CN102151228B - Full-function liquid medicine preparation intelligent robot and medicine preparation method thereof - Google Patents
Full-function liquid medicine preparation intelligent robot and medicine preparation method thereof Download PDFInfo
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- CN102151228B CN102151228B CN 201110135708 CN201110135708A CN102151228B CN 102151228 B CN102151228 B CN 102151228B CN 201110135708 CN201110135708 CN 201110135708 CN 201110135708 A CN201110135708 A CN 201110135708A CN 102151228 B CN102151228 B CN 102151228B
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- JGSARLDLIJGVTE-UHFFFAOYSA-N 3,3-dimethyl-7-oxo-6-[(2-phenylacetyl)amino]-4-thia-1-azabicyclo[3.2.0]heptane-2-carboxylic acid Chemical compound O=C1N2C(C(O)=O)C(C)(C)SC2C1NC(=O)CC1=CC=CC=C1 JGSARLDLIJGVTE-UHFFFAOYSA-N 0.000 claims description 81
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Abstract
The invention discloses a full-function liquid medicine preparation intelligent robot and a medicine preparation method thereof. The full-function liquid medicine preparation intelligent robot comprises a shell, a medicine rack, a bottle taking mechanical arm, a liquid pumping mechanical arm, a bottle clamping mechanism and a liquid medicine shaking device, and is characterized in that: the shell is provided with an operating door with a seal; the medicine rack is arranged in the shell and corresponds to the operating door; the medicine rack has a rotary structure with more than two side faces; and each side face of the medicine rack is provided with accommodating areas for different medicines, and an indoor constant temperature and disinfecting cotton ball accommodating area. The intelligent robot has the property of full functions of preparing medical liquid, nutrient solution and chemical therapy medicines, radically changes the traditional mode of preparing cytotoxic medicines and the manual preparation environment, has the characteristics of accurate liquid preparation, sterile preparation process and no cross-infection, protects the health safety of medical workers, avoids the leakage of the cytotoxic medicines, is environment-friendly, and saves cost of hospital medication and labor cost.
Description
Technical field
The present invention relates to a kind of medical equipment that makes up a prescription, be specifically related to a kind of liquid medicine preparation intelligent robot and dosage thereof.
Background technology
To be the principle of utilizing fluid pressure splash into the method for vein with a certain amount of sterile solution to venous transfusion, is one of important measures of clinical rescue and treatment patient.
The preparation of a large amount of intravenous medicines for many years, the nursing staff uses manual operations always, still grips the method that the piston syringe extracts medicine by traditional hands.Specific practice is: unlatching bottle cap and sterilization, and a hand-held asepsis injector, the solution bottle of putting on airs on the other hand is with the solvent of syringe extraction dilution powder agent medicine; Solvent in the syringe is injected the medicine powder bottle, incite somebody to action dissolved drug or one bottle of bottle inhalation syringe of injection, with the medicine in the inspiration syringe, the method that adds the solution bottle is finished the work of preparation intravenous medicine.The method of the manual preparating liquid of this kind, each step all need be injected air in certain amount and can aspirate, during to liquid bottles and apothecary jar injection air, because air does not have the filtration device, contain the liquid internal contamination liquid that a large amount of dust, cellulose bacteria, virus and multiple microgranule directly enter preparation in the air, and syringe frequently puncture between medicine bottle and liquid bottle in the process of making up a prescription, easily cause the piston that operator's hands directly pollutes in the syringe and make bottle stopper glue enter liquid, cause liquid contamination.
The nursing staff carries out a large amount of molten medicines by hand, inhales operations such as medicine, injection every day, and workload is big, and is consuming time many, the hand fatiguability.In the process of making up a prescription, the bacterial species that syringe pollutes and therapeutic room's air, body surface and the nursing staff's hands basically identical that carries disease germs; Simultaneously, drug particle pollutes with puncture rubber stopper number of times and is directly proportional.And the microgranule that contains in the intravenous drip solution can cause very big harm to body, thereby increases the generation of venous transfusion untoward reaction.Bring negative effect to data for clinical drug use.
As everyone knows, chemotherapeutics belongs to cytotoxic drug, by respiratory tract suction, diet absorption and three kinds of approach of contact skin the related work personnel are damaged, radiopharmaceutic preparation in the work of reality, the nursing staff uses manual operations always, and is in the process of this type of medicine configuration preparation and distribution, very big to staff's injury, the toxicity of medicine can cause Normocellular destruction, can destroy normal DNA and cause genotoxicity; Can cause cancer; If can influencing fetal development in the pregnancy period, the staff leads teratogenecity.For addressing the above problem, improve venous transfusion make up a prescription quality and the efficient of work, reduce and pollute, clinically pressed for a kind of medical care precess rules that meet, pollution-free, can make the nurse easily finish the intelligent robot of the work of making up a prescription rapidly.
Summary of the invention
In order to overcome above-mentioned deficiency, the object of the invention is to provide a kind of high efficiency easy to use and the free of contamination global function liquid medicine preparation of the process of making up a prescription intelligent robot.
