CN110368301B - Robot system for automatically preparing intravenous infusion medicines - Google Patents
Robot system for automatically preparing intravenous infusion medicines Download PDFInfo
- Publication number
- CN110368301B CN110368301B CN201910763003.3A CN201910763003A CN110368301B CN 110368301 B CN110368301 B CN 110368301B CN 201910763003 A CN201910763003 A CN 201910763003A CN 110368301 B CN110368301 B CN 110368301B
- Authority
- CN
- China
- Prior art keywords
- medicine
- manipulator
- mechanical arm
- bottle
- conveying
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
- A61J1/2096—Combination of a vial and a syringe for transferring or mixing their contents
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F29/00—Mixers with rotating receptacles
- B01F29/30—Mixing the contents of individual packages or containers, e.g. by rotating tins or bottles
- B01F29/32—Containers specially adapted for coupling to rotating frames or the like; Coupling means therefor
- B01F29/321—Containers specially adapted for coupling to rotating frames or the like; Coupling means therefor of test-tubes or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B7/00—Hand- or power-operated devices for opening closed containers
- B67B7/92—Hand- or power-operated devices for opening closed containers by breaking, e.g. for ampoules
Abstract
The invention discloses a robot system for automatically preparing intravenous infusion medicines, which comprises a closed bin, wherein an automatic medicine conveying device is arranged in the space on the left side of the closed bin, a first medicine taking mechanical arm connected with the automatic medicine conveying device is arranged in the space on the upper part of the closed bin, a medicine dispensing mechanical arm is arranged on the lower part of the first medicine taking mechanical arm, a medicine output device and an injector storage device are arranged on the right side of the medicine dispensing mechanical arm, and a waste material storage device is arranged on the lower part of the injector storage device. The system can replace medical staff to prepare medicines, saves manpower and material resources, effectively avoids secondary pollution and reduces the error rate of medicine preparation.
Description
Technical Field
The invention relates to the field of mechanical transmission, in particular to a robot system for automatically preparing intravenous infusion medicines.
Background
Along with the development of industry, environmental pollution is increasingly serious, and patients are increased, so that the demand of intravenous injection medicament configuration of hospitals is increased, most of intravenous injection medicament configuration tasks of hospitals are configured by medical workers in treatment rooms or static configuration centers at present, heavy dispensing work causes huge physical consumption to the medical workers, and due to the fact that the medical workers have reading errors or work fatigue and the like in the operation process, accurate dose extraction cannot be achieved, dispensing accuracy is reduced, patients cannot achieve timely and accurate treatment, and meanwhile, secondary medicament pollution can be caused by manual dispensing.
Canadian medical instruments company develops a RIVA robot with a six-degree-of-freedom mechanical arm to complete liquid medicine preparation, and the RIVA robot has independent medicine tools and medicine storage areas and low automation degree; italian medical equipment company develops an i.v. station ONCO robot, which adopts a centralized architecture and a distributed architecture, and occupies a large area; it can be seen through the structure of the dispensing robot abroad that the device link for preparing ampoule bottled medicines and the corresponding flow standard are not designed, because the ampoule bottle medicines are not the universal medicine bottle standard in the field of foreign medical treatment. Shenzhen Weibang science and technology Limited develops the first liquid medicine preparation robot in China, and through the patent CN201110286653.7, the robot has the advantages of more complex structure, slow replacement rate of medicines and syringes and low efficiency; the patent CN201210173771.1 invented by Shenzhen advanced technology institute of Chinese academy of sciences introduces that the occupied area is large and the replacement rate of the injector is slow; the dispensing robot cooperatively developed by Harbin university of industry (Weihai) and Weihai Weining medical science and technology Limited is a desktop type dispensing robot, has small volume and is provided with ampoule bottles and penicillin bottle modules, but the medicine bottles need to be opened manually. The invention patent CN201810029646.0 applied by Shenzhen City Bo medical robot Limited is a robot only aiming at drug dispensing of penicillin bottles, has single function and can not meet the requirement of various clinical drug configurations.
At present, the technical level of foreign robots is obviously higher than that of the domestic robots in terms of worldwide configuration, but the corresponding price is very expensive and is far higher than the bearing capacity of most domestic hospitals, and in addition, the foreign drug standards are greatly different from the domestic universal drug standards, so that the foreign dispensing robot structure can be seen, and the ampoule bottle-packed drug preparation robot does not relate to the equipment link for preparing ampoule bottle-packed drugs and the corresponding specified flow standard, because the ampoule bottle drugs are not the universal drug bottle standards in the field of foreign medical treatment.
