Patent ID: 9333653
Filing Date: 2016-05-10
CPC Classification: A61J,B25J,G07F

Claim Text:
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.