CN108904277A - Injecting drug use automated intelligent dispensing machine - Google Patents
Injecting drug use automated intelligent dispensing machine Download PDFInfo
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- CN108904277A CN108904277A CN201810855606.1A CN201810855606A CN108904277A CN 108904277 A CN108904277 A CN 108904277A CN 201810855606 A CN201810855606 A CN 201810855606A CN 108904277 A CN108904277 A CN 108904277A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
- A61J1/14—Details; Accessories therefor
- A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
- A61J1/2003—Accessories used in combination with means for transfer or mixing of fluids, e.g. for activating fluid flow, separating fluids, filtering fluid or venting
- A61J1/2006—Piercing means
- A61J1/201—Piercing means having one piercing end
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
- A61J1/14—Details; Accessories therefor
- A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
- A61J1/2003—Accessories used in combination with means for transfer or mixing of fluids, e.g. for activating fluid flow, separating fluids, filtering fluid or venting
- A61J1/2048—Connecting means
- A61J1/2051—Connecting means having tap means, e.g. tap means activated by sliding
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
- A61J1/14—Details; Accessories therefor
- A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
- A61J1/2003—Accessories used in combination with means for transfer or mixing of fluids, e.g. for activating fluid flow, separating fluids, filtering fluid or venting
- A61J1/2048—Connecting means
- A61J1/2055—Connecting means having gripping means
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- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Pharmacology & Pharmacy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The present invention relates to injecting drug use automated intelligent dispensing machines, including pedestal, the liquid uniform shaking mechanism of medical fluid in cillin bottle can be shaken up, the clamping medicine bottle mechanism of cillin bottle can be gripped, syringe pumping mechanism, the automatic Tui Ping mechanism that cillin bottle can be exited from clamping medicine bottle mechanism, electric part and mother liquor vessel clamping device, liquid uniform shaking mechanism is fixedly installed in the top of pedestal, clamping medicine bottle mechanism is installed on liquid uniform shaking mechanism, syringe pumping mechanism extracts the infusion base fluid in mother liquor vessel out, and it injects in cillin bottle, after liquid uniform shaking mechanism shakes up, the medical fluid in cillin bottle is extracted out by syringe pumping mechanism again, and it refills in mother liquor vessel.The advantage of the invention is that：Equipment is small, and the automation equipment that nurse can be replaced to make up a prescription by hand reduces the labor intensity of nurse, also it can avoid employment injuries, it, can specification dispensing flow using electrical control, working efficiency is improved, every nurse it is artificial can at least to save 50% with two to three machines of trustship.
Description
Technical field
The present invention relates to pharmaceutical technology fields, especially injecting drug use automated intelligent dispensing machine.
Background technique
Dependence with market to medical instrument, robot medical treatment epoch come up to us already, and medical treatment innovation has become
The only way which must be passed, promoting domestic Medical Equipment Development application is in-depth medical reform, reduces the urgent need of medical treatment cost, domestic each medical treatment
How mechanism operates under the new situation medical reform, and how to meet hospital is particularly important under the new situation the needs of.
The process that present most of hospitals make up a prescription, the process of substantially making up a prescription of cillin bottle pulvis.Prescription is sent to after matching coyote hole, first
The reasonability of prescription is audited by pharmacist, whether there is or not incompatibility, carry out the configuration of medical fluid by nurse if there is no problem.Match in nurse
Before setting medical fluid, various preparations are first carried out, such as wear gloves, disinfection.Then prescription information, drug medical instrument information etc. are checked,
Print label after errorless, is labelled on medicine bottle；Then according to prescription, each XiLin is injected after extracting base fluid by prescription requirements
Medical fluid is extracted out by syringe after shaking up medicament, injects in mother liquor vessel, finally check again medical fluid, empty bottle etc., nothing by bottle
It is labelled stand-by after accidentally.
The advantage manually made up a prescription is to configure complicated medicament, but have many disadvantages in the heavy operating process of this repetition
End：1, the labor intensity of medical staff is increased；2, medical staff has by glass scratch or punctures the risk of wound；3, it prepares toxic
It may occur in which invisible spilling when medicament, after these particles enter human body, harm is serious and lasting, including blood vessel bolt
Plug, granuloma, allergic reaction, cancer reaction, heat source response, phlebitis, decrease of platelet etc.；4, because of the method fault of aspiration medicinal liquid
So that particulate matter is entered liquid causes to generate secondary pollution during making up a prescription；5, it is unable to accurately control the liquid volume of pumping,
Even there is blunder,pharmaceutical.So to ensure drug safety clinically and the health of medical staff, the tune of intravenous administration
Enough attention should be obtained with the stage.
Summary of the invention
The purpose of the present invention is to overcome the shortcomings of the existing technology, provides a kind of injecting drug use automated intelligent dispensing machine, energy
It realizes through standard syringe, after extracting and being infused base fluid, medicament in one group of cillin bottle is uniformly mixed, then will be uniformly mixed
Medicament pass through standard syringe inject mother liquor vessel in this process.
The purpose of the present invention is achieved through the following technical solutions：Injecting drug use automated intelligent dispensing machine, including pedestal, energy
Enough shake up the liquid uniform shaking mechanism of medical fluid in cillin bottle, the clamping medicine bottle mechanism that cillin bottle can be gripped, syringe pumping machine
Structure, automatic Tui Ping mechanism, electric part and the mother liquor vessel clamping device that cillin bottle can be exited from clamping medicine bottle mechanism,
The liquid uniform shaking mechanism is fixedly installed in the top of pedestal, and the clamping medicine bottle mechanism is installed on liquid uniform shaking mechanism
On, syringe pumping mechanism extracts the infusion base fluid in mother liquor vessel out, and injects in cillin bottle, shakes through liquid uniform shaking mechanism
After even, then by syringe pumping mechanism by the medical fluid extraction in cillin bottle, and refill in mother liquor vessel.
