Automatic pill grasping apparatus and method
First Claim
1. A pill grasping method, the method comprising:
- rotating a grasping arm with a nozzle to a predetermined initial position driven by a driving mechanism;
rotating a plurality of pill storage cases to locate one of the plurality of pill storages with a set pill species to a predetermined grasping pill position driven by an actuating mechanism;
rotating the grasping arm to stretch into the one of the plurality of pill storage case;
starting a pump to generate a vacuum to the nozzle for sucking a pill;
determining if an actual pressure value in a pipe connecting the nozzle to the pump being less than a predetermined pressure value; and
rotating the grasping arm to the predetermined initial position when the actual pressure is less than the predetermined pressure value;
wherein after the block of rotating a plurality of pill storage cases to locate one of the plurality of pill storages with a set pill species to a predetermined grasping pill position and before the block of starting a pump to generate a vacuum to the nozzle for sucking a pill, the method further comprises;
obtaining an actual torsion force value of the driving mechanism;
determining if the actual pressure value is less than the predetermined pressure value;
determining if the actual torsion force value is greater than a predetermined limitation value when the actual pressure value is not less than the predetermined pressure value; and
rotating the grasping arm to the predetermined initial position when the actual torsion force value is greater than the predetermined limitation value.
1 Assignment
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Accused Products
Abstract
A pill grasping method comprises rotating a grasping arm with a nozzle to a predetermined initial position driven by a driving mechanism, rotating a number of pill storage cases to position one of the pill storage cases with a set number of pills to a predetermined grasping pill position driven by an actuating mechanism, rotating the grasping arm to enter into the corresponding pill storage case, starting a pump to generate a vacuum in the nozzle for sucking a pill, and determining if an actual pressure value in a pipe connecting the nozzle to the pump is less than a predetermined pressure value. The grasping arm is rotated to the predetermined initial position when the actual pressure value is less than the predetermined pressure value.
12 Citations
19 Claims
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1. A pill grasping method, the method comprising:
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rotating a grasping arm with a nozzle to a predetermined initial position driven by a driving mechanism; rotating a plurality of pill storage cases to locate one of the plurality of pill storages with a set pill species to a predetermined grasping pill position driven by an actuating mechanism; rotating the grasping arm to stretch into the one of the plurality of pill storage case; starting a pump to generate a vacuum to the nozzle for sucking a pill; determining if an actual pressure value in a pipe connecting the nozzle to the pump being less than a predetermined pressure value; and rotating the grasping arm to the predetermined initial position when the actual pressure is less than the predetermined pressure value; wherein after the block of rotating a plurality of pill storage cases to locate one of the plurality of pill storages with a set pill species to a predetermined grasping pill position and before the block of starting a pump to generate a vacuum to the nozzle for sucking a pill, the method further comprises; obtaining an actual torsion force value of the driving mechanism; determining if the actual pressure value is less than the predetermined pressure value; determining if the actual torsion force value is greater than a predetermined limitation value when the actual pressure value is not less than the predetermined pressure value; and rotating the grasping arm to the predetermined initial position when the actual torsion force value is greater than the predetermined limitation value. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An automatic pill grasping apparatus, comprising:
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a base; a pill grasping mechanism comprising a grasping arm, a nozzle, and a driving mechanism, the grasping arm being rotatably installed on the base, the driving mechanism attached to the base; and a pill storage mechanism comprising a plurality of pill storage cases for storing pills, and an actuating mechanism;
the plurality of pill storage cases being rotatably secured to the base, and the actuating mechanism being attached to the base,wherein the plurality of pill storage cases is rotatable relative to the base driven by the actuating mechanism, the grasping arm is rotatable relative to the base to stretch the nozzle into one of the plurality of pill storage cases to suck pills; and wherein the grasping arm comprises a main arm and a linkage mechanism pivotably mounted to the main arm, the main arm being rotatable about a first axis, the linkage mechanism further comprises a holder which is pivotable relative to the main arm, and the nozzle is mounted to the holder. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification