CN114797641A - Dispensing and transferring machine - Google Patents

Abstract

The invention discloses a dispensing and transferring machine, which comprises: a work table; a dispensing carrier; a gun head box transfer device; a dispensing assembly; and a locking cover device; according to the invention, automatic dispensing can be realized relatively simply and easily according to the matching of the screw nut screw mechanism, the dispensing carrier, the gun head box transplanting device, the dispensing assembly and the locking cover device.

Description

Dispensing and transferring machine

Technical Field

The invention relates to a dispensing transfer machine, belonging to intermediate process equipment of an automatic dispensing device.

Background

For example, mRNA vaccines, which are often one of the leading forces for certain viral prophylaxis, have also demonstrated their efficacy and market potential. After the determination of the corresponding viral antigenic protein, the corresponding mRNA sequence needs to be designed for the amino acid sequence. Because the codon corresponding to each amino acid has multiple choices, a new challenge is provided for the codon screening, the manual screening has the defects of low speed, easy error and the like, and the substitution of mRNA high-throughput synthesis equipment is urgently needed.

For example, for mRNA high-throughput synthesis equipment, the number of required raw material drugs is often dozens, even dozens, errors still easily occur during manual medicine dispensing even in sequential medicine dispensing, and especially the dosage is difficult to control manually.

In view of this, it is currently a relatively common choice to adopt dispensing device to accomplish and dispense, and dispensing device is based on program control, accomplishes according to established step, and supplementary pipettor is by machine control dosage again, and the mistake of dispensing hardly appears, even if the mistake appears in artificial intervention part, also easily corrected, for example the medicine material position is placed the mistake, after the manipulator clamp that dispenses the dispensing device gets relevant medicine bottle, can check through for example the mode of scanning the sign indicating number and confirming to be difficult to the mistake appears.

However, the programmed dispensing method needs to consider the steps of picking up, dispensing, mixing the raw material medicines (there may be multiple times of mixing medicines), and in different steps, in order to avoid position interference and motion interference of different process equipment, various containers needed for synthesizing the medicines need to be located at different positions, and the number of points needed to be controlled is relatively large. In view of the fact that the containers for synthetic drugs need to be located at different stations in the process of assisting the synthetic drugs, the position and the parking of the containers for synthetic drugs are accurate, and otherwise the accurate operation of other process equipment such as a pipetting gun, a locking cover device and the like is influenced.

In addition, for the mRNA high-throughput synthesis apparatus, for example, on one hand, sequential dispensing of more than ten kinds of raw material medicines is automatically completed, and on the other hand, mixing may need to be completed for multiple times, for example, in seventeen kinds of raw material medicines, mixing is performed once after the first three kinds are dispensed, and mixing is performed once again for four kinds, and mixing and dispensing need to make the synthetic medicine bottle be in different positions in more applications, further improving the requirement of the current synthetic medicine bottle on the accuracy of the stop position, for example.

Disclosure of Invention

In view of the above, the present invention provides a dispensing and transferring machine that facilitates automatic dispensing by controlling the precision of movement.

In order to achieve the object of the present invention, the present invention provides a dispensing and transferring machine, which uses a transferring direction of the dispensing and transferring machine as a transverse direction, and correspondingly, uses a direction perpendicular to the transverse direction in a horizontal plane as a longitudinal direction, the dispensing and transferring machine comprising:

a work table;

the dispensing carrier is transversely arranged on the workbench, one end of the dispensing carrier is positioned at the initial end of the transfer direction of the workbench, the initial end is a left end, and the tail end is a right end; a first positioning hole for positioning a synthetic medicine bottle and a second positioning hole for positioning a raw material medicine bottle are arranged on a loading platform of the medicine dispensing carrier; the mechanism which is matched with the dispensing carrier and used for driving the carrying platform is a first nut screw mechanism;

the gun head box transferring device is transversely arranged on the workbench, is positioned on one side of the dispensing carrier, and has one end positioned at the initial end of the transfer direction of the workbench; the gun head box transfer device is provided with a transfer mechanism which is a second screw lead screw mechanism, and a second slide block which is provided with the second screw lead screw mechanism is provided with or constructs a gun head box positioning groove;

the dispensing assembly is positioned in the transverse middle of the dispensing carrier and comprises a liquid transfer gun with two or three mutually vertical linear degrees of freedom and a first driving mechanism for driving the liquid transfer gun to provide the two or three degrees of freedom; and

the cap locking device is positioned at the transverse tail end of the dispensing assembly and used for locking the cap of the synthetic medicine bottle after medicine mixing is finished, and correspondingly, the cap locking device comprises a cap locking actuating part and a second driving mechanism for driving the cap locking actuating part;

the gun head box positioning groove comprises a large gun head box positioning groove and a small gun head box positioning groove, and correspondingly, the liquid transfer gun is provided with a large gun head liquid transfer gun for mixing the medicines and a small gun head liquid transfer gun for spraying the medicines.

Optionally, a disposal opening is formed on the workbench for disposing of the used gun heads, empty gun head boxes and empty raw material medicine bottles;

correspondingly, a recycling bin for receiving the discarding port is arranged below the workbench.

Optionally, the discarding port and the dispensing carrier are respectively located at two sides of the horizontal direction of the gun head box transfer device;

the two discarding ports are provided, wherein the relatively larger one is positioned at the initial end of the transfer direction of the workbench and is marked as a large discarding port, and the other one is positioned at the dispensing assembly and is marked as a small discarding port;

correspondingly, the recycling bin adapted to the large discarding port is a large recycling bin, and the recycling bin adapted to the small discarding port is a small recycling bin, wherein the small recycling bin only recycles the gun head.

Optionally, the small gun head box positioning groove and the large gun head box positioning groove are respectively arranged, the small gun head box positioning groove and the large gun head box positioning groove are transversely arranged on the second slide block, and the small gun head box positioning groove is positioned on the left side of the large gun head box positioning groove;

correspondingly, the dispensing assembly comprises a left dispensing assembly used for dispensing and a right dispensing assembly used for mixing the medicines, wherein the pipetting gun matched with the left dispensing assembly is a small gun head pipetting gun, and the pipetting gun matched with the right dispensing assembly is a large gun head pipetting gun.

Optionally, two small-gun-head liquid-transfering guns and two large-gun-head liquid-transfering guns are respectively used for group pesticide spraying or pesticide mixing.

Optionally, a scanner is provided at the beginning of the table for verifying the ingredient bottles.

Optionally, a cover opening assembly is provided at the beginning of the workbench, and the cover opening assembly comprises:

the first clamping jaw is positioned on the upper side of the starting end of the dispensing carrier and used for clamping the bottle body;

the cover opening clamping jaw is provided with a first clamping jaw head for clamping a bottle cover and a first rotating motor for driving the first clamping jaw head to rotate around a vertical axis of the first clamping jaw head; and

and the third driving mechanism outputs and drives the uncovering clamping jaw, so that the uncovering clamping jaw has two or three linear degrees of freedom which are perpendicular to each other.