Further, the syringe pumping mechanism mounting groove of upward opening, the syringe are provided in the middle part of the front side of the pedestal
Pumping mechanism is vertically installed in syringe pumping mechanism mounting groove, is provided with returnable bottle charging conduit, institute in the middle part of the rear side of the pedestal
The inside for stating pedestal is hollow structure, which is electrical storehouse, and the electric part is arranged in the electrical storehouse, the base
The front side wall side of seat is equipped with screen installation base surface, is equipped with touch screen on the screen installation base surface.
Further, the liquid uniform shaking mechanism includes cantilever, shakes up motor and rotating disk, and the lower end of the cantilever is fixed
At the top of pedestal, the upper end for shaking up motor and being fixedly mounted on cantilever, the output end for shaking up motor is equipped with rotation
Disk, the rotating disk are the plank frame of regular polygon, fixed peace on each side wall of the plank frame of the regular polygon
It is in 45 ° of angles between plane and horizontal plane where the rotating disk equipped with clamping medicine bottle mechanism；The mother liquor vessel clamping device
Including mother liquor vessel support frame, mother liquor vessel is fixed on mother liquor vessel support frame.
Further, the clamping medicine bottle mechanism includes clamping medicine bottle bracket, clamping medicine bottle plate and flexible collar, the medicine
Bottle clamp bracket is fixed on the side wall of rotating disk, and the clamping medicine bottle plate is fixed on the end of clamping medicine bottle bracket, the medicine
Bottle grip block is c-type structure, is further fixed on flexible collar on the inside of the clamping medicine bottle plate, and cillin bottle is from the side of clamping medicine bottle plate
It is put into, and the covering part of cillin bottle is caught in flexible collar.
Further, be provided on the bottom surface of the clamping medicine bottle plate for syringe pumping mechanism puncture through-hole, the through-hole with
The covering part consistency from top to bottom of cillin bottle.
Further, syringe pumping mechanism include protective cover, the puncture enforcement division being fixed on the inside of protective cover and
It is mounted on the pumping portion punctured above enforcement division, the puncture enforcement division drives pumping portion to execute puncture movement, the pumping portion
Extraction can be executed to the liquid in cillin bottle and mother liquor vessel respectively and injection acts.
Further, the puncture enforcement division include guide rail bottom plate, guide post, puncture actuating motor, puncture execute lead screw and
It punctures and executes feed screw nut, the guide rail bottom plate is vertically installed on the side wall of syringe pumping mechanism mounting groove, the guide rail bottom
Guide supporting seat is fixed on plate, two sides are symmetrically installed there are two vertical guide post on the guide supporting seat, the guide rail branch
Puncture actuating motor is fixedly installed with below support seat, the output end for puncturing actuating motor is sequentially connected with puncture and executes silk
Thick stick, the puncture execute lead screw and are located between two guide posts, and puncture execution lead screw and be parallel to each other with two guide posts, lead at two
Being slidably installed on column has puncture to execute nut seat, and puncture, which executes to be fixed with to puncture in the middle part of nut seat, executes feed screw nut,
The puncture executes feed screw nut and is connect with puncture execution lead screw by being threadedly engaged.
Further, the pumping portion includes syringe bracket, pumping spindle motor, syringe and syringe needle, the syringe bracket
It is fixedly mounted on puncture to execute on nut seat, the syringe bracket includes bracket cylinder, piston seat and pumping feed screw nut, described
Piston seat is set in rack tube body, and the tail portion of the bracket cylinder is fixedly installed with pumping spindle motor seat, the pumping lead screw
Pumping spindle motor is fixedly installed on motor cabinet, the piston seat is hollow structure, and is fixed with pumping in the tail end of piston seat
Feed screw nut is infused, the screw part of the pumping spindle motor is connect with pumping feed screw nut by being threadedly engaged, the bracket
It is provided with syringe guide block mounting groove along its axial direction on the inner wall of cylinder, is fixed in the syringe guide block mounting groove along bracket cylinder
Axially extending syringe guide block, is provided with guide groove along its axial direction on the outer wall of the piston seat, and the syringe guide block and guide groove slide
It is cooperatively connected, the syringe includes syringe barrel, cylinder piston bar and cylinder piston, and the tail end of the syringe barrel is fixed on branch
One end of the front end of frame cylinder, the cylinder piston bar is fixedly connected with the head end of piston seat, the cylinder piston bar it is another
End is fixed with cylinder piston, the inner wall sliding tight fit of the cylinder piston and syringe barrel, and the syringe needle is fixedly mounted on needle
The front end of cylinder cylinder, is further fixed on syringe needle fixing seat, the front end of the syringe needle fixing seat and syringe needle on the downside of the bracket cylinder
It is fixedly connected.
Further, the automatic Tui Ping mechanism includes moving back a bottle support frame, moving back a bottle pressing plate, electromagnet, move back bottle jacking block and move back
Bottle mandril, the lower part moved back bottle support frame and be mounted on cantilever is described to move back the Z-shaped structure of bottle pressing plate, and moves back a bottle pressing plate and hingedly pacify
Mounted in moving back on bottle support frame, described move back also hingedly is equipped with electromagnet base on bottle support frame, is fixedly mounted on the electromagnet base
There is electromagnet, the telescopic end of the electromagnet and the one end for moving back bottle pressing plate are hinged, and bottle jacking block that moves back is set on clamping medicine bottle bracket
On, the inside moved back bottle mandril and be set to clamping medicine bottle bracket, described one end for moving back bottle jacking block passes through with the one end for moving back bottle mandril
Pin links into an integrated entity, and the other end for moving back bottle jacking block has arc groove, which is stuck in the neck side of cillin bottle
On wall, the other end for moving back bottle mandril passes through flexible collar and withstands on the bottle cap side wall of cillin bottle, when electromagnet is shunk,
The other end for moving back bottle pressing plate depresses moving back bottle jacking block and moving back bottle mandril for rotating disk bottom together, moves back bottle jacking block and moves back bottle
Mandril simultaneously exerts a force to the radial direction of cillin bottle, and cillin bottle is ejected out of flexible collar.
