Abstract: Provided is a thermotherapy device, which includes a first housing (10), a second housing (20) disposed under the first housing (10), a transfer plate (30), at both sides of which transfer rollers (31) are provided, and a pair of guide rails (40) that is provided to the second housing (20) and on which the respective transfer rollers (31) of the transfer plate (30) are placed. The pair of guide rails (40) are integrally molded when the second housing (20) is injection-molded. Thus, since the guide rails on which the transfer rollers of the transfer plate travel are integrally molded when the second housing is injection-molded, inefficiency caused by mounting separate rails as in the related art is removed, and thereby assemblability, productivity, and economic efficiency of the thermotherapy device can be improved.

Abstract: Disclosed herein is a robot arm control system of an automated medication dispensing apparatus, which includes a robot arm; a storage configured to store a mounting position of each of a plurality of medication cassettes, an operation control value of the robot arm for moving to the mounting position, and a reference position at which the marker is attached to each medication cassette in a medication cassette storage unit where a plurality of racks in which the plurality of medication cassettes with markers attached thereto are mounted are arranged; a camera configured to capture the marker attached to the medication cassette; and a control unit configured to control the robot arm to move to a mounting position of any one among the medication cassettes to unload the medication cassette.