Optionally, the locking cap actuating part comprises a locking cap clamping jaw, and the locking cap clamping jaw comprises a second clamping jaw head for clamping the bottle cap and a second rotating motor for driving the second clamping jaw head to rotate around a vertical axis of the second rotating motor;

correspondingly, the locking cover actuating part also comprises a second clamping jaw for clamping the bottle body.

Optionally, a transfer table is provided below the locking cap device, the transfer table having a matrix of positioning holes for positioning the synthetic drug vials arranged thereon.

Optionally, the dispensing assembly is provided with a gantry, the gantry is longitudinally arranged, and the provided cross beam is located above the dispensing carrier and the gun head box transfer device.

In the invention, the dispensing carrier and the gun head box transfer device have higher precision by utilizing the high precision of the screw nut lead screw mechanism, so that other process equipment can easily obtain higher operation positions after being in place. And then utilize the subassembly of making up a prescription of multi freedom, can draw different bulk drugs in order in the plane that is on a parallel with the workstation, then beat the medicine and mix the medicine to different synthetic medicine bottles, carry out the locking closure to the synthetic medicine bottle that finishes that makes up a prescription at last to wait that follow-up process equipment picks up. The automation of dispensing is easy to realize based on the matching of the screw nut lead screw mechanism and the multi-degree-of-freedom dispensing assembly.

Drawings

Fig. 1 is a schematic structural diagram of a dispensing and transferring machine in one embodiment.

Fig. 2 is a schematic structural diagram of a dispensing carrier according to an embodiment.

Fig. 3 is an enlarged view of a portion I of fig. 2.

Fig. 4 is a schematic structural view of the gun head box transfer device in one embodiment.

Fig. 5 is a schematic view of a structure of the door opening assembly in one embodiment.

FIG. 6 is a schematic view of the dispensing device according to an embodiment.

Fig. 7 is a schematic structural diagram of a locking cover device in an embodiment.

Fig. 8 is a schematic view of a structure of the transfer table in an embodiment.

In the figure: 1. screw support legs, 2 casters, 3 a bottom plate, 4 a large recycling bin, 5 a small recycling bin, 6 a large discarding port, 7 a gun head box transfer device, 8 a medicine dispensing carrier, 9 a code scanner, 10 a first clamping jaw, 11 a workbench, 12 an uncovering component, 13 a small discarding port, 14 a medicine mixing area, 15 a left medicine dispensing component, 16 a right medicine dispensing component, 17 a middle rotating table, 18 a cover locking device, 19 a second clamping jaw, 20 an industrial personal computer, 21 a vertical frame, 22 a connecting plate, 23 a first servo motor, 24 an aviation plug, 25 a first dust-free module, 26 a first sliding block, 27 a loading table, 28 a table body, 29 a synthetic medicine bottle cover, 30 a synthetic medicine bottle, 31 a raw material medicine bottle, 32 an assembling hole, 33 a seat plate, 34 a cable plug, 35 a second servo motor, 36 a second servo motor, 37 a first photoelectric sensor, 38. a second slide block, 39, a big positioning groove, 40, a big gun head box, 41, a big gun head, 42, a second photoelectric sensor, 43, a first induction sheet, 44, a small positioning groove, 45, a small gun head box, 46, a small gun head, 47, an end plate, 48, an uncovering clamping jaw, 49, an uncovering motor, 50, a drag chain, 51, a third photoelectric sensor, 52, a third slide block, 53, a second induction sheet, 54, a fourth photoelectric sensor, 55, a third servo motor, 56, a third dust-free module, 57, a mounting plate, 58, a junction box, 59, a third induction sheet, 60, a fifth photoelectric sensor, 61, a fourth slide block, 62, a fourth dust-free module, 63, a sixth photoelectric sensor, 64, a fourth servo motor, 65, a fifth servo motor, 66, a fifth dust-free module, 67, a small liquid-moving gun, 68, a large liquid-moving gun, 69, a seventh servo motor, 70, an eighth servo motor, 71. the novel multifunctional electric door lock comprises a lock cover clamping jaw, 72 parts of a lock cover motor, 73 parts of a sixth sliding block, 74 parts of a sixth dust-free module, 75 parts of a Z-axis motor, 76 parts of a wiring terminal, 77 parts of a seventh dust-free module, 78. X-axis motors, 79 parts of an eighth dust-free module, 80. Y-axis motors, 81 parts of a drag chain sheet metal frame, 82 parts of a frame body, 83 parts of a mounting seat and 84 parts of a box body.

Detailed Description

Referring to fig. 1 of the specification, the left-right direction of the table 11 in the drawing is the transverse direction (first dimension), the corresponding front-back direction is the longitudinal direction (second dimension), and the vertical direction is the third dimension, and at least the main driving part, such as the cover opening assembly 12, the left dispensing assembly 15, the right dispensing assembly 15 and the cover locking device 18, has two or three linear degrees of freedom perpendicular to each other in pairs, so that the movement forms in the left-right direction, the front-back direction and the vertical direction are adapted to realize the positioning of a predetermined position, such as a synthetic medicine bottle 30, in two dimensions in the horizontal plane, and the lifting of a liquid-moving gun, in the vertical dimension, respectively.

In the field of machine tools, the left-right direction is generally called as the X direction, the front-back direction is the Y direction, and the vertical direction is the Z direction, which is called as three axes correspondingly. In contrast, the uncovering assembly 12 and the locking mechanism 18 have a fourth dimension, i.e. for example the rotational freedom required for uncovering, so that the two parts that are fitted belong to a four-axis mechanism, while the left dispensing assembly 15 and the right dispensing assembly 16 belong to a two-axis mechanism (which may also be configured as a three-axis mechanism). In some embodiments, the door assembly 12 may have only three dimensions, namely a vertical degree of freedom and a horizontal degree of freedom (fore-aft), and one rotational degree of freedom.

As a basic reference system, in fig. 1, the connection plate 22 is used for connecting the dispensing and transferring machine to other process equipment, and some components arranged in the structure illustrated in fig. 1 may be arranged on other process equipment from the whole dispensing process equipment, for example, the cover opening assembly 12 for opening the cover of the raw material medicine bottle 31 and the synthetic medicine bottle 30, and the like, may be arranged on the process equipment in the front stage of the dispensing and transferring machine.

In view of the fact that in the field of machine tool control, when the motion form is determined, the corresponding control mode is determined, and those skilled in the art can implement the determination without creative efforts, the industrial personal computer 20 and the control mode thereof are not described in the embodiment of the present invention.