Further, the electric part includes single-chip microcontroller and close switch, and the close switch is fixedly mounted on mother liquor
Described to be able to detect that clamping medicine bottle mechanism below close to switch on container support frame, the signal close to switch is defeated
The signal input part of outlet and single-chip microcontroller be electrically connected, the control output end of the single-chip microcontroller respectively with liquid uniform shaking mechanism, medicine
The control signal of bottle clamping device, syringe pumping mechanism and automatic Tui Ping mechanism is electrically connected.
The present invention has the following advantages that：
1, it the present invention provides miniature, customizations a semi-automatic dispensing machine, is able to achieve through standard syringe, passes through syringe
Pumping mechanism will be infused after base fluid extracts out out of mother liquor vessel, and injection is in the cillin bottle of medicament, then passes through liquid rocking evenly machine
Medicament in one group of cillin bottle is uniformly mixed by structure, then uniformly mixed medicament is extracted out admixing medical solutions by syringe pumping mechanism
Reinject this process in mother liquor vessel.
2, the automation equipment that the present invention can replace nurse to make up a prescription by hand, is the primary great innovation on medical history, is terminated
More than 200 years history made up a prescription by hand, reduces the labor intensity of nurse, and also can avoid employment injuries can using electrical control
Specification dispensing flow, improves working efficiency, and every nurse it is artificial can at least to save 50% with two to three machines of trustship.
Detailed description of the invention
Fig. 1 is complete machine structure schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of pedestal；
Fig. 3 is the structural schematic diagram of liquid uniform shaking mechanism；
Fig. 4 is that clamping medicine bottle mechanism is mounted on the structural schematic diagram on liquid uniform shaking mechanism；
Fig. 5 is the structural schematic diagram of clamping medicine bottle mechanism；
Fig. 6 is the side structure schematic diagram of clamping medicine bottle mechanism；
Fig. 7 is in Fig. 6 along A-A schematic cross-sectional view；
Fig. 8 is the mounting structure schematic diagram of flexible collar；
Fig. 9 is the partial structural diagram of automatic Tui Ping mechanism；
Figure 10 is the schematic cross-sectional view of Fig. 9；
Figure 11 is the structural schematic diagram of syringe pumping mechanism；
Figure 12 is the schematic perspective view for puncturing enforcement division；
Figure 13 is the overlooking structure diagram for puncturing enforcement division；
Figure 14 is in Figure 13 along B-B schematic cross-sectional view；
Figure 15 is the schematic perspective view in pumping portion；
Figure 16 is the vertical profile structural schematic diagram in pumping portion；
Figure 17 is that pumping portion removes the schematic diagram of internal structure after pumping spindle motor；
Figure 18 is that pumping portion removes the cross-sectional structural schematic diagram after pumping spindle motor；
In figure：1- pedestal, 1a- syringe pumping mechanism mounting groove, 1b- returnable bottle charging conduit, the electrical storehouse 1c-, 1d- screen install base
Face, 2- liquid uniform shaking mechanism, 2a- cantilever, 2b- shake up motor, 2c- rotating disk, 3- clamping medicine bottle mechanism, 3a- clamping medicine bottle branch
Frame, 3b- clamping medicine bottle plate, 3b1- through-hole, 3c- flexible collar, 3d- cillin bottle, 4- syringe pumping mechanism, 4a- protective cover, 4b-
Enforcement division is punctured, 4b1- guide rail bottom plate, 4b2- guide supporting seat, 4b3- guide post, 4b4- puncture actuating motor, 4b5-, which is punctured, to be executed
Lead screw, 4b6-, which is punctured, executes nut seat, and 4b7-, which is punctured, executes feed screw nut, 4c- pumping portion, 4c1- syringe bracket, 4c11- bracket
Cylinder, 4c12- piston seat, 4c14- pumping feed screw nut, 4c15- syringe guide block mounting groove, 4c16- syringe guide block, 4c17- are led
Slot, 4c2- pumping spindle motor seat, 4c3- pumping spindle motor, 4c4- syringe needle fixing seat, 4c5- syringe, 4c51- syringe barrel,
4c52- cylinder piston bar, 4c53- cylinder piston, 4c6- syringe needle, the automatic Tui Ping mechanism of 5-, 5a- move back a bottle support frame, and 5b- moves back bottle pressure
Plate, 5c- electromagnet base, 5d- electromagnet, 5e- move back a bottle jacking block, and 5f- moves back a bottle mandril, 6- electric part, 7- mother liquor vessel clamping machine
Structure, 7a- mother liquor vessel support frame, 7b- mother liquor vessel, the close switch of 8-.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing, but protection scope of the present invention is not limited to following institute
It states.
As shown in Figure 1, injecting drug use automated intelligent dispensing machine, including pedestal 1, the liquid of medical fluid in cillin bottle 3d can be shaken up
Body uniform shaking mechanism 2, the clamping medicine bottle mechanism 3 that cillin bottle 3d can be gripped, syringe pumping mechanism 4, can be by cillin bottle 3d
Automatic Tui Ping mechanism 5, electric part 6 and the mother liquor vessel clamping device 7 exited from clamping medicine bottle mechanism 3,
The liquid uniform shaking mechanism 2 is fixedly installed in the top of pedestal 1, and the clamping medicine bottle mechanism 3 is installed on liquid rocking evenly machine
On structure 2, syringe pumping mechanism 4 extracts the infusion base fluid in mother liquor vessel 7b out, and injects in cillin bottle 3d, shakes through liquid
After even mechanism 2 shakes up, then by syringe pumping mechanism 4 by the medical fluid extraction in cillin bottle 3d, and refill in mother liquor vessel 7b.
It is understood that mother liquor vessel 7b can be infusion bottle, it is also possible to infusion bag.