Disclosure of Invention
Aiming at the problems, the invention provides a robot system for automatically preparing intravenous infusion medicines, which can replace medical staff to prepare medicines, saves manpower and material resources, effectively avoids secondary pollution and reduces the error rate of medicine preparation.
The invention is realized by the following measures:
the utility model provides an automatic prepare robot system of venous transfusion medicine, includes airtight storehouse, be provided with the automatic conveyor of medicine in the airtight storehouse left side space, be provided with the first manipulator of getting it filled that links up with the automatic conveyor of medicine in the airtight storehouse upper portion space, first manipulator lower part of getting it filled is provided with the manipulator of making up a prescription, the right side of manipulator of making up a prescription sets up medicine output device and syringe storage device, syringe storage device lower part is provided with waste material storage device.
Preferably, automatic medicine conveying device includes two conveying tracks of parallel arrangement, and the front side is medicine bottle conveying track, and the rear side is menstruum bag conveying track, and every conveying track all includes a conveying mechanical hand, and every conveying mechanical hand all is provided with first guide rail face to face, all sets up a transport tray between every conveying track's conveying mechanical hand and the first guide rail, places a plurality of medicines that are used for holding medicine bottle or menstruum bag on the transport tray in proper order and holds the device.
Preferably, a fixing frame is arranged in the closed bin, and a fluency strip for guiding the solvent bag conveying track is arranged on the fixing frame.
Preferably, a camera for detecting the medicine bottles is further mounted on the side surface of the medicine bottle conveying track.
Preferably, the clamping groove of the medicine containing device is adjustable in size, and can contain solvent bags or medicine bottles with different volumes.
Preferably, first manipulator of getting it filled is three-dimensional manipulator, three-dimensional manipulator includes the mount, mount and airtight storehouse wall connection, X axle manipulator is installed on mount upper portion, Y axle manipulator is installed on X axle manipulator upper portion, Y axle manipulator side is provided with Z axle manipulator, Z axle manipulator installs the anchor clamps of getting it filled that are used for getting, putting the menstruum bag.
Preferably, the dispensing manipulator comprises a code spraying device on the upper portion, a quantitative suction manipulator is arranged on the lower portion of the code spraying device, and a second medicine taking manipulator connected with the automatic medicine conveying device is arranged on the lower portion of the quantitative suction manipulator in a matched mode.
Preferably, spout the yard device including installing the yard manipulator of spouting in the mount top, spout the automatic sign indicating number ware of sign indicating number manipulator side-mounting, the opposite of automatic sign indicating number ware sets up the menstruum bag fixed plate, installs menstruum bag holder in the mount lower part and the position that the menstruum bag fixed plate corresponds.
Preferably, the quantitative suction manipulator includes rotation fixing plate, one of them end of rotation fixing plate is connected with first rotating electrical machines, first rotating electrical machines is connected with the unipolar and removes the manipulator, rotation fixing plate's the other end and second guide rail rotate to be connected, the unipolar removes the manipulator and the second guide rail all is connected with the lateral wall in airtight storehouse.
Preferably, the upper part of the rotating fixing plate is provided with an injector installation module, the injector installation module is rotatably connected with the rotating fixing plate, the lower part of the rotating fixing plate is provided with a quantitative suction fixture, the quantitative suction fixture is connected with a suction clamping finger, and the suction clamping finger penetrates through the rotating fixing plate to be installed in a matched mode with the injector installation module.
Preferably, the injector mounting module comprises an injector fixing plate connected with the rotary fixing plate, and a plurality of adjustable injector mounting clamping grooves are uniformly arranged on the injector fixing plate in the circumferential direction. The purpose of setting up adjustable syringe installation draw-in groove can be used for clamping the syringe of different diameters, strengthens the commonality.
Preferably, the second medicine taking mechanical arm comprises a first horizontal movement mechanical arm connected with the inside of the closed bin, a cylinder is installed on the upper portion of the first horizontal movement mechanical arm, the upper portion of the cylinder is connected with a tray frame, a disinfection system and a medicine bottle opening device are respectively arranged on the side face of the tray frame, one end of the tray frame is connected with an automatic medicine conveying device, the other end of the tray frame is connected with a fixed seat, and a second rotating motor is installed at the bottom of the fixed seat.
Preferably, the medicine bottle opening device comprises a second horizontal movement mechanical arm connected with the inside of the closed bin, a vertical movement mechanical arm is arranged on the upper portion of the second horizontal movement mechanical arm, the vertical movement mechanical arm is connected with a third rotating motor, and the third rotating motor is in driving connection with a medicine bottle clamping hand used for breaking off the medicine bottle and opening the bottle cap.