In addition, as a simple configuration in the field, for example, the connection between the industrial personal computer 20 and other devices requiring electrical connection, for example, the controlled lid opening assembly 12 may have its main circuit connected to the selected output terminal of the industrial personal computer 20 through, for example, an intermediate relay; the input devices, such as the code scanner 9 and the first photoelectric sensor 37, are connected to the input terminal of the industrial personal computer 20, which belongs to the general knowledge in the art and will not be described herein. In other words, in the field, the motion form determines the control manner, and in the case that the motion form is determined, the control manner is determined, and no new control logic is generated, that is, in the embodiment of the present invention, based on the determined motion manner, creative labor is not required, or a corresponding control manner thereof is not required, and thus, detailed description is not required.

To clearly illustrate the basic orientation of the dispensing and transferring machine in fig. 1, two basic configurations will be described first, namely, the dispensing carrier 8 and the gun tip magazine transfer device 7, the operating strokes of which determine the mounting positions of other components on the table 11, such as the uncapping assembly 12, which is necessarily located at a position suitable for uncapping operation of the synthetic drug vial 30 carried on the dispensing carrier 8, and the synthetic drug vial 30, when transferred from the previous stage of process equipment, is first located in the region where the starting end of the table 11 is located, and is also necessarily located in the region where the left end of the dispensing carrier 8 in fig. 1 is located, so that, based on such basic considerations, the uncapping assembly 12 is more suitably located at the left end of the table 11 in fig. 1.

Further, the dispensing carrier 8 is described in detail:

as a general knowledge in the field of machinery, the working stroke refers to a stroke in which a working tool or a workpiece completes one working step of a feed motion at a working feed speed. However, the working stroke also refers broadly to the movement of the component from an initial position, for example, its original resting position, to a working position, so that the process of returning the component from the working position to the initial position is also referred to as resetting. In the embodiment of the invention, the working position is the end of the movement stroke, the stop position of the working stroke and the initial position is called the stop point of the component, and the distance between the two stop points is the working stroke.

It should be noted that, in the embodiment of the present invention, both the dead points may be working positions, and the dead points correspond to stations, whereas in the structure illustrated in fig. 1, in order to adapt to the uncovering station, the insecticide spraying station, the medicine mixing station, and the transferring station, the medicine dispensing carrier 8 may include two, three, or four dead points to adapt to different embodiments of the medicine dispensing and transporting machine.

In the embodiment of the invention, the working stroke determines two intermediate stations such as a pesticide spraying station and a pesticide mixing station, and the two stations can also be used as one station, namely pesticide spraying and pesticide mixing are carried out at the same intermediate station. For example, the above-mentioned four stations, the overall working stroke of the pharmaceutical carriers 8 needs to be adapted based on the positional interference of the process equipment at the relevant stations, in order to determine the minimum working stroke.

In fig. 2 and 3, the first slide block 26 of the dispensing carrier 8 is located at the right dead center, and the driving portion of the dispensing carrier 8 as a whole adopts a linear motion mechanism, specifically, the first dust-free module 25. One important reason for adopting the linear motion mechanism is that while the motion precision of the linear motion mechanism is relatively easy to control, the dispensing and mixing steps are often required to be completed for multiple times in each dispensing cycle, and for a synthetic drug requiring dozens or dozens of raw material drugs, the raw material drugs are often required to be added in a time-sharing manner and mixed in a time-sharing manner, so that the next time of adding two raw material drugs, for example, can be performed after the three raw material drugs are added in advance and mixed uniformly, then the other raw material drugs are added in sequence after the uniform mixing, and so on. In the process of dosing and mixing for a plurality of times, the linear motion mechanism needs to move for a plurality of times, in some implementations, a mode that a power machine is directly connected with the linear motion mechanism can be adopted, and a mode that an intermediate transmission chain is provided with a clutch can also be adopted, wherein the clutch can reduce the damage to the motor by reducing the starting and stopping times of the motor.

With the development of technology, for example, the first servomotor 23 (equipped with the aviation plug 24) allows a frequency of frequent starting higher than that of a conventional motor, and at the same time, the first servomotor 23 can precisely control the parking position of the output moving member in the linear motion mechanism based on servo control. Therefore, in the embodiment of the present invention, the power machine of the linear motion mechanism is preferably the first servo motor 23, and the alternative power machine is a common motor, and under the condition that the common motor is configured, a rotary encoder needs to be assisted for the power machine, so as to control the parking accuracy of the power machine in a closed loop manner.

As described above, as for the linear motion mechanism, which is applied to the embodiment of the present invention, which has the output motion member in the horizontal direction, such as the first slider 26 of the first screw mechanism, which constitutes a member for mounting the stage 27, the stage 27 may be positioned on, for example, the first slider 26.

In addition, regarding the first screw lead screw mechanism, a finished product of the screw lead screw mechanism called a dust-free module, also called a dust-free module, is currently available in the market, and is not described herein again. Therefore, the first nut screw mechanism for driving the first slide block 26 can be directly selected from the commercially available first dust-free module 25.

The carrier 27 may be positioned on the first slide block 26 by, for example, being directly clamped on the first slide block 26 by means of a tenon connection, or may be provided with a rectangular groove on, for example, the upper surface of the first slide block 26, which is capable of just clamping the lower end of the carrier, such as the lower end of the table body 28 shown in fig. 3 having a rounded rectangular structure, and capable of directly clamping into the rectangular groove.

In some embodiments, the carrier 27 may be fastened to, for example, the first sliding block 26 by using a fastener, and in the structure illustrated in fig. 3, the lower end of the table 28 of the carrier 27 has a seat plate 33, and the seat plate 33 has a mounting hole 32, and may be mounted on the first sliding block 26 by using, for example, a screw.

Since, for example, the carrier 27 is a light carrier, it can be assembled using, for example, a single or two screws.

When a screw is used for assembly, a positioning structure, such as the tenon or the rectangular groove, can be matched, and after the carrier 27 is clamped into the rectangular groove, the screw is used for assisting fastening.

For example, the first slide 26 could theoretically rest at any position within its working stroke, driven by a linear motion mechanism, and in the embodiment of the invention, two stops are used to define two basic rest positions, and then the other stops are set according to the configuration and position of other process equipment included in the dosage transporter.

Accordingly, the parking position, i.e. the station, can be seen from the above description, which is based on the characteristics of the linear motion mechanism, and the dispensing carrier 8 according to an embodiment of the present invention can have two or more stations.

For convenience of description, a station adapted to the first of the two stops is referred to as a first station, and a station adapted to the second stop is referred to as a second station, as an example.

Further, the stage 27 is provided with first positioning holes for positioning the synthetic medicine bottles 30 and second positioning holes for positioning the raw material medicine bottles 31, and the number of the first positioning holes is n times the number of the second positioning holes, where n is 3 to 10.

For synthetic drugs, the number of raw material drugs is generally relatively large, and as mentioned above, if a one-to-one configuration mode of the raw material drug bottles 31 and the synthetic drug bottles 30 is adopted, the problem of serious unbalance between the capacity specifications of the raw material drug bottles 31 and the synthetic drug bottles 30 is inevitably caused, the size design of the carrier 27 is affected, that is, the design of the synthetic drug bottles 30 with relatively large capacity needs to be satisfied, and the size redundancy of the raw material drug bottles 31 with small capacity is too large.

When the number of the synthetic medicine bottles 30 is relatively large, one raw material medicine bottle 31 can store a relatively large number of raw material medicines, so that the volume specifications of the synthetic medicine bottles 30 and the raw material medicine bottles 31 are relatively close to each other, the sizes of the first positioning holes and the second positioning holes are relatively reasonable, and the overall size of the carrier 27 is relatively compact.

It should be noted that, as mentioned above, since the number of the raw material bottles 31 on the carrier 27 is as small as possible, for example, 1, because of the large number of raw material medicines, under the condition that, for example, the robot picks up one raw material bottle 31 at a time and then performs, for example, code scanning recognition on it, it is not easy to make mistakes.

When the number of the third positioning holes is 1, one end of the first positioning hole row is defined as an initial end, and the second positioning hole is aligned with the first positioning hole at the initial end of the first positioning hole row, as shown in fig. 3, only one of the drug vials 31 in fig. 2 is located at the lower right corner of the table 28 in the figure.

After the liquid medicine of the raw material medicine bottle 31 is taken out, for example, the manipulator takes out the empty raw material medicine bottle 31, picks up other raw material medicine bottles 31, and so on, the distribution of all the raw material medicines is completed, and the mistake is not easy to make.

In the structure illustrated in fig. 2 and 3, the carrier 27 is further provided with a third positioning hole for positioning the synthetic drug bottle cap 29;

the number of the third positioning holes is the same as that of the first positioning holes, and the third positioning holes correspond to the first positioning holes one to one. It should be noted that no matter what type of correspondence is adopted, the correct understanding of the skilled person is not influenced, and the necessary meaning is that one synthetic medicine bottle 30 is matched with one synthetic medicine bottle cap 29, the closer the synthetic medicine bottle 30 is, the better the synthetic medicine bottle cap 29 is, only one negative influence factor is, namely, whether the pipetting is influenced, if not, the smaller the distance between the synthetic medicine bottle 30 and the synthetic medicine bottle cap 29 which is matched with the synthetic medicine bottle 30 is, the better the pipetting is, and the 10-20 mm is preferably adopted.

In some embodiments, such as the configuration illustrated in fig. 3, the first positioning holes are uniformly arranged in a single row to form a first positioning hole row; note: the first registration hole overlaps the position of the synthetic drug vial 30 shown in fig. 3.

The third positioning holes are uniformly distributed in a single row, and the formed third positioning hole row is positioned on one side of the first positioning hole row; note: the third positioning hole overlaps the position of the synthetic drug vial cap 29 shown in fig. 3.

Further, the second locating hole is located the other side of the first locating hole row, notes: the position of the second positioning hole overlaps with the position of the raw material medicine bottle 31 in fig. 3. The arrangement thus determined would present the three-row arrangement shown in fig. 3, with the synthetic drug vial 30 centered and less prone to interference with pipetting movements.

As can be seen from the structure of fig. 3, the carrier 27 has a base plate 33 at the bottom for connection with the first slide 26, the base plate 33 being located at the side of the second positioning hole in line with the part of the carrier body where the second positioning hole is configured. Note: the rows here are parallel to the first positioning-hole rows described above.

In order to ensure the accuracy of the stop of the first slide 26, for example, a mechanical stop device or structure is mounted or formed on the frame of the linear motion mechanism, corresponding to the first stop point and the second stop point.

The mechanical limit may be provided by a limit device or structure, such as a linear motion mechanism, or may be added with a mechanical limit device or structure, and for a rigid limit, the limit structure or limit device may be, for example, a stop plate, a stop pin, or a stop.

As in-place detection to facilitate integration with the drug synthesis device, the first dead point and the second dead point are provided with sensors for detecting whether the carrier is in place, which are not shown in the figure.

As an auxiliary explanation, referring to fig. 1 to 3, in fig. 1, the carrier 27 is stopped at the left end of the first dust-free module 25, that is, the start end of the table 11, and is adapted to a first stop point, at this time, five synthetic medicine bottles 30 can be sequentially transferred from the process equipment of the previous stage, and the opening of the cover can be completed on the process equipment of the previous stage, or can be completed at the first stop point, for example, after the synthetic medicine bottles 30 are picked up, the opening of the cover component 12 is performed, and the synthetic medicine bottle cap 29 is placed at a predetermined position of the table 28.

And then pick up a raw material medicine bottle 31, this moment can be the uncapped state of raw material medicine bottle 31, also can be uncapped state, if it is uncapped state already, then microscope carrier 27 moves to the laxative position, if uncap, then move to the laxative position after uncapping, the bottle lid of the raw material medicine bottle 31 after uncapping is directly abandoned from big mouth 6 of abandoning.

In the dispensing position, for example the left dispensing assembly 15 in fig. 1, the dispensing pipette picks up the tips 46, draws the drug substance from the vial 31 and sequentially dispenses a given amount of the drug substance into the five vials 30, and then discards, for example, the current tip 46 into the small discard port 13 and the empty vial 31 into the small discard port. In some embodiments, the vial 31 may be dropped into the large discard opening 6 after the carrier 27 is reset, i.e., returned to the first dead center, and then filled with the second drug substance, and so on.

The laxative can mix the medicine after several kinds of bulk drugs give in proper order as before, mix the medicine and can use big rifle head 41 to inhale with the help of the liquid transfer gun and beat, inhale then beat and realize mixing the medicine promptly, laxative, mix the medicine and can use a subassembly of dispensing to accomplish, also can a subassembly of dispensing to beat the medicine, another subassembly of dispensing realizes mixing the medicine, as shown in figure 1 left side subassembly 15 that dispenses, right side subassembly 16 that dispenses, one is used for laxative, one is used for mixing the medicine, the rifle head that is suitable for is different, the liquid transfer gun of adaptation can be the same, also can be different.

The insecticide-spraying and the insecticide-mixing can be finished on one station or two stations, and the station position of the carrier 27 is matched.

The structure illustrated in fig. 1 is further provided with a cap locking device 18, that is, after all the raw material medicines are dispensed and the final medicine mixing is completed, the carrier 27 is at the position shown in fig. 2, that is, the second dead point, the synthetic medicine bottle 30 is locked, and then is transferred to the transfer table 17, so that the transfer table 17 can be transferred to the downstream process equipment.

The gun head magazine transfer device 7 will be described below, and with reference to the structure illustrated in fig. 1, the gun head magazine transfer device 7 has a relatively small operating stroke with respect to the dispensing carriers 8, that is, the second slider 38 provided in the gun head magazine transfer device 7 only needs to be moved finally to the mixing area 14, and does not need to be moved further to the area where the lock cover device 18 is located, and the other components may be arranged with reference to the dispensing carriers 8.