Further, as shown in Fig. 2, being provided with the syringe pumping mechanism installation of upward opening in the middle part of the front side of the pedestal 1
Slot 1a, syringe pumping mechanism 4 are vertically installed in syringe pumping mechanism mounting groove 1a, are opened in the middle part of the rear side of the pedestal 1
There are returnable bottle charging conduit 1b, returnable bottle charging conduit 1b to be located at the lower section of automatic Tui Ping mechanism 5, move back bottle through automatic Tui Ping mechanism 5
Cillin bottle 3d is fallen into automatically in returnable bottle charging conduit 1b, and cillin bottle 3d carries over returnable bottle charging conduit 1b and drops out from the rear side of pedestal 1,
Recycling box can be placed in the discharge end of returnable bottle charging conduit 1b, cillin bottle 3d is collected.It is described in order to save occupied area
The inside of pedestal 1 is hollow structure, which is electrical storehouse 1c, and the electric part 6 is arranged in the electrical storehouse 1c, institute
The front side wall side for stating pedestal 1 is equipped with screen installation base surface 1d, is equipped with touch screen, touch screen on screen installation base surface 1d
Importation as electric part 6.
Further, as shown in Figure 3 and Figure 4, the liquid uniform shaking mechanism 2 includes cantilever 2a, shakes up motor 2b and rotation
The lower end of disk 2c, the cantilever 2a are fixed on the top of pedestal 1, the upper end for shaking up motor 2b and being fixedly mounted on cantilever 2a,
The output end for shaking up motor 2b is equipped with rotating disk 2c, and the rotating disk 2c is the plank frame of regular polygon, it is described just
It is fixedly installed with clamping medicine bottle mechanism 3 on each side wall of the plank frame of polygon, in order to facilitate upper bottle manually and automatically
Bottle is moved back, and in order to allow liquid to shake more evenly, is in 45 ° of angles between plane and horizontal plane where the rotating disk 2c, that is,
45 ° of the inclined main axes of liquid uniform shaking mechanism 2；The mother liquor vessel clamping device 7 includes mother liquor vessel support frame 7a, mother liquor vessel
7b is fixed on mother liquor vessel support frame 7a, and mother liquor vessel 7b handstand is fixed on mother liquor vessel support frame 7a, wherein mother liquor holds
The liquid outlet of device 7b has certain rigidity, can be used for clamping.Preferably, rotating disk 2c is positive the board-like knot of dodecagonal
Structure, once can be with 12 cillin bottle 3d of clamping.
Further, as shown in Fig. 5, Fig. 6, Fig. 7 and Fig. 8, the clamping medicine bottle mechanism 3 include clamping medicine bottle bracket 3a,
Clamping medicine bottle plate 3b and flexible collar 3c, the clamping medicine bottle bracket 3a are fixed on the side wall of rotating disk 2c, fixed form
To be locked by hexagon socket countersunk flat cap head screw, the clamping medicine bottle plate 3b is fixed on the end of clamping medicine bottle bracket 3a, described
Clamping medicine bottle plate 3b is c-type structure, is further fixed on flexible collar 3c on the inside of the clamping medicine bottle plate 3b, flexible collar 3c direction
The opening that passes through of covering part that clamping medicine bottle plate 3b opening direction has for cillin bottle 3d, cillin bottle 3d is from clamping medicine bottle plate
The side of 3b is put into, and the covering part of cillin bottle 3d is caught in flexible collar 3c, and the clamping force of flexible collar 3c is moderate, both
Guarantee to guarantee during shaking up again convenient for medical staff's feeding, cillin bottle 3d will not be caused to be got rid of because revolving speed is too fast
Out.Flexible collar 3c is suitable for a certain range of dimensional variations, and the cillin bottle aluminium lid size for being applicable to different batches slightly has
The case where difference.
Further, as shown in Figure 7 and Figure 8, it is provided on the bottom surface of the clamping medicine bottle plate 3b and is worn for syringe pumping mechanism 4
The covering part consistency from top to bottom of the through-hole 3b1 of thorn, through-hole 3b1 and cillin bottle 3d.
Further, as shown in figure 11, syringe pumping mechanism 4 includes protective cover 4a, is fixed on the inside of protective cover 4a
Puncture enforcement division 4b and be mounted on the pumping portion 4c punctured above enforcement division 4b, punctures enforcement division 4b drive pumping portion
4c executes puncture movement, and the pumping portion 4c can execute extraction and note to the liquid in cillin bottle 3d and mother liquor vessel 7b respectively
Enter movement.
Further, as shown in Figure 12, Figure 13 and Figure 14, the puncture enforcement division 4b includes guide rail bottom plate 4b1, guide post
4b3, puncture actuating motor 4b4, puncture, which execute lead screw 4b5 and puncture, executes feed screw nut 4b7, and the guide rail bottom plate 4b1 is vertical
It is mounted on the side wall of syringe pumping mechanism mounting groove 1a, guide supporting seat 4b2 is fixed on the guide rail bottom plate 4b1, it is described
Two sides are symmetrically installed to fix there are two the lower section of vertical guide post 4b3, the guide supporting seat 4b2 and pacify on guide supporting seat 4b2
Equipped with actuating motor 4b4 is punctured, the output end for puncturing actuating motor 4b4 is sequentially connected with puncture and executes lead screw 4b5, described
It punctures and executes lead screw 4b5 between two guide post 4b3, and puncture execution lead screw 4b5 and two guide post 4b3 and be parallel to each other,
Being slidably installed on two guide post 4b3 has puncture to execute nut seat 4b6, punctures to execute to be fixed in the middle part of nut seat 4b6 and wear
Thorn executes feed screw nut 4b7, and the puncture executes feed screw nut 4b7 and connect with puncture execution lead screw 4b5 by being threadedly engaged.Work
It when making, punctures actuating motor 4b4 and puncture execution lead screw 4b5 is driven to rotate, execute lead screw 4b5 and puncture execution lead screw due to puncturing
Nut 4b7 is threadedly engaged, while being punctured execution nut seat 4b6 and two guide post 4b3 and being slidably matched, and therefore, executes silk puncturing
Thick stick 4b5 will drive puncture execution nut seat 4b6 and slide back and forth along guide post 4b3 when rotating, when pumping portion, 4c is fixedly mounted on puncture
When executing on nut seat 4b6, pumping portion 4c can be driven by puncture actuating motor 4b4, be slid back and forth along guide post 4b3, thus real
Now puncture movement.
