filled from medicine storehouse 220 through this application structure, utilize shift fork or finger to raise the medicine from breach 222 promptly, let its end be higher than spacing portion 221 and can get it filled, if breach 222 width is too narrow, general shift fork is difficult to stretch into, has an influence to getting it filled, if breach 222 is too big, the medicine that stops in medicine storehouse 220 front end is because of the lifting surface area is little, its medicine packing carton is extruded to the deformation by subsequent medicine easily; therefore, in the structure of the present application, the height of the position-limiting part 221 and the width of the notch 222 are set according to the cross section of the medicine bin 220, but through multiple medicine taking tests, the whole process of taking out the medicine is smooth when the height of the position-limiting part 221 is smaller than the width of the notch 222, wherein the effect is better when the height of the position-limiting part 221 is 1/7 to 1/2 of the width of the notch 222, and the effect is the best when the height is 1/5 of the width.
Further, as shown in fig. 9 and 10, in order to prevent the mixing of the medicines in the adjacent medicine bins 220, the partition plates 223 are disposed on the two sides of the medicine bin 220 in the present application, and the height of the partition plate 223 is lower than the distance between the two adjacent material plates 210, in the background art document, the height of the partition plate 223 is equal to the distance between the adjacent material plates 210, so as to form two completely separated medicine bins 220, although the mixing of the medicines in the adjacent medicine bins 220 is completely isolated, the installation is very inconvenient, the interference phenomenon of the adjacent material plates 210 often occurs during the installation process, and once a certain material plate 210 is not properly installed, the installation of other material plates 210 is affected, the cost of installation and debugging is increased, in the present application, by reducing the height of the partition plate 223, the problem of the matching of the height of the adjacent material plates 210 is solved, and the phenomenon of the mixing of the medicines in the adjacent medicine bins 220 can also be prevented, the effect is best when the height of the partition 223 is 1/3 to 4/5 of the distance between the two adjacent material plates 210, and the effect is best when the height is 3/5 of the distance.
Further, as shown in fig. 10, in order to facilitate the connection between the material plate 210 and the rack 200, in this application, the connection portions 230 are disposed on two sides of the material plate 210, in this embodiment, connection plates are integrally formed on two sides of the material plate 210, waist-shaped connection holes 231 are disposed on the connection plates, the material plate 210 and the rack 200 are fastened and connected by using bolt assemblies through the waist-shaped connection holes 231, and the positions of the bolts can be adjusted by setting the waist-shaped connection holes 231, so that the inclination angle of the material plate 210 can be quickly adjusted, and the use is convenient.
Further, as shown in fig. 6 and 7, in order to facilitate storage of the medicine, the material plate 210 is arranged on the rack 200 in an inclined manner, and the medicine in the medicine bin 220 can slide to the foremost end by means of the gravity of the medicine, so that medicine taking is facilitated; if the inclination angle is too small, the medicine can not slide in the medicine, if the inclination angle is too large, the medicine is easy to roll in the medicine bin 220, and the medicine is rolled out of the medicine bin 220, the inclination angle of the material plate 210 tested by the structure is 25-55 degrees, and the effect is optimal at 45 degrees. In the present application, as shown in fig. 8, the frame 200 may be formed by welding or bolting section steels, which are selected from steel structure components.
It should be understood that the examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that any changes and modifications to the present invention may occur to those skilled in the art after reading the present teachings, and such equivalents are also intended to be limited by the appended claims.
Claims (10)
1. A medicine placing system is characterized by comprising a medicine bearing device and a medicine bin rack which are matched with each other; the medicine receiving device comprises a planar bidirectional slide rail (3), the planar bidirectional slide rail (3) is connected with a placing connecting frame (1), the placing connecting frame (1) comprises an underframe (110) and a rotating frame (120), the rotating frame (120) comprises a bottom plate (121) and a top plate (122) which are arranged in parallel, the bottom plate (121) is connected with the underframe (110), the bottom plate (121) is connected with the top plate (122) through a support column (123), and a push plate mechanism (124) is arranged on the top plate (122); the medicine bin rack comprises a rack (200), two or more than two material plates (210) are obliquely and laminated on the rack (200), one or more than one medicine bin (220) is arranged on each material plate (210), and a limiting part (221) and a notch (222) are arranged at the front end of each medicine bin (220).
2. A drug placement system according to claim 1, wherein the base plate (121) is rotatably arranged with the chassis (110).
3. A drug placement system according to claim 1 or 2, wherein two corresponding clamping plates (125) are further provided on the top plate (122).
4. A drug placement system according to claim 1 or 2, wherein a suction mechanism (128) is provided on the pusher plate.
5. A drug placement system according to claim 1 or 2, wherein the top plate (122) is provided with a groove or slide hole (126).
6. A drug placement system according to claim 1 or 2, wherein the base plate (121) is further provided with scanning means (127).
7. Placement dispenser according to claim 1 or 2, characterized in that the height of the stop (221) is smaller than the width of the gap (222).
8. The placement taking rack according to claim 1 or 2, wherein two sides of the medicine bin (220) are provided with partition boards (223), and the height of each partition board (223) is lower than the distance between two adjacent material plates (210).
9. A placement dispenser according to claim 1 or 2, characterized in that the flitch (210) is provided with a connection part (230) on both sides.
10. A placement dispenser according to claim 1 or 2, characterized in that the angle of inclination of the flitch (210) is 25 ° -55 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010083524.7A CN111166108A (en) | 2020-02-09 | 2020-02-09 | Medicine placing system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010083524.7A CN111166108A (en) | 2020-02-09 | 2020-02-09 | Medicine placing system |
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| CN111166108A true CN111166108A (en) | 2020-05-19 |
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| CN202010083524.7A Pending CN111166108A (en) | 2020-02-09 | 2020-02-09 | Medicine placing system |
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