Preferably, the waste storage device includes the tong that links up with the tray frame, the tong is connected with and supplies its vertical rotation's first rotating mechanical hand to connect, first rotating mechanical hand is connected with and supplies its horizontal rotation's second rotating mechanical hand, second rotating mechanical hand below is provided with waste material box and medicine respectively and holds the device and retrieve the box, waste material box intercommunication has the waste material slide, the waste material slide links up with the medicine bottle tong.
Preferably, the medicine output device comprises an output device containing box connected with the closed bin, an output mechanical arm is installed in the output device containing box, and a bearing box used for containing a solvent bag is arranged on the upper portion of the output mechanical arm.
Preferably, the closed bin comprises an inner frame and an outer shell, and the outer shell is inlaid with a plurality of transparent glass or transparent polyurethane plates.
The invention has the beneficial effects that:
1. the invention mainly adopts a modular design, and corresponding containing modules of the ampoule bottles, the penicillin bottles and the injectors are designed according to the conventional specifications of the ampoule bottles, the penicillin bottles and the injectors so as to achieve the purpose of quickly replacing the medicines and the injectors and improve the medicine dispensing efficiency;
2. the function of single manipulator is diversified to realize the simplification of complete machine structure.
3. The horizontal movement mechanical arm and the rotating motor are matched and coordinated to work, so that the ampoule bottle neck can be broken off, the penicillin bottle cap can be opened, and the penicillin bottle can be clamped to shake evenly.
4. The automatic medicine conveying device with the double tracks arranged in parallel saves space, and not only supplies medicine independently, but also saves conveying driving force.
5. The invention can dispense medicines in batches in a static dispensing center (dispensing room) and dispense medicines for single patients in each department, thereby realizing the diversification of the dispensed medicines.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a view of the dispensing manipulator;
FIG. 3 is a view showing the construction of a quantitative suction robot;
FIG. 4 is a view showing the construction of a second medicine taking robot;
FIG. 5 is a block diagram of an injector mounting module;
FIG. 6 is a view showing the structure of an automatic drug delivery device;
FIG. 7 is a first structural view of a medicine containing device;
FIG. 8 is a second structural view of the medicine containing device;
FIG. 9 is a structural view of a solvent bag holding device;
FIG. 10 is a view showing the construction of a first medicine taking robot;
FIG. 11 is a view of the structure of the drug delivery device;
FIG. 12 is a view of the configuration of the syringe storage device;
FIG. 13 is a view showing the construction of a waste storage apparatus;
fig. 14 is a view showing an overall frame structure of the closed casing.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1, the present application discloses a robot system for automatically preparing intravenous infusion drugs, which mainly comprises a visual sealed bin 10000, a multifunctional dispensing manipulator 20000, an automatic drug delivery device 30000, a first drug-taking manipulator 40000, a drug output device 50000, a syringe storage device 60000, a waste storage device 70000 and a control system 80000, wherein the sealed bin is divided into a visual external shell and an integral frame 90000 for supporting the shell, and the shell is inlaid with a plurality of transparent glass or transparent polyurethane plates.
As shown in fig. 2, the dispensing manipulator 20000 includes: a code spraying manipulator 20100, an automatic code spraying device fixing plate 20200, an automatic code spraying device 20300, a quantitative suction manipulator 20400, a second medicine taking manipulator 20500, a waste hopper 20600, a solvent bag fixing plate 20700, solvent bag clamping fingers 20800, a solvent bag clamping hand 20900 and a solvent bag clamping hand fixing plate 21000.
The code spraying manipulator 20100 is fixed on an upper cover plate 90100 of the integral frame 90000 through bolts, the automatic code spraying device fixing plate 20200 is fixed on the code spraying manipulator 20100 through bolts, the automatic code spraying device 20300 is fixed on the automatic code spraying device fixing plate 20200 through bolts, and the quantitative suction manipulator 20400 is fixed on a rectangular supporting column 90200 of the integral frame 90000. The second medicine taking manipulator 20500 is fixed on the lower cover plate of the integral frame 90000, the waste funnel 20600 is fixed at the funnel opening of the lower cover plate of the integral frame 90000 through a clamping groove, the solvent bag fixing plate 20700 is fixed on the upper cover plate 90100 of the integral frame 90000 through a bolt, the solvent bag clamping fingers 20800 are fixed with the solvent bag clamping hands 20900 through bolts, the solvent bag clamping hands 20900 are fixed with the solvent bag clamping hand fixing plate 21000 through bolts, and the solvent bag clamping hand fixing plate 21000 is fixed on the upper cover plate 90100 of the integral frame 90000 through bolts.
As shown in fig. 3, the quantitative suction robot 20400 includes: the device comprises a second guide rail 20401, an injector mounting module 20402, a suction clamping finger 20403, a suction clamping hand 20404, a rotary fixing plate 20405, an injector rotating motor 20406, a deep groove ball bearing 20407, a fixing block 20408, a bearing retainer 20409, an injector fixing plate 20410, a connecting block 20411, a quantitative suction clamp 20412, a suction clamp fixing plate 20413, a first rotating motor 20414, a first rotating motor fixing plate 20415 and a single-shaft moving manipulator 20416. The second linear guide rail 20401 is fixed on a rectangular upright of the integral frame 90000 through bolts, the injector mounting module 20402 is connected with a connecting block 20411 through threads, the suction clamping finger 20403 is fixed with a suction clamping hand 20404 through bolts, the suction clamping hand 20404 is fixed with the quantitative suction machine clamp 20412 through bolts, the rotary fixing plate 20405 is connected with a fixing block 20408 through a deep groove ball bearing 20407 and a bearing retainer ring 20409 and is connected with a first rotary motor 20414 through bolts, the injector rotary motor 20406 is fixed with the rotary fixing plate 20405 through bolts, the injector fixing plate 20410 is connected with the injector mounting module 20402 through threads to fix the injector, the connecting block 20411 is connected with the injector rotary motor 20406 through bolts, the quantitative suction clamp 20412 is fixed with the suction clamp fixing plate 20413 through bolts, the suction clamp fixing plate 20413 is fixed with the rotary fixing plate 20405 through bolts, the first rotary motor 20414 is fixed on the first rotary motor fixing plate 20415 through bolts, the first rotating electric machine fixing plate 20415 is fixed to the side of the single-axis moving manipulator 20416 by bolts, and the single-axis moving manipulator 20416 is fixed to the rectangular upright of the overall frame 90000 by bolts.
As shown in fig. 4, the second medicine taking robot 20500 includes: the device comprises a vertical motion manipulator 20501, a vertical motion manipulator fixing plate 20502, a third rotating motor fixing plate 20503, a third rotating motor 20504, a medicine bottle clamping hand 20505, a second horizontal motion manipulator 20506, a disinfection system 20507, a disinfection system fixing seat 20508, a tray rack 20509, a cylinder 20510, a first horizontal motion manipulator 20511, a cylinder fixing plate 20512, a second rotating motor base 20513, a second rotating motor 20514 and a fixing seat 20515. The vertical motion manipulator 20501 is fixed on the side of the vertical motion manipulator fixing plate 20502 by bolts, the vertical motion manipulator fixing plate 20502 is fixed on the second horizontal motion manipulator 20506 by bolts, the third rotating motor fixing plate 20503 is fixed with the vertical motion manipulator 20501 by bolts, the third rotating motor 20504 is fixed with the third rotating motor fixing plate 20503 by bolts, the medicine bottle gripper 20505 is fixed with the third rotating motor 20504 by bolts, the second horizontal motion manipulator 20506 is fixed on the lower cover plate 90400 of the whole frame 90000 by bolts, the sterilization system 20507 is fixed inside the sterilization system fixing seat 20508 by a clamping groove, the sterilization system fixing seat 20508 is fixed on the lower cover plate 90400 of the whole frame 90000 by bolts, the tray frame 20509 is fixed on the upper part of the air cylinder 20510 by bolts, the air cylinder 20510 is connected with the air cylinder fixing plate 20512 by bolts, the first horizontal motion manipulator 20511 is fixed on the lower cover plate 90400 of the whole frame 90000 by bolts, the cylinder fixing plate 20512 is fixed to the first horizontal movement robot 20511 by bolts, the second rotating electric machine base 20513 is fixed to the lower cover plate 90400 of the overall frame 90000 by bolts, the second rotating electric machine 20514 is connected to the second rotating electric machine base 20513 by bolts, and the fixing base 20515 is fixed to the second rotating electric machine 20514 by bolts.
As shown in fig. 5, the diameter of the syringe mounting module 20402 is designed to be adjustable, the syringe mounting bayonet is formed by a plurality of connecting pieces, bayonets with different diameters can be obtained by adjusting the mutual positions of the connecting pieces, so as to be suitable for mounting syringes with different diameters, and after the syringe is mounted on the syringe mounting module 20402, the syringe fixing plate 20410 is screwed on the syringe mounting module 20402 to compress the outer cylinder of the syringe.
As shown in fig. 6, the automatic drug storage and delivery device 30000 mainly includes: a fluent strip 30100, a fixing frame 30200, a solvent bag containing device 30300, a solvent bag tray 30400, a first linear guide 30500, a conveying manipulator 30600, a visual inspection device 30700, a medicine bottle tray 30800, and a medicine bottle containing device 30900.
The fluent strip 30100 is mounted on a fixing frame 30200 through screws, the fixing frame 30200 is fixed on a square supporting column 90300 of an integral frame 90000 through bolts, a solvent bag holding device 30300 is mounted on a solvent bag tray 30400 through a clamping groove after being stacked layer by layer through the clamping groove, the solvent bag tray 30400 is mounted on a first linear guide 30500 and a conveying manipulator 30600 through bolts, two first linear guide 30500 are respectively mounted on the fixing frame 30200 on the automatic solvent bag storage conveying side and the automatic medicine bottle storage conveying side, the conveying manipulator 30600 is mounted on the fixing frame 30200 on the automatic solvent bag storage conveying side and the automatic medicine bottle storage conveying side, the visual detection device 30700 is mounted on the fixing frame 30200 for detecting a penicillin bottle and an ampoule bottle, the medicine bottle tray 30800 is fixed on the first linear guide 30500 and the conveying manipulator 30600 through bolts, the vial holding device 30900 is mounted on the vial tray 30800 through the locating holes.
As shown in fig. 7 and 8, the vial holding device 30900 includes a base plate 30901, a vial mounting module 30902, an ampoule 30903, and a vial 30904.
The bottom plate 30901 is placed on the medicine bottle tray 30800 by the positioning columns, the medicine bottle installation module 30902 is installed on the bottom plate 30901 by the positioning columns at the bottom, and the ampoule 30903 and the penicillin bottle 30904 are placed in the holes of the medicine bottle installation module 30902.
The medicine bottle installation module 30902 is designed to be a corresponding medicine bottle installation module according to the specification and the size of the ampoule bottle and the penicillin bottle, but the size of a positioning column at the bottom of the medicine bottle installation module 30902 is ensured to be unchanged so as to be capable of being installed on the bottom plate 30901.
As shown in fig. 9, the solvent bag holding device 30300 includes a box 30301, a movable partition 30302, and a solvent bag 30303.
As shown in fig. 10, the first medicine dispensing robot 40000 includes an X-axis robot 40100, a holder 40200, an attachment plate 40300, a Z-axis robot 40400, a Y-axis robot 40500, a medicine dispensing jig attachment plate 40600, a medicine dispensing jig 40700, a medicine dispensing jig finger 40800, and an attachment plate 40900.
As shown in fig. 11, the medicine dispensing device 50000 includes a dispensing robot 50100, a cassette 50200, and a dispensing device cartridge 50300.
The output robot 50100 is mounted in the output device housing case 50300 by bolts, the carrier case 50200 is fixed to the output robot 50100 by bolts, and the output device housing case 50300 is fixed to the upper cover 90100 of the integrated frame 90000 by bolts.
As shown in fig. 12, syringe storage unit 60000 is mounted on rear column 90800 of unitary frame 90000, and a syringe module comprising syringe mounting module 20402 with syringes and syringe retaining plate 20410 is mounted on syringe storage unit 60000 through locating holes.
As shown in fig. 13, a scrap stocker 70000 includes a scrap chute 70100, fingers 70200, a gripper 70300, a fixed plate 70400, a first rotary robot 70500, a mounting plate 70600, a scrap box 70700, a second rotary robot 70800, and a drug container recycling box 70900.
As shown in fig. 14, an integral frame 90000 comprises: an upper cover plate 90100, a rectangular supporting column 90200, a square supporting column 90300, a lower cover plate 90400, a cross brace 90500, a cross brace base 90600, an integral frame bottom plate 90700, a rear upright 90800 and universal wheels 90900.
The universal wheel 90900 is fixed with the whole frame bottom plate 90700 through screws, and other parts are fixed by welding.
The medicine dispensing process comprises the following steps: placing a solvent bag to be configured in a solvent bag containing device 30300, placing ampoule bottle medicines and penicillin bottle medicines in a medicine bottle containing device 30900 according to the sequence of numbers, dispensing under the control of a control system 80000, conveying the medicines to be configured to a medicine extraction opening by power provided by a conveying manipulator 30600, grabbing and placing the solvent bag containing device 30300 containing the solvent bag at a specified position by a first medicine taking manipulator 40000, taking out the solvent bag by a medicine taking clamp 40700, placing the solvent bag on a solvent bag fixing plate 20700, fixing by a solvent bag gripper 20900, detecting the medicines in the medicine bottle containing device 30900 containing the medicine bottle by a visual detection device 30700, lifting the medicine bottle containing device 30900 under the action of an air cylinder 20510 tray by a medicine taking clamp 40700 after confirming that the medicines are correct, moving the medicine bottle 205900 to the fixed seat 15 under the drive of a first horizontal movement manipulator 20511, the air cylinder 20510 is reset, so that the medicine bottle containing device 30900 falls down and is fixed on the fixing seat 20515 through the positioning hole; the medicine bottle to be broken off and the solvent bag to be prepared are disinfected through a disinfection system 20507, after an ampoule bottle neck or a penicillin bottle cap is clamped through a medicine bottle clamping hand 20505, the ampoule bottle neck or the penicillin bottle cap is broken off under the rotation action of a third rotating motor 20504 (or a powder bottle can be clamped and uniformly shaken under the moving lifting action of a vertical moving manipulator 20501 and the rotating action of a third rotating motor 20504), after the prepared medicine is quantitatively sucked through an injector in an injector mounting module 20402 of a quantitative suction manipulator 20400, a suction injector needle is moved upwards in the sucked medicine bottle through a single-shaft moving manipulator 20416 and is taken out, the suction injector needle is rotated 180 degrees by a first rotating motor 20414 to face the solvent bag to be prepared, the suction injector needle is moved upwards through the single-shaft moving manipulator 20416 to be inserted into the solvent bag to be prepared, and the medicine is injected into the solvent bag (the medicine of the solvent bottle is firstly sucked into the solvent bag and then injected into the solvent bottle, after shaking evenly, the medicine in the pumped powder bottle is injected into the solvent bag), after one kind of medicine is prepared, the medicine bottle containing device 30900 can rotate under the action of the second rotating motor 20514 to draw the medicine bottles in sequence to dispense the medicine, the medicine bottle clamp 20505 moves the broken ampoule bottle neck or penicillin bottle cap to the upper part of the waste material 20600 under the action of the second horizontal movement manipulator 20506, the broken bottle neck or bottle cap is thrown into the waste material funnel 20600, and the broken bottle neck or bottle cap is thrown into the waste material box 70700 through the waste material slideway 70100.
The first medicine taking manipulator 40000 grabs and picks the prepared solvent bag medicines in the solvent bag containing device 30300, and after the solvent bags in the solvent bag containing device 30300 are completely prepared, the first medicine taking manipulator 40000 grabs and picks the completely prepared solvent bag containing device 30300 in the medicine output device 50000, and the output manipulator 50100 outputs the prepared medicine bottles. Meanwhile, the medicine bottle containing device 30900 which is completely prepared with medicines is lifted under the action of the air cylinder 20510 through the tray frame 20509, the medicine bottle containing device 30900 which is completely detected and waits for medicine preparation is lifted at the same time, synchronous conveying is completed under the driving of the first horizontal movement manipulator 20511, the medicine bottle containing device 30900 which is completely detected and waits for medicine preparation is moved to the upper side of the fixed seat 20515, the medicine bottle containing device 30900 which is completely prepared with medicines is moved to the upper side of the clamping fingers of the clamping hand 70300, and the air cylinder 20510 is reset to drop the two medicine bottle containing devices 30900 and place the two medicine bottle containing devices 30900 at corresponding positions; the process of repeated dispensing of the vial holding device 30900 which has finished detecting the waiting for dispensing is that the vial holding device 30900 which has finished dispensing is tightened by the clamping hand 70300 and then pours the sucked waste vials in the vial holding device 30900 into the waste material box 70700 under the rotating action of the first rotating mechanical arm 70500, and then the bottom plate 30901 and the vial mounting module 30902 of the vial holding device 30900 are placed into the vial holding device box 70900 by the rotation of the second rotating mechanical arm 70800.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. The robot system for automatically preparing intravenous infusion medicines is characterized by comprising a closed bin (10000), wherein an automatic medicine conveying device (30000) is arranged in the space on the left side of the closed bin, a first medicine taking mechanical arm (40000) connected with the automatic medicine conveying device is arranged in the space on the upper portion of the closed bin, a medicine dispensing mechanical arm (20000) is arranged at the lower portion of the first medicine taking mechanical arm, a medicine output device (50000) and an injector storage device (60000) are arranged on the right side of the medicine dispensing mechanical arm, and a waste material storage device (70000) is arranged at the lower portion of the injector storage device;