Another object of the present invention provides a kind of method of utilizing global function liquid medicine preparation intelligent robot to carry out the medicine preparation.
To achieve these goals, the present invention is by the following technical solutions:
Global function liquid medicine preparation intelligent robot, include shell, medicine frame, get a bottle mechanical hand, drawing liquid mechanical hand, bottle-clip mechanism and medicinal liquid shake up device, the below of bottle-clip mechanism is provided with the waste recovery refuse bin, gets a bottle mechanical hand, in order to medicament taking bottle from the medicine frame, constant indoor temperature and sterilized cotton ball; The drawing liquid mechanical hand extracts bottle-clip mechanism or gets the liquid in the medicine bottle in bottle machine mechanical hand in order to the clamping syringe; Medicinal liquid shakes up device, in order to shake up the medicinal liquid in the cillin bottle, it is characterized in that: described shell is provided with the actuating doors of band sealing, and described medicine sets up in the enclosure and be corresponding with actuating doors, and it adopts two with the rotary structure of upper side; Each side on the described medicine frame all is provided with mother solution rest area, syringe rest area, Dian Fu or other disinfectant solution rest area, ampoule bottle and cillin bottle rest area, constant indoor temperature and sterilized cotton ball rest area.
Also be provided with touching display screen with man-machine communication interface and auxiliary operation keyboard mounting table on the described shell.
Described shell is provided with air cleaning circulating device and ultraviolet disinfection lamp, described air cleaning circulating device includes air exhauster, gas channel, filter and air heat module, air exhauster is located at the bottom of shell, filter is located at the top of shell, the electric heating tube of the wind that air exhauster is extracted out in shell through gas channel, filter and air heat module is back in the shell again.
It is to be made of motor, rolling disc, two-layer above bracing frame and alligator clamp that described medicinal liquid shakes up device, and motor connects with rolling disc, and bracing frame is located on the rolling disc, and alligator clamp is provided with a plurality of, is distributed on the bracing frame.
Also comprise the combined mechanism of uncapping in the described shell, the combined mechanism of uncapping be by ampoule bottle uncork mechanism, ampoule bottle break a bottle mechanism off with the fingers and thumb, cillin bottle de-cover machine structure combines, the rotation alloy knife that includes turning cylinder and be installed in the turning cylinder end in the ampoule bottle uncork mechanism; Described cillin bottle de-cover machine structure is that cillin bottle aluminium lid remover is provided with the cutter of rotation by cillin bottle glue lid remover and cillin bottle aluminium lid remover.
Describedly get slide rail that bottle mechanical hand is provided with clamper and clamper move left and right, slide rail that clamper moves up and down, slide rail that clamper moves forward and backward, rotating shaft that clamper horizontally rotates and drive the vertical motor that rotates of clamper, the end of each slide rail is provided with motor, each motor is the version that adopts the screw mandrel transmission, and the end of the rotating shaft that clamper horizontally rotates is connected with and drives its motor rotating.
Described drawing liquid mechanical hand is provided with the slide rail of clamper and clamper move left and right, slide rail that clamper moves up and down, slide rail, syringe advance and retreat slide rail that clamper moves forward and backward, drives slide rail, the drawing liquid rotating shaft of the stopper rod advance and retreat in the syringe, the end of each slide rail is provided with motor, each motor is the version that adopts the screw mandrel transmission, and the end of each rotating shaft is connected with and drives its motor rotating.
Be provided with rotatable disc, clamper and rotating shaft in the described bottle-clip mechanism, described clamper is located at the central part of rotatable disc, and rotatable disc is located on the rotating shaft that can make the inclination of rotatable disc card by rotating shaft.
The method of utilizing global function liquid medicine preparation intelligent robot to carry out the medicine preparation comprises the dosage of cillin bottle and the dosage of ampoule bottle, and wherein the dosage of cillin bottle may further comprise the steps:
A, medicine place: medicine is placed on each rest area on each side of medicine frame;
B, medicine are closed anterior actuating doors after placing and finishing, and start air cleaning circulating device and ultraviolet disinfection lamp to carrying out air cleaning, constant indoor temperature and sterilization in the operating room;
C, utilize the clamper get in bottle mechanical hand to take off syringe from the medicine frame, be positioned on the clamper of drawing liquid mechanical hand after, take off pinhead sleeve;
D, get bottle mechanical hand and next get cillin bottle, and the cillin bottle de-cover machine structure that cillin bottle is moved on in the combined mechanism of uncapping carries out the removal of Jiao Gai or aluminium lid;
E, subsequently gets bottle mechanical hand and cillin bottle is placed in the clamper of bottle-clip mechanism; Get bottle mechanical hand gripping sterilized cotton ball from the medicine frame, behind the disinfectant solution of Jia Dianfu or other hospital regulation, earlier the mother solution bottleneck is carried out disinfection, the plug surface of wiping the examination cillin bottle then carries out disinfection.
After F, mother solution bottleneck carried out disinfection, the drawing liquid mechanical hand extracted injection from mother liquid multi-cavity bottle, and meanwhile, bottle-clip mechanism makes the certain angle of cillin bottle inclination by rotating shaft;
G, drawing liquid mechanical hand are injected into the mother solution in the syringe in the cillin bottle;
H, get bottle mechanical hand and cillin bottle is placed into medicinal liquid from bottle-clip mechanism shakes up in the alligator clamp on the double layer support frame the device, shake up, to dissolve inner medicated powder;
I, shake up end after, get bottle mechanical hand and grasp cillin bottle, and the medicinal liquid in the cillin bottle extracted, extract medicinal liquid and adopt dual mode: the one,, to get a bottle mechanical hand cillin bottle is put into bottle-clip mechanism, bottle-clip mechanism and drawing liquid mechanical hand cooperate, medicinal liquid in the cillin bottle is evacuated in the syringe, in the process of taking out, cillin bottle certain angle that generally tilts is beneficial to reduce the debris in the cillin bottle; The 2nd,, get the direct clamping cillin bottle of bottle mechanical hand and be inverted, cooperate with the drawing liquid mechanical hand, the medicinal liquid in the cillin bottle is evacuated in the syringe, at this moment, cillin bottle is that inverse manner is taken out, the residual liquid amount is seldom;
J, subsequently, drawing liquid mechanical hand are used as medicine the injecting liquid drug in the syringe in the mother liquid multi-cavity bottle on the frame;
K, exhaust the cillin bottle of liquid, after rotating shaft rotates, fallen in the waste recovery refuse bin or by getting a bottle mechanical hand by bottle-clip mechanism and lose in the waste recovery refuse bin;
L, dosing work are finished, and open anterior actuating doors at last, and rotation medicine frame makes the side, mother liquid multi-cavity bottle place for preparing medicinal liquid over against actuating doors, is taken away the mother liquid multi-cavity bottle for preparing medicinal liquid by the staff;
Dosage for ampoule bottle may further comprise the steps:
1. ampoule bottle is taken away and is placed into the bottle-clip mechanism by getting bottle mechanical hand from the medicine frame;
2. utilize the rotation alloy knife in the ampoule bottle uncork mechanism that ampoule bottle is cut, before the cutting, detect the cutting position of ampoule bottleneck earlier with displacement transducer, adopt the cutter fast rotational during cutting, the rotatable disc of bottle-clip mechanism drives the mode that ampoule bottle rotates at a slow speed;
3. after cutting is finished, earlier with getting bottle mechanical hand gripping sterilized cotton ball carrying out disinfection to ampoule bottle.Ampoule bottle is broken the head that ampoule bottle is clamped by bottle mechanism off with the fingers and thumb then, it is motionless that bottle-clip mechanism is clamped the main body of ampoule bottle, ampoule bottle is broken bottle mechanism's folder position ampoule bottle off with the fingers and thumb and is rotated along certain centre of gyration, ampoule bottle is fractureed in the cut place, after fractureing, ampoule bottle is broken bottle mechanism off with the fingers and thumb the ampoule bottle head is discarded in the waste recovery refuse bin;
4. utilize the clamper get in bottle mechanical hand to take off syringe from the medicine frame, be positioned on the clamper of drawing liquid mechanical hand after, take off pinhead sleeve;
5. the drawing liquid mechanical hand directly stretches into syringe needle in the ampoule bottle in the bottle-clip mechanism and carries out drawing liquid, and at this moment, the certain angle that need tilt of the rotatable disc in the bottle-clip mechanism is so that residual spray mixture is minimum; Ampoule bottle after cutting off is too dark, when needle length can't arrive the ampoule bottle bottom, the syringe of drawing liquid mechanical hand clamping was driven by the drawing liquid rotating shaft, constantly tilted in the drawing liquid process, the ampoule bottle of bottle-clip mechanism clamping tilts around rotating shaft, makes ampoule bottle residual liquid amount minimum; Meanwhile, get bottle mechanical hand gripping sterilized cotton ball from the medicine frame, behind the disinfectant solution of Jia Dianfu or other hospital regulation, the mother solution bottleneck is carried out disinfection;
6. empty ampoule bottle is by falling into the waste recovery refuse bin after the bottle-clip mechanism rotation; Meanwhile, the drawing liquid mechanical hand is used as medicine the injecting liquid drug in the syringe in the mother liquid multi-cavity bottle on the frame;
7. dosing work is finished, and opens anterior actuating doors at last, and rotation medicine frame makes the side, mother liquid multi-cavity bottle place for preparing medicinal liquid over against actuating doors, is taken away the mother liquid multi-cavity bottle for preparing medicinal liquid by the staff.
Beneficial effect of the present invention: owing to adopt said structure and dosage; aspect the configuration of intravenous chemotherapy medicine; the present invention has the global function characteristic of medical use liquid configuration, nutritional solution configuration and chemotherapeutics configuration; thoroughly change the traditional configuration mode of cytotoxicity medicine; environment with manual configuration; have that dosing is accurate, layoutprocedure is aseptic; the characteristics of cross infection have been avoided; protected that the medical personnel's is healthy and safe; avoided the leakage of cytotoxic drug; environmentally safe is saved the expense of hospital administration and is saved human cost.
Description of drawings
The present invention is described in further detail below in conjunction with accompanying drawing.
Fig. 1 is outward appearance front schematic view of the present invention;
Fig. 2 is plan structure sketch map shown in Figure 1, for the purpose of clear, has removed shell;
Fig. 3 is the structural representation of medicine frame shown in Figure 2;
Fig. 4 is the structural representation of the combined mechanism of uncapping shown in Figure 2;
Fig. 5 is the sketch map of drawing liquid mechanical hand shown in Figure 2;
Fig. 6 is the sketch map of bottle-clip mechanism shown in Figure 2;
Fig. 7 is the sketch map of getting bottle mechanical hand shown in Figure 2;
Fig. 8 shakes up the structural representation of device for medicinal liquid shown in Figure 2;
Fig. 9 is pure air circulation sketch map shown in Figure 1.
The specific embodiment
As shown in Figure 1, 2, 3, global function liquid medicine preparation intelligent robot, include shell 0200, medicine frame 0100, get bottle mechanical hand 0400, drawing liquid mechanical hand 0500, bottle-clip mechanism 0600 and medicinal liquid shake up device 1000, the below of bottle-clip mechanism 0600 is provided with the waste recovery refuse bin, get bottle mechanical hand 0400, in order to medicament taking bottle from medicine frame 0100, constant indoor temperature and sterilized cotton ball; Drawing liquid mechanical hand 0500 extracts bottle-clip mechanism 0600 or gets the liquid in the medicine bottle in bottle machine mechanical hand 0400 in order to the clamping syringe; Medicinal liquid shakes up device 1000, and in order to shake up the medicinal liquid in the cillin bottle, described shell 0200 is provided with the actuating doors 0201 of band sealing, and it is interior and corresponding with actuating doors 0201 that described medicine frame 0100 is located at shell 0200, and it adopts the rotary structure of former and later two sides; Each side on the described medicine frame 0100 all is provided with mother liquid multi-cavity bottle rest area 0101, syringe rest area 0102, allusion quotation volt or other disinfectant solution rest area 0103, ampoule bottle and cillin bottle rest area 0104, constant indoor temperature and sterilized cotton ball rest area 0105 are provided with medicine frame rotation motor 0106 in the bottom of medicine frame 0100.Also be provided with the touching display screen 0202 with man-machine communication interface, auxiliary operation keyboard mounting table 0203 and air cleaning circulating device 1100 on the described shell 0200.During work, one side is interior, and the machine thing of getting it filled is configured, and simultaneously, another side can be placed mother solution, ampoule, XiLin etc.Machine is furnished with touching display screen 0202, in the medicine put procedure, is used for the mode of input medicine configuration, as dosage, matching method etc., also can show the process of medicine configuration.After medicine was placed and finished, actuating doors 0201 was closed, the operating area in the shell is purified with pure air, and sterilization.After air reaches the cleanliness factor requirement, the rotation of medicine frame, former and later two side exchanges, medicine to be configured enters machine intimate, is configured.Treat that actuating doors 0201 opens, can take off the medicine of finishing configuration from medicine frame 0100.
Shown in Fig. 2,4, also comprise the combined mechanism of uncapping in the described shell 0200, the combined mechanism of uncapping be by ampoule bottle uncork mechanism 0700, ampoule bottle break bottle mechanism 0800 off with the fingers and thumb, cillin bottle de-cover machine structure 0900 combines, the rotation alloy knife 0701 that includes turning cylinder 0702 and be installed in turning cylinder 0702 end in the ampoule bottle uncork mechanism 0700; Described cillin bottle de-cover machine structure 0900 is that cillin bottle aluminium lid remover 0901 is provided with the cutter 0903 of rotation by cillin bottle glue lid remover 0902 and cillin bottle aluminium lid remover 0901.
As shown in Figure 5, described drawing liquid mechanical hand 0500 is provided with the slide rail 0503 of clamper 0507 and clamper move left and right, slide rail 0502 that clamper moves up and down, slide rail 0501, syringe advance and retreat slide rail 0505 that clamper moves forward and backward, drives slide rail 0506, the drawing liquid rotating shaft 0504 of the stopper rod advance and retreat in the syringe, the end of each slide rail is provided with motor 0508, each motor is the version that adopts screw mandrel 0509 transmission, and the end of each rotating shaft is connected with and drives its motor rotating.
As shown in Figure 6, be provided with rotatable disc 0602, clamper 0601 and rotating shaft 0603 in the described bottle-clip mechanism 0600, described clamper 0601 is located at the central part of rotatable disc 0602, and rotatable disc 0602 is located on the rotating shaft 0603 that makes the inclination of rotatable disc card by rotating shaft.
As shown in Figure 7, describedly get slide rail 0404 that bottle mechanical hand 0400 is provided with clamper 0401 and clamper move left and right, slide rail 0403 that clamper moves up and down, slide rail 0402 that clamper moves forward and backward, rotating shaft 0406 that clamper horizontally rotates and drive the vertical motor 0407 that rotates of clamper, the end of each slide rail is provided with motor 0408, each motor 0408 is the version that adopts screw mandrel 0409 transmission, and the end of the rotating shaft 0406 that clamper horizontally rotates is connected with and drives its motor rotating 0410.
As shown in Figure 8, it is to be made of motor 1004, rolling disc 1003, two-layer above bracing frame 1002 and alligator clamp 1001 that described medicinal liquid shakes up device 1000, motor 1004 connects with rolling disc 1003, bracing frame 1002 is located on the rolling disc 1003, alligator clamp 1001 is provided with a plurality of, is distributed on the bracing frame 1002.What adopt in the present embodiment is the double layer support frame.
As shown in Figure 9, described shell 0200 is provided with air cleaning circulating device 1100 and ultraviolet disinfection lamp 1104, described air cleaning circulating device 1100 includes air exhauster 1102, gas channel 1105, filter 1101 and air heat module 1103, air exhauster 1102 is located at the bottom of shell 0200, filter 1101 is located at the top of shell 0200, the wind that air exhauster 1102 is extracted out in the shell is back in the shell 0200 through gas channel 1105, filter 1101 and air heat module 1103 again.The ground floor of high efficiency particulate air filter 1101 is filter course, and the second layer is active carbon, and the 3rd layer is photo-catalyst, and the air after guaranteeing to filter satisfies the cleanliness factor requirement of making up a prescription.Through having air heat module 1103, can finish some has special making up a prescription of wanting to temperature.Electrothermal tube or heating wire 1107 are equipped with in air heat module 1103 inside.Ultraviolet disinfection lamp 1104 is equipped with at the top of dispensing space, can carry out disinfection to dispensing space.
The method of utilizing global function liquid medicine preparation intelligent robot to carry out the medicine preparation comprises the dosage of cillin bottle and the dosage of ampoule bottle, and wherein the dosage of cillin bottle may further comprise the steps:
A, medicine place: medicine is placed on each rest area on medicine frame 0100 each side;
B, medicine are closed anterior actuating doors 0201 after placing and finishing, and start in air cleaning circulating device 1100 and 1104 pairs of operating rooms of ultraviolet disinfection lamp (in the shell) and carry out air cleaning, constant indoor temperature and sterilization;
C, utilize the clamper 0401 get in bottle mechanical hand 0400 to take off syringe from medicine frame 0100, be positioned on the clamper 0507 of drawing liquid mechanical hand 0500 after, take off pinhead sleeve;
D, get bottle mechanical hand 0400 and next get cillin bottle, and the cillin bottle de-cover machine structure 0900 that cillin bottle is moved on in the combined mechanism of uncapping carries out the removal of Jiao Gai or aluminium lid;
E, subsequently gets in the clamper 0601 of folder bottle usefulness that bottle mechanical hand 0400 is placed on cillin bottle bottle-clip mechanism 0600; Get bottle mechanical hand 0400 gripping sterilized cotton ball from the medicine frame, behind the disinfectant solution of Jia Dianfu or other hospital regulation, earlier the mother solution bottleneck is carried out disinfection, the plug surface of wiping the examination cillin bottle then carries out disinfection.
After F, mother solution bottleneck carried out disinfection, the drawing liquid mechanical hand extracted injection from mother liquid multi-cavity bottle, and meanwhile, bottle-clip mechanism makes the certain angle of cillin bottle inclination by rotating shaft 0603;
G, drawing liquid mechanical hand 0500 are injected into the mother solution in the syringe in the cillin bottle;
H, get bottle mechanical hand 0400 and cillin bottle is placed into medicinal liquid from bottle-clip mechanism 0600 shakes up in the alligator clamp 1001 on the double layer support frame the device 1000, shake up, to dissolve inner medicated powder;
I, shake up end after, get bottle mechanical hand 0400 and grasp cillin bottle, and the medicinal liquid in the cillin bottle extracted, extract medicinal liquid and adopt dual mode: the one,, to get a bottle mechanical hand cillin bottle is put into bottle-clip mechanism, bottle-clip mechanism 0600 and drawing liquid mechanical hand 0400 cooperate, medicinal liquid in the cillin bottle is evacuated in the syringe, in the process of taking out, cillin bottle certain angle that generally tilts is beneficial to reduce the debris in the cillin bottle; The 2nd,, get bottle mechanical hand 0400 direct clamping cillin bottle and be inverted, cooperate with drawing liquid mechanical hand 0500, the medicinal liquid in the cillin bottle is evacuated in the syringe, at this moment, cillin bottle is that inverse manner is taken out, the residual liquid amount is seldom;
J, subsequently, drawing liquid mechanical hand 0500 are used as medicine the injecting liquid drug in the syringe in the mother liquid multi-cavity bottle on the frame 0100;
K, exhaust the cillin bottle of liquid, fallen in the waste recovery refuse bin or by getting bottle mechanical hand 0400 after rotating shaft 0603 rotation by bottle-clip mechanism 0600 and lose in the waste recovery refuse bin;
L, dosing work are finished, and open anterior actuating doors 0201 at last, and rotation medicine frame 0100 makes the side, mother liquid multi-cavity bottle place for preparing medicinal liquid over against actuating doors 0201, is taken away the mother liquid multi-cavity bottle for preparing medicinal liquid by the staff;
Dosage for ampoule bottle may further comprise the steps:
1. ampoule bottle is taken away and is placed into the bottle-clip mechanism 0600 from medicine frame 0100 by getting bottle mechanical hand 0400;
2. utilize the 0701 pair of ampoule bottle of rotation alloy knife in the ampoule bottle uncork mechanism 0700 to cut, before the cutting, detect the cutting position of ampoule bottleneck earlier with displacement transducer, adopt the cutter fast rotational during cutting, the rotatable disc 0602 of bottle-clip mechanism 0600 drives the mode that ampoule bottle rotates at a slow speed;
3. after cutting is finished, earlier with getting bottle mechanical hand 0400 gripping sterilized cotton ball carrying out disinfection to ampoule bottle.Ampoule bottle is broken the head that ampoule bottle is clamped by bottle mechanism 0800 off with the fingers and thumb then, it is motionless that bottle-clip mechanism 0600 is clamped the main body of ampoule bottle, ampoule bottle is broken bottle mechanism 0800 folder position ampoule bottle off with the fingers and thumb and is rotated along certain centre of gyration, ampoule bottle is fractureed in the cut place, after fractureing, ampoule bottle is broken bottle mechanism 0800 off with the fingers and thumb the ampoule bottle head is discarded in the waste recovery refuse bin;
4. utilize the clamper get in bottle mechanical hand 0400 to take off syringe from the medicine frame, be positioned on the clamper of drawing liquid mechanical hand 0500 after, take off pinhead sleeve;
5. drawing liquid mechanical hand 0500 directly stretches into syringe needle in the ampoule bottle in the bottle-clip mechanism 0600 and carries out drawing liquid, and at this moment, the rotatable disc 0602 in the bottle-clip mechanism 0600 needs the inclination certain angle, so that residual spray mixture is minimum; Ampoule bottle after cutting off is too dark, when needle length can't arrive the ampoule bottle bottom, the syringe of drawing liquid mechanical hand 0500 clamping was driven by drawing liquid rotating shaft 0504, constantly tilts in the drawing liquid process, the ampoule bottle of bottle-clip mechanism 0600 clamping tilts around rotating shaft, makes ampoule bottle residual liquid amount minimum; Meanwhile, get bottle mechanical hand 0400 gripping sterilized cotton ball from the medicine frame, behind the disinfectant solution of Jia Dianfu or other hospital regulation, the mother solution bottleneck is carried out disinfection; After exhausting the medicinal liquid of ampoule bottle, the operator can set, and the injecting liquid drug in the syringe is gone in the mother solution, or after taking out several bottles of ampoule liquid continuously, is injected in the mother solution again.In addition, judging that ampoule bottle liquid has is not exhausted, can handle by several modes, first kind is open loop approach, and the amount of movement of the screw mandrel by calculating driven by motor is learnt the amount that syringe extracts indirectly, because of the specification of known ampoule bottle few, and proportional with the bottle external diameter, so when before cutting, detecting the bent neck of bottle, the appearance liquid measure of ampoule bottle as can be known.Or by getting bottle mechanical hand 0400 folder bottle or alternate manner, can detect the capacity of ampoule bottle in advance.By both contrasts, can be rough learn that ampoule bottle liquid has and do not exhausted.This method can satisfy the demands for not high the making up a prescription of required precision.Second kind is on the basis of first kind of open loop control, by curtage or the moment variations of motor driver, and the moment variations when detecting syringe drawing liquid body and becoming air.The third is closed loop control, in mechanical hand or other position, adds photographic head, detects liquid level variation.The combination of preferred first kind and the second way in this example.
6. empty ampoule bottle is by falling into the waste recovery refuse bin after bottle-clip mechanism 0600 rotation; Meanwhile, drawing liquid mechanical hand 0500 is used as medicine the injecting liquid drug in the syringe in the mother liquid multi-cavity bottle on the frame 0100;
7. dosing work is finished, and opens anterior actuating doors 0201 at last, and rotation medicine frame 0100 makes the side, mother liquid multi-cavity bottle place for preparing medicinal liquid over against actuating doors, is taken away the mother liquid multi-cavity bottle for preparing medicinal liquid by the staff.
The above is preferred implementation of the present invention, certainly can not limit the present invention's interest field with this, should be understood that, for those skilled in the art, can make amendment or be equal to replacement technical scheme of the present invention, and not break away from essence and the scope of technical solution of the present invention.