Further, as shown in Figure 15, Figure 16, Figure 17 and Figure 18, the pumping portion 4c includes syringe bracket 4c1, pumping
Spindle motor 4c3, syringe 4c5 and syringe needle 4c6, the syringe bracket 4c1, which is fixedly mounted on, to be punctured on execution nut seat 4b6, institute
Stating syringe bracket 4c1 includes bracket cylinder 4c11, piston seat 4c12 and pumping feed screw nut 4c14, the piston seat 4c12 suit
In in bracket cylinder 4c11, the tail portion of the bracket cylinder 4c11 is fixedly installed with pumping spindle motor seat 4c2, the pumping lead screw
Pumping spindle motor 4c3 is fixedly installed on motor cabinet 4c2, the piston seat 4c12 is hollow structure, and in piston seat 4c12
Tail end be fixed with pumping feed screw nut 4c14, the screw part and pumping feed screw nut 4c14 of the pumping spindle motor 4c3
It is connected by being threadedly engaged, is provided with syringe guide block mounting groove 4c15 along its axial direction on the inner wall of the bracket cylinder 4c11, it is described
The axially extending syringe guide block 4c16 along bracket cylinder 4c11, the piston seat are fixed in syringe guide block mounting groove 4c15
It is provided with guide groove 4c17, the syringe guide block 4c16 and guide groove 4c17 sliding connection along its axial direction on the outer wall of 4c12, it is described
Syringe 4c5 includes that the tail end of syringe barrel 4c51, cylinder piston bar 4c52 and cylinder piston 4c53, the syringe barrel 4c51 are solid
It is scheduled on the front end of bracket cylinder 4c11, one end of the cylinder piston bar 4c52 is fixedly connected with the head end of piston seat 4c12, institute
The other end for stating cylinder piston bar 4c52 is fixed with cylinder piston 4c53, and the cylinder piston 4c53 and syringe barrel 4c51's is interior
Wall slides tight fit, and the syringe needle 4c6 is fixedly mounted on the front end of syringe barrel 4c51, and the downside of the bracket cylinder 4c11 is also
It is fixed with syringe needle fixing seat 4c4, the front end of the syringe needle fixing seat 4c4 is fixedly connected with syringe needle 4c6.When pumping, pumping lead screw
Motor 4c3 rotation, due to the cooperation of guide groove 4c17 and syringe guide block 4c16, piston seat 4c12 can only be along the axis of bracket cylinder 4c11
To movement, screw part and the pumping feed screw nut 4c14 of pumping spindle motor 4c3 is threadedly engaged, and drives piston seat 4c12 along branch
The axial movement of frame cylinder 4c11 is further driven to push and pull cylinder piston 4c53 before and after cylinder piston bar 4c52, it is dynamic to complete pumping
Make.
Further, as shown in Fig. 7, Fig. 8, Fig. 9 and Figure 10, the automatic Tui Ping mechanism 5 includes moving back a bottle support frame 5a, moving back
Bottle pressing plate 5b, it electromagnet 5d, moves back bottle jacking block 5e and moves back a bottle mandril 5f, the lower part moved back bottle support frame 5a and be mounted on cantilever 2a,
It is described to move back bottle Z-shaped structure of pressing plate 5b, and move back a bottle pressing plate 5b and be hingedly mounted on and move back on bottle support frame 5a, it is described to move back a bottle support frame 5a
On electromagnet base 5c is also hingedly installed, electromagnet 5d is fixedly installed on the electromagnet base 5c, the electromagnet 5d's stretches
Contracting end with to move back bottle one end of pressing plate 5b hinged, bottle jacking block 5e that moves back is described to move back a bottle mandril 5f on clamping medicine bottle bracket 3a
It is described to move back bottle one end of jacking block 5e and connected into a bottle one end of mandril 5f is moved back by pin set on the inside of clamping medicine bottle bracket 3a
One, bottle other end of jacking block 5e that moves back is with arc groove, which is stuck on the neck sidewall of cillin bottle 3d, institute
It states and moves back bottle other end of mandril 5f across flexible collar 3c and withstand on the bottle cap side wall of cillin bottle 3d, shunk in electromagnet 5d
When, it is described to move back bottle other end of pressing plate 5b moving back rotating disk 2c bottom bottle jacking block 5e and move back a bottle mandril 5f and depress together, it moves back
Bottle jacking block 5e and move back bottle mandril 5f simultaneously to cillin bottle 3d radial direction exert a force, cillin bottle 3d is ejected out of flexible collar 3c.
Further, as shown in Figure 1 and Figure 4, the electric part 6 includes single-chip microcontroller and approaches switch 8, and described approach is opened
8 are closed to be fixedly mounted on mother liquor vessel support frame 7a, it is described to be able to detect that clamping medicine bottle mechanism 3 below close to switch 8,
It is described to be electrically connected close to the signal output end of switch 8 and the signal input part of single-chip microcontroller, the control output end of the single-chip microcontroller
It is electric with the control signal of liquid uniform shaking mechanism 2, clamping medicine bottle mechanism 3, syringe pumping mechanism 4 and automatic Tui Ping mechanism 5 respectively
Property connection.
It is understood that shaking up motor 2b, puncture actuating motor 4b4, pumping spindle motor 4c3 is stepper motor,
Stepper motor is the opened loop control motor that electric impulse signal is changed into angular displacement or displacement of the lines, in the case where non-overload, electricity
The revolving speed of machine, the position of stopping are solely dependent upon the frequency and umber of pulse of pulse signal, without being influenced by load variation, work as stepping
As soon as driver receives a pulse signal, it drives stepper motor to rotate a fixed angle, control by the direction of setting
Precision height, with outstanding start-stop and reversion response, the response of motor is only determined by numeral input pulse, thus can be used and be opened
Ring control, this allows the structure of motor fairly simple and controls cost.