the automatic medicine conveying device (30000) comprises two conveying rails which are arranged in parallel, a medicine bottle conveying rail is arranged on the front side, a solvent bag conveying rail is arranged on the rear side, each conveying rail comprises a conveying manipulator (30600), a first guide rail (30500) is arranged opposite to each conveying manipulator, a conveying tray is arranged between each conveying manipulator and the first guide rail of each conveying rail, and a plurality of medicine containing devices (30900) used for containing medicine bottles or solvent bags are sequentially placed on the conveying trays;
the medicine bottle containing device (30900) comprises a bottom plate (30901) and a medicine bottle mounting module (30902), the bottom plate (30901) is placed on the medicine bottle tray (30800) through a positioning column, the medicine bottle mounting module (30902) is mounted on the bottom plate (30901) through the positioning column at the bottom, and the ampoule bottle (30903) and the penicillin bottle (30904) are placed in a hole of the medicine bottle mounting module 30902;
a camera for detecting the medicine bottles is further mounted on the side face of the medicine bottle conveying track;
the medicine dispensing mechanical arm (20000) comprises a code spraying device at the upper part, a quantitative suction mechanical arm (20400) is arranged at the lower part of the code spraying device, and a second medicine taking mechanical arm (20500) connected with the automatic medicine conveying device is arranged at the lower part of the quantitative suction mechanical arm in a matching manner;
the second medicine taking mechanical arm (20500) comprises a first horizontal movement mechanical arm (20511) connected with the inside of the closed bin, the upper part of the first horizontal movement mechanical arm is provided with an air cylinder (20510), the upper part of the air cylinder is connected with a tray frame (20509), the side surface of the tray frame is respectively provided with a disinfection system (20507) and a medicine bottle opening device, one end of the tray frame is connected with an automatic medicine conveying device, the other end of the tray frame is connected with a fixed seat (20515), and the bottom of the fixed seat is provided with a second rotating motor (20514);
the medicine bottle opening device comprises a second horizontal movement mechanical arm (20506) connected with the inside of the closed bin, a vertical movement mechanical arm (20501) is arranged at the upper part of the second horizontal movement mechanical arm (20506), the vertical movement mechanical arm (20501) is connected with a third rotating motor (20504), and a medicine bottle clamping hand (20505) used for breaking off medicine bottles and opening bottle caps is connected with the third rotating motor (20504) in a driving manner;
the utility model provides a medicine is joined in marriage the back, and the effect of second rotating electrical machines (20514) is down the medicine bottle and is held device (30900) and can rotate in order to reach the medicine bottle and draw in proper order and dispense, and medicine bottle tong (20505) will break off the ampoule bottleneck or xiLin bottle lid and arrive waste material funnel (20600) top under second horizontal motion manipulator (20506) removes, will break off the bottleneck or the bottle lid and throw into waste material funnel (20600), will break off the bottleneck or the bottle lid through waste material slide (70100) and throw into waste material box (70700).
2. The robot system for automatically preparing intravenous infusion medicines according to claim 1, characterized in that the first medicine taking manipulator (40000) is a three-coordinate manipulator, the three-coordinate manipulator comprises a fixing frame (40200), the fixing frame is connected with the inner wall of the closed bin, an X-axis manipulator (40100) is installed on the upper portion of the fixing frame, a Y-axis manipulator (40500) is installed on the upper portion of the X-axis manipulator, a Z-axis manipulator (40400) is arranged on the side surface of the Y-axis manipulator, and a medicine taking clamp (40700) for taking and placing a solvent bag is installed on the Z-axis manipulator.
3. The robot system for automatically dispensing intravenous fluids according to claim 1, wherein the quantitative suction manipulator (20400) comprises a rotating fixing plate (20405), one end of the rotating fixing plate is connected with a first rotating motor (20414), the first rotating motor is connected with a single-axis moving manipulator (20416), the other end of the rotating fixing plate is rotatably connected with a second guide rail (20401), and the single-axis moving manipulator and the second guide rail are both connected with the side wall of the closed bin.
4. The robot system for automatically dispensing intravenous fluids according to claim 3, wherein the rotary fixing plate (20405) is provided at an upper portion thereof with a syringe mounting module (20402) rotatably connected thereto, and at a lower portion thereof with a quantitative suction jig (20412) connected thereto with a suction finger (20403) fitted thereto through the rotary fixing plate.