Claims (9)
1. a global function liquid medicine is prepared intelligent robot, include shell, medicine frame, get a bottle mechanical hand, drawing liquid mechanical hand, bottle-clip mechanism and medicinal liquid shake up device, the below of bottle-clip mechanism is provided with the waste recovery refuse bin, get a bottle mechanical hand, in order to medicament taking bottle from the medicine frame, constant indoor temperature and sterilized cotton ball; The drawing liquid mechanical hand extracts bottle-clip mechanism or gets the liquid in the medicine bottle in bottle mechanical hand in order to the clamping syringe; Medicinal liquid shakes up device, in order to shake up the medicinal liquid in the cillin bottle, it is characterized in that: described shell is provided with the actuating doors of band sealing, and described medicine sets up in the enclosure and be corresponding with actuating doors, and the medicine frame adopts has two with the rotary structure of upper side; Each side on the described medicine frame all is provided with mother solution rest area, syringe rest area, disinfectant solution rest area, ampoule bottle and cillin bottle rest area, constant indoor temperature and sterilized cotton ball rest area.
2. global function liquid medicine according to claim 1 preparation intelligent robot is characterized in that: also be provided with touching display screen with man-machine communication interface and auxiliary operation keyboard mounting table on the described shell.
3. global function liquid medicine according to claim 1 is prepared intelligent robot, it is characterized in that: described shell is provided with air cleaning circulating device and ultraviolet disinfection lamp, described air cleaning circulating device includes air exhauster, gas channel, filter and electric heating tube, air exhauster is located at outer casing bottom, filter is located at the top of shell, the wind that air exhauster is extracted out in the shell is back in the shell through gas channel, filter and electric heating tube again.
4. global function liquid medicine according to claim 1 is prepared intelligent robot, it is characterized in that: it is to be made of motor, rolling disc, two-layer above bracing frame and alligator clamp that described medicinal liquid shakes up device, motor connects with rolling disc, bracing frame is located on the rolling disc, alligator clamp is provided with a plurality of, is distributed on the bracing frame.
5. global function liquid medicine according to claim 1 is prepared intelligent robot, it is characterized in that: also comprise the combined mechanism of uncapping in the described shell, the combined mechanism of uncapping be by ampoule bottle uncork mechanism, ampoule bottle break a bottle mechanism off with the fingers and thumb, cillin bottle de-cover machine structure combines, the rotation alloy knife that includes turning cylinder and be installed in the turning cylinder end in the ampoule bottle uncork mechanism; Described cillin bottle de-cover machine structure is to be made of cillin bottle glue lid remover and cillin bottle aluminium lid remover, and cillin bottle aluminium lid remover is provided with the cutter of rotation.
6. global function liquid medicine according to claim 1 is prepared intelligent robot, it is characterized in that: describedly get slide rail that bottle mechanical hand is provided with clamper and clamper move left and right, slide rail that clamper moves up and down, slide rail that clamper moves forward and backward, rotating shaft that clamper horizontally rotates and drive the vertical motor that rotates of clamper, the end of each slide rail is provided with motor, each motor is the version that adopts the screw mandrel transmission, and the end of the rotating shaft that clamper horizontally rotates is connected with and drives its motor rotating.
7. global function liquid medicine according to claim 1 is prepared intelligent robot, it is characterized in that: described drawing liquid mechanical hand is provided with the slide rail of clamper and clamper move left and right, slide rail that clamper moves up and down, slide rail, syringe advance and retreat slide rail that clamper moves forward and backward, drives slide rail, the drawing liquid rotating shaft of the stopper rod advance and retreat in the syringe, the end of each slide rail is provided with motor, each motor is the version that adopts the screw mandrel transmission, and the end of each rotating shaft is connected with and drives its motor rotating.
8. global function liquid medicine according to claim 1 is prepared intelligent robot, it is characterized in that: be provided with rotatable disc, clamper and rotating shaft in the described bottle-clip mechanism, described clamper is located at the central part of rotatable disc, and rotatable disc is located on the rotating shaft that makes the inclination of rotatable disc card by rotating shaft.