The method comprises the following specific steps:

in view of the fact that the large head cartridge 40 and the small head cartridge 45 have definite front, rear, left, and right, and therefore, for example, the large positioning groove 39 for positioning the large head cartridge 40 whose orientation is defined in the orientation of the large head cartridge 40 and, correspondingly, the small positioning groove 44 is defined in the orientation of the small head cartridge 45, the two reference frames are independent of each other and do not affect the proper understanding of those skilled in the art, and those skilled in the art are accustomed to defining the orientation on the basis of a direct operation object.

In addition, as an independent reference system, the front, back, left and right of the gun head box are just opposite to the front, back, left and right of the workbench 11, namely the front, back and left of the gun head box are consistent with the left and right of the workbench 11, and the expression does not influence the correct understanding of the skilled person.

For example, if the operation object is the small head box 45, the side where the back side hinge is located is generally the back side, also called back side, and the side opposite to the back side is the box buckle operation side, i.e. front side.

It will be appreciated that the tip magazine has a relatively regular rectangular box configuration, with the channel configuration being a rectangular channel, for example, for the small positioning slot 44. Likewise, the large positioning groove 39 is also a positioning groove, which is also a rectangular groove.

In addition, in the embodiments of the present invention, the term "size" is a pair of relative concepts, and does not have a specific limitation in quantity.

In the mechanical field, there are two basic motion forms, namely linear motion and rotary motion, both of which can be realized directly by a power machine, and can also be converted with each other, and relative to the rotary motion, the linear motion is the basic motion form of conveying, so that in the technical field of conveying, a linear motion mechanism is often the first choice.

For the linear motion mechanism of the gun head box transplanting device 7 and the working stroke, reference may be made to the contents of the dispensing carrier 8 described above with respect to the linear motion mechanism and the working stroke.

Further, alternatively, the linear movement mechanism of the tip magazine transplanting device 7 also employs a nut screw mechanism, denoted as a second nut screw mechanism, and further preferably employs a commercially available dust-free module, such as a second dust-free module 36 shown in fig. 4.

It should be noted that, in the embodiment of the present invention, both dead points of the second slider 38 may be working positions. One dead point of the second slide block 38 is used as a feeding position of the gun head box, and the other dead point is a feeding position of the gun head, in other words, the gun head box runs to a target position, namely the right end, after being fed from the left end of the linear motion mechanism, namely reaches the feeding position of the gun head when running to the other dead point.

In the embodiment of the invention the magazine transfer device mainly comprises a linear movement mechanism, as described above, having a given working stroke limited by the magazine feed position and the magazine loading position of the lances, a large positioning slot 39, a small positioning slot 44, which two loading positions are adapted to the two stations, in other words the linear movement mechanism for the circulation of, for example, the second slide 38 between the two stations. Adapted to the foregoing description, for example, the second slide 38 has a third stop point and a fourth stop point, corresponding to the feeding position of the magazine tip and the feeding position of the magazine tip, and the distance between the two work stations, i.e. the working stroke of the second slide 38, is also the distance between the two stop points.

Correspondingly, the large positioning slot 39 and the small positioning slot 44 are mounted on, for example, the second slider 38, and the positioning slots are suitable for positioning relative to regular boxes, so that the structural form adaptability is relatively good.

In the configuration illustrated in fig. 4, in order to avoid interference between the covers of the large and small head cases 40 and 45 after opening the case and to relatively distribute the feeding positions of the tips in a small range, on the one hand, the two head cases need to be arranged face to face, that is, the front side of the small head case 45 is opposite to the front side of the large head case 40, and the back sides are away from each other. As a factor of assurance, the large positioning groove 39 and the small positioning groove 44 have a fool-proof structure such that the front side of the positioned large head cartridge 40 and the front side of the small head cartridge 45 constitute adjacent sides, i.e., face-to-face.

Fool-proofing (japanese: ポカヨケ; english: Fool-proofing) is a technological term, is a behavior constraint means for prevention and correction, and applies a limitation method for avoiding error, so that an operator can directly and infallibly complete correct operation without paying attention and without experience and professional knowledge. In industrial design, in order to avoid the injury of machines or human bodies caused by misoperation of users (including unconscious actions, subconscious misoperation or careless limb actions), a precaution is taken against the possible situations, which is called fool-proofing.

For large positioning slots 39, the fool-proofing structure typically utilizes, for example, the self-profile of the large cartridge 40, such as its projection of the cartridge catch, hinge relative to the front or rear panel of the large cartridge 40. In an embodiment of the present invention, the fool-proofing structure is a relief groove corresponding to, for example, a box buckle and/or a hinge of the large cartridge 40. The same applies to the small positioning groove 44.

Furthermore, the fool-proof structure is a groove provided on the front groove wall of the large positioning groove 39 and the front groove wall of the small positioning groove 44, and the groove is used for accommodating the box buckle when the large gun head box 40 or the small gun head box 45 is correctly installed, and is interfered with the hinge on the back side of the large gun head box 40 or the small gun head box 45 when the large gun head box 40 or the small gun head box 45 is reversely installed. The gun head box is characterized in that the positions of the box buckle and the box cover hinge are different, and the individuals are different, the positions comprise the position in the vertical direction and the position in the left-right direction, and generally the positions are different, so that the gun head box can be effectively prevented from being fooled based on the difference.

In the configuration illustrated in fig. 4, the large head cartridge 40 and the small head cartridge 45 are juxtaposed on the second slider 38, and the juxtaposition may be either in the direction of movement of the second slider 38 or in the direction perpendicular to the direction of movement of the second slider 38 in the horizontal plane.

The juxtaposition in the configuration illustrated in fig. 4 is in the left-right direction of the table 11, and is adapted to the relative positions of the left dispensing assembly 15 and the right dispensing assembly 16 in the left-right direction of the table 11, wherein the large tip magazine 40 is located at the right of the small tip magazine 45, and the two dispensing assemblies can pick up the large tips 41 and the small tips 46 respectively at the right end parking position of the second slide block 38, without frequently moving the second slide block 38 in order to meet the picking up of the corresponding tips by the two dispensing assemblies, thereby having better controllability.

In the structure illustrated in fig. 4, the large cartridge 40 and the small cartridge 45 are juxtaposed in the moving direction of the second slider 38, so that the sweeping range during the movement is relatively small, and the movement interference is not easily generated, thereby facilitating the overall design of the pharmaceutical compounding device, for example.

In the preferred embodiment, the small positioning slot 44 is offset to the side of the fourth dead point relative to the large positioning slot 39, and the usage amount of the small gun heads 46 contained in the small gun head box 45 is larger than that of the large gun heads 41 contained in the large gun head box 40, for example, a manipulator with a pipette at the tail end is often closer to the fourth dead point, and the small gun head box 45 is offset to the side of the fourth dead point, which is beneficial to reducing the amount of motion of the manipulator and thus improving the dispensing efficiency.