Package size size of the invention is：Long 380mm × wide 460mm × high 580mm, can be put into bio-safety completely
Cabinet.Outer cover can also be added to filter the air of operating area through primary filter, using high efficiency particle air filter refined filtration, from
And hundred grades of cleanliness working environments of dust-free sterile are formed, drug is extracted under negative pressure, to improve the peace of clinical vein medication
Quan Xing, the drug avoided pollution damage human body.
The course of work of the invention is as follows：Before making up a prescription, touch screen setting dispensing procedures are first passed through, prescription information, medicine are checked
Product medical instrument information.When making up a prescription, now mother liquor vessel 7b is fixed on mother liquor vessel support frame 7a, cillin bottle 3d is sequentially fixed at
In clamping medicine bottle mechanism 3, the covering part of cillin bottle 3d is blocked by flexible collar 3c, liquid uniform shaking mechanism 2 is by rotating disk 2c
It rotates by a certain angle, enables gap of the syringe needle 4c6 across Liang Ge clamping medicine bottle mechanism 3, puncture enforcement division 4b and execute
Puncture movement, syringe needle 4c6 is inserted into mother liquor vessel 7b, and infusion base fluid is extracted out of mother liquor vessel 7b by pumping portion 4c,
It punctures enforcement division 4b and drives syringe needle 4c6 retraction, liquid uniform shaking mechanism 2 rotates by a certain angle rotating disk 2c again, so that syringe needle 4c6
It is aligned with the bottle cap top surface of the cillin bottle 3d in clamping medicine bottle mechanism 3, punctures enforcement division 4b and execute puncture movement again, by syringe needle
4c6 is inserted into cillin bottle 3d, then will be infused in base fluid injection cillin bottle 3d by pumping portion 4c, is repeated aforementioned activities, will be infused
Base fluid is injected separately into each cillin bottle 3d, and after being injected with infusion base fluid in each cillin bottle 3d, liquid uniform shaking mechanism 2 is shaken
Even motor 2b drives rotating disk 2c rotation, and the infusion base fluid in cillin bottle 3d is uniformly mixed with medicament, after mixing, punctures
Enforcement division 4b drives the syringe needle 4c6 of pumping portion 4c to be pierced into cillin bottle 3d, and pumping portion 4c takes out the admixing medical solutions in cillin bottle 3d
Out, it punctures enforcement division 4b and drives pumping portion 4c retraction, liquid uniform shaking mechanism 2 rotates by a certain angle rotating disk 2c, so that syringe needle
4c6 can puncture enforcement division 4b and execute puncture movement, syringe needle 4c6 is inserted into across the gap Liang Ge clamping medicine bottle mechanism 3
In mother liquor vessel 7b, pumping portion 4c injects admixing medical solutions in mother liquor vessel 7b, repeats aforementioned activities, will be in each cillin bottle 3d
Admixing medical solutions injection mother liquor vessel 7b in, complete match liquid.When moving back bottle, rotating disk 2c rotation will have the medicine bottle of cillin bottle 3d
The rotation of clamping device 3 is located to lowermost position and moves back a bottle lower section of pressing plate 5b, electromagnet 5d, which is picked up, moves back a bottle one end of pressing plate 5b, makes
The other end that bottle pressing plate 5b must be moved back pushes, and one end of pushing, which acts on, moves back bottle jacking block 5e and move back on bottle mandril 5f, moves back a bottle jacking block 5e
It exerts a force, cillin bottle 3d is ejected out of flexible collar 3c, the west after ejection to the radial direction of cillin bottle 3d simultaneously with bottle mandril 5f is moved back
Woods bottle 3d is fallen into returnable bottle charging conduit 1b, and is discharged from the rear side of pedestal 1, realizes entire automatic liquid matching process.
It is further to note that：For example, the suction capacity of syringe barrel 4c51 is 20ml, and cillin bottle 3d needs to infuse
The infusion base fluid entered is 10ml, then the 20ml infusion base fluid extracted out out of mother liquor vessel 7b can be dispensed into two cillin bottle 3d
It is interior, it is just injected once without the primary infusion base fluid of every pumping.Certainly, if the infusion base fluid that cillin bottle 3d needs inject is
15ml, then can only be extracted out out of mother liquor vessel 7b in 15ml infusion base fluid injection cillin bottle 3d.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. injecting drug use automated intelligent dispensing machine, it is characterised in that：Including pedestal（1）, cillin bottle can be shaken up（3d）Interior medical fluid
Liquid uniform shaking mechanism（2）, cillin bottle can be gripped（3d）Clamping medicine bottle mechanism（3）, syringe pumping mechanism（4）, energy
Enough by cillin bottle（3d）From clamping medicine bottle mechanism（3）On the automatic Tui Ping mechanism that exits（5）, electric part（6）And mother liquor vessel
Clamping device（7）,
The liquid uniform shaking mechanism（2）It is fixedly installed in pedestal（1）Top, the clamping medicine bottle mechanism（3）It is installed on liquid
Uniform shaking mechanism（2）On, syringe pumping mechanism（4）By mother liquor vessel（7b）Interior infusion base fluid extraction, and inject cillin bottle
（3d）It is interior, through liquid uniform shaking mechanism（2）After shaking up, then by syringe pumping mechanism（4）By cillin bottle（3d）Interior medical fluid extraction, and
Refill mother liquor vessel（7b）It is interior.
2. injecting drug use automated intelligent dispensing machine according to claim 1, it is characterised in that：The pedestal（1）Front side
Middle part is provided with the syringe pumping mechanism mounting groove of upward opening（1a）, syringe pumping mechanism（4）It is vertically installed at syringe pumping
Infuse mechanism mounting groove（1a）It is interior, the pedestal（1）Rear side in the middle part of be provided with returnable bottle charging conduit（1b）, the pedestal（1）It is interior
Portion is hollow structure, which is electrical storehouse（1c）, the electric part（6）It is arranged in the electrical storehouse（1c）It is interior, it is described
Pedestal（1）Front side wall side be equipped with screen installation base surface（1d）, in the screen installation base surface（1d）On touch screen is installed.
