Abstract: The pharmaceutical industry is the foundation of the national economy and peoples wellbeing,and the development of the pharmaceutical industry is of great significance to the national economy and the health of the citizens.With the development and maturity of artificial intelligence,intelligent robots have been widely used in the pharmaceutical production industry.Intelligent robots have enabled pharmaceutical production to achieve new breakthroughs in production efficiency and quality,but it also faces many problems and challenges.In view of this,the state-of-the-art research on intelligent robots in pharmaceutical production was reviewed.The common intelligent robots in pharmaceutical production and the challenges they faced in application were summarized,including aseptic pharmaceutical robots,filling and sealing robots,quality inspection robots,intelligent handling robots,etc.Aiming at the current challenges faced by intelligent robots for pharmaceutical production,key technologies such as control based on multi-source information perception,human-computer interaction,flexible grasping,bottle mouth positioning,quality inspection,path planning,and task scheduling were summarized.The future trend of intelligent robots for pharmaceutical production was prospected.

Key words: intelligent robot, pharmaceutical production, pharmaceutical dispensing, canning and sealing, quality inspection, intelligent handling

摘要： 医药行业是国计民生的基础,制药业的发展对国民经济和人民生命安全具有重大意义。随着人工智能等技术的发展与成熟,智能机器人在医药生产行业得到了广泛应用。智能机器人的出现使得医药生产在生产效率和质量上实现了新的突破,但也面临不少问题与挑战。鉴于此,综述了智能机器人在医药生产中的最新研究,首先对医药生产中常见的智能机器人以及其在应用时面临的挑战进行了概述,包括无菌制药机器人、灌装密封系统、质量检测机器人、智能搬运机器人等。其次,针对面向医药生产的智能机器人目前所面临的挑战,对基于多源信息感知的控制、人机交互、柔性抓取、瓶口定位、质量检测、路径规划、任务调度等关键技术进行了总结分析。最后,对面向医药生产的智能机器人的未来发展趋势进行了展望。

关键词: 智能机器人, 医药生产, 配药制药, 灌装密封, 质量检测, 智能搬运