Further, in order to reduce the amount of movement of the manipulator and improve the dispensing efficiency, referring to the structure illustrated in fig. 4, the position of the small positioning groove 44 for holding the small gun head box 45 is higher than the position of the large positioning groove 39 for holding the large gun head box 40, so that when the large gun head 41 or the small gun head 46 is picked up, the height of the corresponding pipette manipulator is the same or corresponding, and under the condition, the design of the end pose of the manipulator is reduced due to the consideration factors, and the programming of the end pose of the manipulator is facilitated.

The holder, for example, for holding the small cartridge 45 is usually the bottom of the small positioning groove 44, and the large positioning groove 39 is the same.

In the structure illustrated in fig. 4, the side wall plate of the large positioning groove 39 is provided with a groove for abdicating, which is referred to as a jaw abdicating groove, corresponding to, for example, the left and right sides of the large head box 40, so that the side wall plate is generally U-shaped, which is referred to as a U-shaped plate. The same applies to the small positioning groove 44.

For example, the large head box 40 has a regular shape, and therefore, it is generally possible to grip the large head box 40 by using the gripping jaws, which grip the body portion of the large head box 40 as much as possible when gripping the large head box 40, and therefore, it is necessary to prevent the side wall plates from interfering with the gripping jaws and moving into the U-shaped plate.

In order to facilitate the integration of the pharmaceutical compounding device, a pair of sensors is provided on the frame of the second dust-free module 36, one of which is disposed at the third stopping point for detecting the in-position of the second slider 38 at the third stopping point, so that after the second slider 38 is in position, the feeding robot can feed the large cartridge 40, or the feeding robot jaws can clamp the large cartridge 40 passing through the opened cartridge to the large positioning slot 39 parked in position for feeding.

Furthermore, the other of the two sensors is arranged at the fourth stopping point and is used for detecting the in-place of the second slide block 38 at the second branch point, and after the in-place, the gun head box is indicated to be in place, and the liquid-transfering gun can carry out the picking operation of the corresponding gun head.

The sensor selection is preferably the first photosensor 37 and the second photosensor 42, and the second selection is a travel switch which requires mechanical contact, and the second selection is a poor reliability with respect to, for example, the first photosensor 37. For example, the first photosensor 37 is a non-contact sensor, preferably a slot photosensor, but other types of first photosensors 37, such as a correlation photosensor, may be used.

Further, adapted to the first and second photosensors 37 and 42, the second slider 38 is provided with a first sensing piece 43, and the moving path of the first sensing piece 43 passes through the notches of the corresponding first and second photosensors 37 and 42, so that when the second slider 38 carries the first sensing piece 43 to the corresponding notch, the light is interrupted, and for example, the first photosensor 37 outputs a signal indicating that the second slider 38 is in place.

For the configuration of the travel switch, the principle is the same as for example the first photoelectric sensor 37, but the travel switch is a mechanical switch, and it is necessary to have a mechanical arm whose part pushes the travel switch during the movement of for example the second slider 38, on the basis of which the skilled person can easily realize.

The part for pushing the mechanical arm of the travel switch is referred to as the trigger, and the second slider 38 itself may also be used as the trigger.

As the first sensing piece 43, a piece having a light shielding function may be used, for example, an iron piece or an opaque plastic piece, which is only required to be inserted into the notch, thereby shielding light of the second photosensor 42, for example.

In addition, regarding the second nut screw mechanism configured for the gun head box transfer device 7, a finished nut screw mechanism called a dust-free module, that is, the dust-free module as described above, specifically, the second dust-free module 36 shown in fig. 4, appears at present, and details thereof are not repeated.

In fig. 4, the second dust-free module 36 power machine is a second servo motor 35, and the second servo motor 35 is configured with a standard cable plug 34, such as a 12-pin plug, and may also be a standard aviation plug to facilitate wiring.

In order to realize higher precision control, the second servo motor 35 is provided with a rotary encoder or a grating ruler is arranged on a frame of the screw nut lead screw mechanism.

In addition, in order to ensure the accuracy of the stop of the second slider 38, for example, a mechanical stop device or structure is mounted or formed on the frame of the linear motion mechanism corresponding to the third dead point and the fourth dead point.

The mechanical limit may be provided by a limit device or structure, such as a linear motion mechanism, or may be added with a mechanical limit device or structure, and for a rigid limit, the limit structure or limit device may be, for example, a stop plate, a stop pin, or a stop.

As for the baffle, for example, an end plate 47 as shown in fig. 4 may be used.

On the basis of the detailed description of the configurations of the dispensing carrier 8 and the gun tip magazine transfer device 7, the description of the other parts of the dispensing and transferring machine will become relatively simple, and the following description will be made of the other mechanical parts of the dispensing and transferring machine:

firstly, the machine platform comprises a bottom plate 3, a workbench 11 and a vertical frame 21 assembled by the bottom plate 3 and the workbench 11 in a figure 1, wherein the bottom plate 3 is provided with a rectangular bottom frame, spiral support legs 1 are arranged below the bottom frame to adjust the levelness of the workbench 11, meanwhile, the bottom frame is also provided with caster wheels 2, when the dispensing transfer machine needs to be moved, the spiral support legs 1 are adjusted upwards to support the caster wheels 2 on the bottom surface, and after the machine platform is moved in place, the spiral support legs 1 are adjusted to separate the caster wheels 2 from the bottom surface, so that the stability of the machine platform is relatively good.

In addition, the left end and the right end of the bottom plate 3 or the bottom frame are provided with connecting plates 22 for connecting the dosage transfer machine with the upper-stage process equipment or the lower-stage process equipment.

The space between the table 11 and the base plate 3 may be provided with other devices, such as an industrial personal computer 20 shown in fig. 1 and wiring, constituting an electrical box portion, and also for accommodating the large recovery tank 4 and the small recovery tank 5, and the like.

It should be noted that, in the embodiment of the present invention, for example, the large recycling bin 4 and the small recycling bin 5 are a pair of opposite concepts without any specific limitation. Similarly, other technical features using a large or small definition are, based on the same considerations, all relative concepts without any quantitative specific definition, such as the small tip 46 and the large tip 41, while other, for example, the small tip box 45 is a tip box for containing the small tip 46 and has a name relevance.

Representative components of the other components mounted on the table 11 will be described in detail with the same structure, and other similar components will be referred to as applicable, such as the left dispensing unit 15 and the right dispensing unit 16, which are identical in driving form and only slightly different in positional arrangement of the pipette. The cover opening assembly 12 and the cover locking device 18 may be identical in structure, have the same degree of freedom, and may be different.

For example, the cover opening and cover locking process is characterized in that the cover opening is essentially equivalent to the reverse rotation of the cover locking, and for a forward and reverse rotation motor, the cover opening and the cover locking can be realized on the same process equipment.