3. injecting drug use automated intelligent dispensing machine according to claim 2, it is characterised in that：The liquid uniform shaking mechanism
（2）Including cantilever（2a）, shake up motor（2b）And rotating disk（2c）, the cantilever（2a）Lower end be fixed on pedestal（1）Top
Portion, it is described to shake up motor（2b）It is fixedly mounted on cantilever（2a）Upper end, it is described to shake up motor（2b）Output end rotation is installed
Turntable（2c）, the rotating disk（2c）For the plank frame of regular polygon, each side wall of the plank frame of the regular polygon
On be fixedly installed with clamping medicine bottle mechanism（3）, the rotating disk（2c）It is in 45 ° of angles between place plane and horizontal plane；Institute
State mother liquor vessel clamping device（7）Including mother liquor vessel support frame（7a）, mother liquor vessel（7b）It is fixed on mother liquor vessel support frame
（7a）On.
4. injecting drug use automated intelligent dispensing machine according to claim 3, it is characterised in that：The clamping medicine bottle mechanism
（3）Including clamping medicine bottle bracket（3a）, clamping medicine bottle plate（3b）And flexible collar（3c）, the clamping medicine bottle bracket（3a）It is fixed
In rotating disk（2c）Side wall on, the clamping medicine bottle plate（3b）It is fixed on clamping medicine bottle bracket（3a）End, the medicine bottle
Grip block（3b）For c-type structure, the clamping medicine bottle plate（3b）Inside is further fixed on flexible collar（3c）, cillin bottle（3d）From medicine
Bottle grip block（3b）Side be put into, and by cillin bottle（3d）Covering part be caught in flexible collar（3c）It is interior.
5. injecting drug use automated intelligent dispensing machine according to claim 4, it is characterised in that：The clamping medicine bottle plate（3b）
Bottom surface on be provided with for syringe pumping mechanism（4）The through-hole of puncture（3b1）, the through-hole（3b1）With cillin bottle（3d）Bottle cap portion
Divide consistency from top to bottom.
6. injecting drug use automated intelligent dispensing machine according to claim 4, it is characterised in that：Syringe pumping mechanism
（4）Including protective cover（4a）, be fixed on protective cover（4a）The puncture enforcement division of inside（4b）And it is mounted on puncture enforcement division
（4b）The pumping portion of top（4c）, the puncture enforcement division（4b）Drive pumping portion（4c）Execute puncture movement, the pumping portion
（4c）It can be respectively to cillin bottle（3d）And mother liquor vessel（7b）Interior liquid executes extraction and injection movement.
7. injecting drug use automated intelligent dispensing machine according to claim 6, it is characterised in that：The puncture enforcement division（4b）
Including guide rail bottom plate（4b1）, guide post（4b3）, puncture actuating motor（4b4）, puncture execute lead screw（4b5）Lead screw is executed with puncturing
Nut（4b7）, the guide rail bottom plate（4b1）It is vertically installed at syringe pumping mechanism mounting groove（1a）Side wall on, the guide rail
Bottom plate（4b1）On be fixed with guide supporting seat（4b2）, the guide supporting seat（4b2）Upper two sides are symmetrically installed that there are two vertical
Guide post（4b3）, the guide supporting seat（4b2）Lower section be fixedly installed with puncture actuating motor（4b4）, the puncture execution
Motor（4b4）Output end be sequentially connected with puncture execute lead screw（4b5）, the puncture execution lead screw（4b5）It is led positioned at two
Column（4b3）Between, and puncture and execute lead screw（4b5）With two guide posts（4b3）It is parallel to each other, in two guide posts（4b3）Upper sliding
It is fitted with puncture and executes nut seat（4b6）, puncture and execute nut seat（4b6）Middle part be fixed with puncture execute feed screw nut
（4b7）, the puncture execution feed screw nut（4b7）Lead screw is executed with puncturing（4b5）By being threadedly engaged connection.
8. injecting drug use automated intelligent dispensing machine according to claim 7, it is characterised in that：The pumping portion（4c）Including
Syringe bracket（4c1）, pumping spindle motor（4c3）, syringe（4c5）And syringe needle（4c6）, the syringe bracket（4c1）Fixed peace
Nut seat is executed mounted in puncturing（4b6）On, the syringe bracket（4c1）Including bracket cylinder（4c11）, piston seat（4c12）With
Pumping feed screw nut（4c14）, the piston seat（4c12）It is set in bracket cylinder（4c11）It is interior, the bracket cylinder（4c11）
Tail portion be fixedly installed with pumping spindle motor seat（4c2）, the pumping spindle motor seat（4c2）On be fixedly installed with pumping lead screw
Motor（4c3）, the piston seat（4c12）For hollow structure, and in piston seat（4c12）Tail end be fixed with pumping feed screw nut
（4c14）, the pumping spindle motor（4c3）Screw part and pumping feed screw nut（4c14）By being threadedly engaged connection, institute
State bracket cylinder（4c11）Inner wall on along its axial direction be provided with syringe guide block mounting groove（4c15）, the syringe guide block mounting groove
（4c15）It is inside fixed with along bracket cylinder（4c11）Axially extending syringe guide block（4c16）, the piston seat（4c12）It is outer
Guide groove is provided with along its axial direction on wall（4c17）, the syringe guide block（4c16）With guide groove（4c17）Sliding connection, the needle
Cylinder（4c5）Including syringe barrel（4c51）, cylinder piston bar（4c52）And cylinder piston（4c53）, the syringe barrel（4c51）
Tail end be fixed on bracket cylinder（4c11）Front end, the cylinder piston bar（4c52）One end and piston seat（4c12）Head
End is fixedly connected, the cylinder piston bar（4c52）The other end be fixed with cylinder piston（4c53）, the cylinder piston
（4c53）With syringe barrel（4c51）Inner wall slide tight fit, the syringe needle（4c6）It is fixedly mounted on syringe barrel（4c51）
Front end, the bracket cylinder（4c11）Downside be further fixed on syringe needle fixing seat（4c4）, the syringe needle fixing seat（4c4）'s
Front end and syringe needle（4c6）It is fixedly connected.