9. the method for utilizing the described global function liquid medicine preparation of claim 1 intelligent robot to carry out the medicine preparation, it is characterized in that: comprise the dosage of cillin bottle and the dosage of ampoule bottle, wherein the dosage of cillin bottle may further comprise the steps:
A, medicine place: medicine is placed on each rest area on each side of medicine frame;
B, medicine are closed anterior actuating doors after placing and finishing, and start air cleaning circulating device and ultraviolet disinfection lamp to carrying out air cleaning, constant indoor temperature and sterilization in the operating room;
C, utilize the clamper get in bottle mechanical hand to take off syringe from the medicine frame, be positioned on the clamper of drawing liquid mechanical hand after, take off pinhead sleeve;
D, get bottle mechanical hand and next get cillin bottle, and the cillin bottle de-cover machine structure that cillin bottle is moved on in the combined mechanism of uncapping carries out the removal of aluminium lid;
E, subsequently gets bottle mechanical hand and cillin bottle is placed in the clamper of bottle-clip mechanism; Get bottle mechanical hand gripping sterilized cotton ball from the medicine frame, add disinfectant solution after, earlier the mother solution bottleneck is carried out disinfection, the plug surface of wiping the examination cillin bottle then carries out disinfection;
After F, mother solution bottleneck carried out disinfection, the drawing liquid mechanical hand extracted injection from mother liquid multi-cavity bottle, and meanwhile, bottle-clip mechanism makes the certain angle of cillin bottle inclination by rotating shaft;
G, drawing liquid mechanical hand are injected into the mother solution in the syringe in the cillin bottle;
H, get bottle mechanical hand and cillin bottle is placed into medicinal liquid from bottle-clip mechanism shakes up in the alligator clamp on the double layer support frame the device, shake up, to dissolve inner medicated powder;
I, shake up end after, get bottle mechanical hand and grasp cillin bottle, and the medicinal liquid in the cillin bottle extracted, extracting medicinal liquid adopts one of following dual mode to carry out: the one,, to get a bottle mechanical hand cillin bottle is put into bottle-clip mechanism, bottle-clip mechanism and drawing liquid mechanical hand cooperate, medicinal liquid in the cillin bottle is evacuated in the syringe, in the process of taking out, cillin bottle certain angle that generally tilts is beneficial to reduce the debris in the cillin bottle; The 2nd,, get the direct clamping cillin bottle of bottle mechanical hand and be inverted, cooperate with the drawing liquid mechanical hand, the medicinal liquid in the cillin bottle is evacuated in the syringe, at this moment, cillin bottle is that inverse manner is taken out, the residual liquid amount is seldom;
J, subsequently, drawing liquid mechanical hand are used as medicine the injecting liquid drug in the syringe in the mother liquid multi-cavity bottle on the frame;
K, exhaust the cillin bottle of liquid, after rotating shaft rotates, fallen in the waste recovery refuse bin or by getting a bottle mechanical hand by bottle-clip mechanism and lose in the waste recovery refuse bin;
L, dosing work are finished, and open anterior actuating doors at last, and rotation medicine frame makes the side, mother liquid multi-cavity bottle place for preparing medicinal liquid over against actuating doors, is taken away the mother liquid multi-cavity bottle for preparing medicinal liquid by the staff;
Dosage for ampoule bottle may further comprise the steps:
1. ampoule bottle is taken away and is placed into the bottle-clip mechanism by getting bottle mechanical hand from the medicine frame;
2. utilize the rotation alloy knife in the ampoule bottle uncork mechanism that ampoule bottle is cut, before the cutting, detect the cutting position of ampoule bottleneck earlier with displacement transducer, adopt the cutter fast rotational during cutting, the rotatable disc of bottle-clip mechanism drives the mode that ampoule bottle rotates at a slow speed;
3. after cutting is finished, earlier with getting bottle mechanical hand gripping sterilized cotton ball carrying out disinfection to ampoule bottle, ampoule bottle is broken the head that ampoule bottle is clamped by bottle mechanism off with the fingers and thumb then, it is motionless that bottle-clip mechanism is clamped the main body of ampoule bottle, ampoule bottle is broken bottle mechanism off with the fingers and thumb and is clamped ampoule bottle along certain centre of gyration rotation, ampoule bottle is fractureed in the cut place, and after fractureing, ampoule bottle is broken bottle mechanism off with the fingers and thumb the ampoule bottle head is discarded in the waste recovery refuse bin;
4. utilize the clamper get in bottle mechanical hand to take off syringe from the medicine frame, be positioned on the clamper of drawing liquid mechanical hand after, take off pinhead sleeve;
5. the drawing liquid mechanical hand directly stretches into syringe needle in the ampoule bottle in the bottle-clip mechanism and carries out drawing liquid, and at this moment, the certain angle that need tilt of the rotatable disc in the bottle-clip mechanism is so that residual spray mixture is minimum; Ampoule bottle after cutting off is too dark, when needle length can't arrive the ampoule bottle bottom, the syringe of drawing liquid mechanical hand clamping was driven by the drawing liquid rotating shaft, constantly tilted in the drawing liquid process, the ampoule bottle of bottle-clip mechanism clamping tilts around rotating shaft, makes ampoule bottle residual liquid amount minimum; Meanwhile, get bottle mechanical hand gripping sterilized cotton ball from the medicine frame, behind the Jia Dianfu, the mother solution bottleneck is carried out disinfection;
6. empty ampoule bottle is by falling into the waste recovery refuse bin after the bottle-clip mechanism rotation; Meanwhile, the drawing liquid mechanical hand is used as medicine the injecting liquid drug in the syringe in the mother liquid multi-cavity bottle on the frame;
7. dosing work is finished, and opens anterior actuating doors at last, and rotation medicine frame makes the side, mother liquid multi-cavity bottle place for preparing medicinal liquid over against actuating doors, is taken away the mother liquid multi-cavity bottle for preparing medicinal liquid by the staff.
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