In view of the substantial similarity in implementation between components that are similar in function and structure, a detailed description of representative components thereof will be provided below, while reference will now be made briefly to the same components, and reference will now be made to the same components as detailed with respect to their relative structure.

Turning first to the cap-opening assembly 12 shown in fig. 5, which may be an optional component of a dispensing and transferring machine, the cap-opening of, for example, a synthetic drug vial 30, may be accomplished on a prior stage of processing equipment.

In fig. 1, the component which is matched with the cap opening assembly 12 is a first clamping jaw 10, the first clamping jaw 10 is horizontally arranged, the jaw is vertically communicated, when the cap opening assembly 12 clamps, for example, a synthetic medicine bottle cap 29 of a synthetic medicine bottle 30, the synthetic medicine bottle cap moves upwards and then moves towards the jaw, after the synthetic medicine bottle 30 enters the jaw, the first clamping jaw 10 is closed to clamp the synthetic medicine bottle 30, the cap opening motor 49 works to unscrew the cap of the synthetic medicine bottle cap 29 and place the cap on the dispensing carrier 8, then the synthetic medicine bottle 30 is clamped, the first clamping jaw 10 is released, and the cap opening clamping jaw 48 places the clamped synthetic medicine bottle 30 on the dispensing carrier 8.

The first jaw 10 is fixed in position for use with a door release assembly 12 having multiple degrees of freedom.

In fig. 5, the cover opening jaw 48 is mounted on a cover opening motor 49, and in the case of mechanical jaws, which are also generally finished parts, the cover opening jaw 48 and the cover opening motor 49 can be purchased as a finished part in one piece.

The cover opening motor 49 is purchased separately from the cover opening jaw 48 in more applications, wherein the cover opening jaw 48 is provided with a separate motor to drive the cover opening jaw 48 to close or release the jaws. The cover opening motor 49 is a rotating motor, and the cover opening clamping jaw 48 is mounted on a motor shaft of the cover opening motor 49, so that the cover opening clamping jaw 48 clamps the synthetic medicine bottle cap 29, for example, and after the synthetic medicine bottle 30 is clamped by the first clamping jaw 10, the cover opening motor 49 rotates to open the cover.

Further, the lid opening motor 49 shown in fig. 5 has two degrees of freedom, and is specifically configured as follows:

the lid opening motor 49 is mounted on the third slide block 52, the third slide block 52 is driven by the third dust-free module 56, and for precise control, the third dust-free module 56 is provided with the third photoelectric sensor 51 and the fourth photoelectric sensor 54, and correspondingly, the third slide block 52 is provided with the second sensing piece 53, thereby enabling the lid opening motor 49 to obtain a first degree of rectilinear freedom, i.e., a degree of freedom in the vertical direction. The power machine of the third dust-free module 56 is a third servo motor 55.

The fourth dust free module 62 of fig. 5 provides the door motor 49 with a second linear degree of freedom, plus the rotational degree of freedom required for door opening, and has two linear degrees of freedom and one rotational degree of freedom.

In some embodiments, the door release assembly 12 may also have three linear degrees of freedom, and in embodiments of the present invention, where the component has three linear degrees of freedom, the three linear degrees of freedom are, in turn, left-right (lateral), front-back (longitudinal), and vertical degrees of freedom. If only two rectilinear degrees of freedom are provided, there are degrees of freedom in the front-rear direction and the vertical direction.

In the preferred embodiment, the door release assembly 12 employs a third drive mechanism having three linear degrees of freedom. For example, a driving mechanism for driving the pipette gun to operate in the dispensing unit is referred to as a first driving mechanism, and a driving mechanism for driving the cap locking motor 72 to move in the cap locking device 18 is referred to as a second driving mechanism. The basic configuration of the three drive mechanisms can be substantially equivalent in the case where all of the three linear degrees of freedom are employed. The three driving mechanisms may be essentially configured as a robot, such as the lid opening gripper 48, the lid locking gripper 71, and the pipette, or the three driving mechanisms may be configured as a robot as a whole.

Further, in the structure shown in fig. 5 in which the door-opening motor 49 has two degrees of freedom, in order to ensure the stop control accuracy of the driving, the fourth dust-free module 62 is provided with a fifth photosensor 60, a sixth photosensor 63, and a third sensing piece 59 mounted on a fourth slider 61, respectively.

In fig. 5, as an indicative element, a tow chain 50 integrating cables, a mounting plate 57 (shown as a vertical plate or other plate type) for mounting the cover opening assembly 12 on a machine table, and a junction box 58 for connecting external cables are further included.

There are also some elements not shown in fig. 5, such as a cable plug on the fourth servomotor 64.

Fig. 6 is a schematic structural diagram of the dispensing assembly, which may be provided with only one dispensing and transferring machine or two dispensing and transferring machines, and when two dispensing and transferring machines are provided, the structure illustrated in fig. 1 is referred to, and has been mentioned above, and will not be described again.

Purely by construction, the dispensing assembly basic structure illustrated in FIG. 6 can be employed for both the left dispensing assembly 15 and the right dispensing assembly 16 in FIG. 1.

Two pipette guns, a small pipette gun 67 and a large pipette gun 68, are provided in fig. 6, and this configuration is suitable for the example of a dispensing and transfer machine equipped with only one dispensing assembly, while in the example equipped with two dispensing assemblies, for example, the small pipette gun 67 is used for both pipette guns of the left dispensing assembly 15 and the large pipette gun 68 is used for both pipette guns of the right dispensing assembly 16.

The multiple pipette guns of the same type are matched, different raw material medicines possibly have higher requirements on whether other types of raw material medicines are transferred before the pipette guns, and the interference of the raw material medicines before mixing can be reduced by means of the multiple pipette guns.

In fig. 6, two pipetting guns have two degrees of freedom, the degree of freedom in the horizontal direction, i.e., the degree of freedom in the front-back direction (longitudinal direction), is provided by a fifth dust-free module 66, the fifth dust-free module 66 drives a carriage on which two vertical rails are mounted, and a seventh servo motor 69 and an eighth servo motor 70 respectively drive a screw lead screw mechanism, thereby driving a small pipetting gun 67 or a large pipetting gun 68 to move in the vertical direction.

The power machine of the fifth dust-free module 66 is the fifth servo motor 65.

For other specific configurations of the dispensing assembly shown in fig. 6, reference may be made to the foregoing description of the cover assembly 12.

Fig. 7 shows a configuration of the locking cap device 18, which also shows more completely a supporting structure of the locking cap device 18, specifically a gantry assembled by a frame body 82 and two columns, and an application of the gantry in fig. 1 is also applied to the dispensing device and the cap opening assembly 12.

The gantry spans, for example, the front and rear sides of the pharmaceutical carriers 8, facilitating handling of the pharmaceutical carriers 8 carrying, for example, synthetic drug vials 30.