9. injecting drug use automated intelligent dispensing machine according to claim 4, it is characterised in that：The automatic Tui Ping mechanism
（5）Including moving back a bottle support frame（5a）, move back a bottle pressing plate（5b）, electromagnet（5d）, move back a bottle jacking block（5e）With move back a bottle mandril（5f）, described
Move back a bottle support frame（5a）It is mounted on cantilever（2a）Lower part, it is described to move back a bottle pressing plate（5b）Z-shaped structure, and move back a bottle pressing plate（5b）Hinge
It connects to be mounted on and moves back a bottle support frame（5a）On, it is described to move back a bottle support frame（5a）On electromagnet base is also hingedly installed（5c）, the electricity
Magnetic receiver（5c）On be fixedly installed with electromagnet（5d）, the electromagnet（5d）Telescopic end and move back a bottle pressing plate（5b）One end hinge
It connects, it is described to move back a bottle jacking block（5e）Set on clamping medicine bottle bracket（3a）On, it is described to move back a bottle mandril（5f）Set on clamping medicine bottle bracket
（3a）Inside, it is described to move back a bottle jacking block（5e）One end and move back a bottle mandril（5f）One end linked into an integrated entity by pin, it is described
Move back a bottle jacking block（5e）The other end there is arc groove, which is stuck in cillin bottle（3d）Neck sidewall on, it is described to move back
Bottle mandril（5f）The other end pass through flexible collar（3c）And withstand on cillin bottle（3d）Bottle cap side wall on, in electromagnet（5d）It receives
It is described to move back a bottle pressing plate when contracting（5b）The other end by rotating disk（2c）Bottom moves back a bottle jacking block（5e）With move back a bottle mandril（5f）One
Pressure is played, a bottle jacking block is moved back（5e）With move back a bottle mandril（5f）Simultaneously to cillin bottle（3d）Radial force, by cillin bottle（3d）From bullet
Property clip（3c）Interior ejection.
10. injecting drug use automated intelligent dispensing machine according to claim 3, it is characterised in that：The electric part（6）Packet
Include single-chip microcontroller and close switch（8）, described close to switch（8）It is fixedly mounted on mother liquor vessel support frame（7a）On, it is described close
Switch（8）It is able to detect that clamping medicine bottle mechanism below（3）, described close to switch（8）Signal output end and single-chip microcontroller
Signal input part be electrically connected, the control output end of the single-chip microcontroller respectively with liquid uniform shaking mechanism（2）, clamping medicine bottle mechanism
（3）, syringe pumping mechanism（4）With automatic Tui Ping mechanism（5）Control signal be electrically connected.
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|---|---|---|---|
| CN201810855606.1A CN108904277B (en) | 2018-07-31 | 2018-07-31 | Automatic intelligent dispensing machine for injection |
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|---|---|---|---|
| CN201810855606.1A CN108904277B (en) | 2018-07-31 | 2018-07-31 | Automatic intelligent dispensing machine for injection |
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| CN108904277B CN108904277B (en) | 2021-02-05 |
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| CN110251394A (en) * | 2019-06-13 | 2019-09-20 | 上海司傅迪智能科技有限公司 | It is a kind of to realize that cytotoxic drug rushes safely the method and apparatus matched |
| CN110564587A (en) * | 2019-09-29 | 2019-12-13 | 深圳赛动生物自动化有限公司 | Bottle clamping and rotating structure and working method thereof |
| CN110638646A (en) * | 2019-09-16 | 2020-01-03 | 无锡安之卓医疗机器人有限公司 | Powder dispensing robot and mixing method thereof |
| CN111017534A (en) * | 2019-11-26 | 2020-04-17 | 常州海斯卡智能护理技术有限公司 | Eccentric ejection bottle abandoning device |
| CN111419355A (en) * | 2020-04-14 | 2020-07-17 | 孙作永 | Puncture device for cardiothoracic surgery |
| CN113069358A (en) * | 2021-03-22 | 2021-07-06 | 四川大学华西医院 | Full-automatic device for dry powder water-dissolving process for clinical laboratory and use method |
| CN113116721A (en) * | 2021-04-21 | 2021-07-16 | 苏州市立医院 | Intelligent dosing system with shaking-up mechanism |
| CN113133941A (en) * | 2021-04-28 | 2021-07-20 | 金梅兰 | Medical injection shaking bottle device |
| CN113976000A (en) * | 2021-11-16 | 2022-01-28 | 山东方明药业集团股份有限公司 | Small-size batching jar for injection |
| CN114249525A (en) * | 2020-09-25 | 2022-03-29 | 欧璧医药包装科技(中国)有限公司 | Glass tube clamping structure with anti-jamming function |
| CN114366661A (en) * | 2022-03-18 | 2022-04-19 | 首都医科大学附属北京佑安医院 | Miniature mechanical arm and medicine dissolving machine |
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| CN113069358B (en) * | 2021-03-22 | 2023-07-21 | 四川大学华西医院 | Full-automatic device for dry powder water-soluble process for clinical laboratory and use method |
| CN113116721A (en) * | 2021-04-21 | 2021-07-16 | 苏州市立医院 | Intelligent dosing system with shaking-up mechanism |
| CN113133941A (en) * | 2021-04-28 | 2021-07-20 | 金梅兰 | Medical injection shaking bottle device |
| CN113133941B (en) * | 2021-04-28 | 2024-04-26 | 舟山医院 | Medical injection shaking bottle device |
| WO2023066309A1 (en) * | 2021-10-20 | 2023-04-27 | 上海交通大学医学院附属瑞金医院 | Dispensing method suitable for intravenous drug dispensing device |
| CN113976000A (en) * | 2021-11-16 | 2022-01-28 | 山东方明药业集团股份有限公司 | Small-size batching jar for injection |
| CN114366661A (en) * | 2022-03-18 | 2022-04-19 | 首都医科大学附属北京佑安医院 | Miniature mechanical arm and medicine dissolving machine |
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