An example of three linear degrees of freedom is shown in fig. 7, which for a more direct presentation is identified using an X-axis motor 78, a Y-axis motor 80, and a Z-axis motor 75 to identify the actuation of the locking lid motor 72 in X, Y, Z three dimensions. The arrangement differs from the door assembly 12 only in that it is arranged on a different component.

The cap locking jaw 71 is further provided with a second fixed jaw 19, the second jaw 19 is used for holding the synthetic medicine bottle 30, and the cap locking jaw 71 is driven by the cap locking motor 72 to rotate, thereby realizing cap locking.

Accordingly, the locking lid motor 72 is a rotary motor.

The cover locking motor 72 is further installed on a sixth sliding block 73, the sixth sliding block 73 is driven by a sixth dust-free module 74 which is vertically arranged, and the Z-axis motor is a power machine of the sixth dust-free module 74.

Further, the sixth dust-free module 74 is mounted on a seventh slider driven by the seventh dust-free module 77, and the X-axis motor 78 is a power machine of the seventh dust-free module 77.

Further, the seventh dust free module 77 is installed on an eighth slider driven by the eighth dust free module 79, and the Y-axis motor 80 is a power machine of the eighth dust free module 79.

The connection member introduced as electric power is, for example, a connection terminal 76 in fig. 7.

Fig. 7 more fully reflects the installation pattern of one component, and other components may be referred to for use, such as for the drag chain 50, and may also be supported by a drag chain sheet metal frame 81.

Fig. 8 shows a schematic structural diagram of the transfer table 17, in which the transfer table 17 has a mounting seat 83 to facilitate mounting the transfer table 17 on the workbench 11, and the carrier of the transfer table 17 is a box 84 with downward positioning holes to form a matrix structure of rows and columns for placing the synthetic drug bottles 29 and 30 in rows.

Since the synthetic medicine bottle 30 can be placed on the transfer table 17 after the locking of the cap is completed, the synthetic medicine bottle cap 29 may not be placed on the transfer table 17.

When the synthetic drug vial 30 on the central turret 17 is filled, for example, it can be transferred to a subsequent industrial facility by another robot, for example.

Claims (10)

1. The utility model provides a transfer machine dispenses to this direction of transferring machine transferring is horizontal, correspondingly, and is vertical with horizontal looks vertically direction in the horizontal plane, its characterized in that, the transfer machine dispenses includes:

a work table;

the dispensing carrier is transversely arranged on the workbench, one end of the dispensing carrier is positioned at the initial end of the transfer direction of the workbench, the initial end is a left end, and the tail end is a right end; a first positioning hole for positioning a synthetic medicine bottle and a second positioning hole for positioning a raw material medicine bottle are arranged on a loading platform of the medicine dispensing carrier; the mechanism which is matched with the dispensing carrier and used for driving the carrying platform is a first nut screw mechanism;

the gun head box transferring device is transversely arranged on the workbench, is positioned on one side of the dispensing carrier, and has one end positioned at the initial end of the transfer direction of the workbench; the gun head box transfer device is provided with a transfer mechanism which is a second screw lead screw mechanism, and a second slide block which is provided with the second screw lead screw mechanism is provided with or constructs a gun head box positioning groove;

the dispensing assembly is positioned in the transverse middle of the dispensing carrier and comprises a liquid transfer gun with two or three mutually vertical linear degrees of freedom and a first driving mechanism for driving the liquid transfer gun to provide the two or three degrees of freedom; and

the cap locking device is positioned at the transverse tail end of the dispensing assembly and used for locking the cap of the synthetic medicine bottle after medicine mixing is finished, and correspondingly, the cap locking device comprises a cap locking actuating part and a second driving mechanism for driving the cap locking actuating part;

the gun head box positioning groove comprises a large gun head box positioning groove and a small gun head box positioning groove, and correspondingly, the liquid transfer gun is provided with a large gun head liquid transfer gun for mixing the medicines and a small gun head liquid transfer gun for spraying the medicines.

2. A dispensing and transferring machine according to claim 1, wherein a disposal opening is provided on the table for disposing of used gun heads, empty gun head cartridges and empty raw material vials;

correspondingly, a recycling bin for receiving the discarding port is arranged below the workbench.

3. The machine of claim 2, wherein the disposal port and the dispensing carrier are located on either side of the horizontal direction of the cartridge transfer device;

the two discarding ports are provided, wherein the relatively larger one is positioned at the initial end of the transfer direction of the workbench and is marked as a large discarding port, and the other one is positioned at the dispensing assembly and is marked as a small discarding port;

correspondingly, a recycling bin adapted to a large discard opening is a large recycling bin, and a recycling bin adapted to a small discard opening is a small recycling bin, wherein the small recycling bin only recycles gun heads.

4. The dispensing and transferring machine according to claim 1, wherein there is one each of the small gun head cartridge positioning slot and the large gun head cartridge positioning slot, the small gun head cartridge positioning slot and the large gun head cartridge positioning slot are arranged laterally on the second slider, and the small gun head cartridge positioning slot is located on the left side of the large gun head cartridge positioning slot;

correspondingly, the dispensing assembly comprises a left dispensing assembly used for dispensing and a right dispensing assembly used for mixing, wherein the pipette gun matched with the left dispensing assembly is a small gun head pipette gun, and the pipette gun matched with the right dispensing assembly is a large gun head pipette gun.

5. A dispensing and transferring machine according to claim 4, wherein two of the pipette guns are respectively provided for dispensing or mixing the medicines in groups.

6. A dispensing and transferring machine according to claim 1, wherein a code scanner is provided at the beginning of the table for inspecting the raw material vials.

7. A dose transporter according to claim 1 or 6, wherein a cover opening assembly is provided at the beginning of the table, the cover opening assembly comprising:

the first clamping jaw is positioned on the upper side of the starting end of the dispensing carrier and used for clamping the bottle body;

the cover opening clamping jaw is provided with a first clamping jaw head for clamping a bottle cover and a first rotating motor for driving the first clamping jaw head to rotate around a vertical axis of the first clamping jaw head; and

and the third driving mechanism outputs and drives the uncovering clamping jaw, so that the uncovering clamping jaw has two or three linear degrees of freedom which are perpendicular to each other.

8. The machine according to claim 1, characterized in that said cap-actuating portion comprises a cap-gripping jaw comprising a second gripper head for gripping a cap and a second rotary motor for driving the second gripper head in rotation about its vertical axis;

correspondingly, the locking cover actuating part also comprises a second clamping jaw for clamping the bottle body.

9. A dispensing and transhipment machine according to claim 1, wherein a transfer table is provided beneath the lock-cover device, the transfer table having an array of registration holes for registration of vials.

10. A dispensing and transferring machine according to claim 1, wherein the dispensing assembly is provided with a gantry, which is longitudinally positioned with the associated cross-member above the dispensing carrier and the gun magazine transfer means.

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