5. The robot system for automatically dispensing intravenous (iv) drug according to claim 1, wherein the waste storage device (70000) comprises a gripper (70300) engaged with the tray rack, the gripper is connected with a first rotary manipulator (70500) for vertical rotation, the first rotary manipulator is connected with a second rotary manipulator (70800) for horizontal rotation, a waste material box (70700) and a drug storage device recycling box (70900) are respectively arranged below the second rotary manipulator, the waste material box is communicated with a waste material slide (70100), and the waste material slide is engaged with a waste material funnel (20600).
6. The robot system for automatically dispensing intravenous infusion drugs according to claim 1, wherein the drug output device (50000) comprises an output device containing box (50300) connected with the closed bin, an output manipulator (50100) is installed in the output device containing box, and a bearing box (50200) for containing a solvent bag is arranged at the upper part of the output manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910763003.3A CN110368301B (en) | 2019-08-19 | 2019-08-19 | Robot system for automatically preparing intravenous infusion medicines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910763003.3A CN110368301B (en) | 2019-08-19 | 2019-08-19 | Robot system for automatically preparing intravenous infusion medicines |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110368301A CN110368301A (en) | 2019-10-25 |
| CN110368301B true CN110368301B (en) | 2022-02-25 |
Family
ID=68259874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910763003.3A Active CN110368301B (en) | 2019-08-19 | 2019-08-19 | Robot system for automatically preparing intravenous infusion medicines |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110368301B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111134489B (en) * | 2020-01-06 | 2021-04-02 | 长春理工大学 | Multifunctional medicine taking machine |
| CN112744491A (en) * | 2021-01-11 | 2021-05-04 | 苏州市星百飞精密机械有限公司 | Supply conveying line for intravenous administration concentrated preparation center |
| WO2022188124A1 (en) * | 2021-03-12 | 2022-09-15 | Abb Schweiz Ag | Apparatus, system and corresponding method for pharmacy intravenous admixture |
| CN113289150B (en) * | 2021-05-11 | 2022-10-14 | 上海工程技术大学 | Automatic injection device |
| CN113771056B (en) * | 2021-09-22 | 2022-04-08 | 南方医科大学南方医院 | Intelligent robot for narcotic management |
| CN114452213A (en) * | 2021-12-21 | 2022-05-10 | 深圳市澳奇医疗机器人有限公司 | XiLin bottle encapsulation medicine full-intelligent allotment robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101128177A (en) * | 2004-12-22 | 2008-02-20 | 智能医院体系有限公司 | Automated pharmacy admixture system (APAS) |
| CN102151228A (en) * | 2011-05-25 | 2011-08-17 | 深圳市桑谷科技有限公司 | Full-function liquid medicine preparation intelligent robot and medicine preparation method thereof |
| CN103417375A (en) * | 2012-05-18 | 2013-12-04 | 辽宁九洲龙跃医用净化科技有限公司 | Mechanical automatic intravenous medicine mixing device |
| CN104436354A (en) * | 2014-11-13 | 2015-03-25 | 东莞市长原喷雾技术有限公司 | Automatic fluid preparation system and automatic fluid preparation machine used for preparing intravenous fluids |
| EP2915517A1 (en) * | 2014-03-05 | 2015-09-09 | Kabushiki Kaisha Yaskawa Denki | Liquid transfer between a syringe and a vial with anti-foam pressure adjustment |
| CN107213018A (en) * | 2017-05-19 | 2017-09-29 | 深圳市卫邦科技有限公司 | Automatic dispensation apparatus |
| CN206880852U (en) * | 2017-02-13 | 2018-01-16 | 福建（泉州）哈工大工程技术研究院 | A kind of manipulator for quantitatively matching somebody with somebody liquid with muscle and intravenous injection |
| CN108058875A (en) * | 2016-11-06 | 2018-05-22 | 顾莹 | A kind of label method of attaching and device in automated dispensing equipment |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7753085B2 (en) * | 2002-12-03 | 2010-07-13 | Forhealth Technologies, Inc. | Automated drug preparation apparatus including automated drug reconstitution |
| US8386070B2 (en) * | 2009-03-18 | 2013-02-26 | Intelligent Hospital Systems, Ltd | Automated pharmacy admixture system |
-
2019
- 2019-08-19 CN CN201910763003.3A patent/CN110368301B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101128177A (en) * | 2004-12-22 | 2008-02-20 | 智能医院体系有限公司 | Automated pharmacy admixture system (APAS) |
| CN102151228A (en) * | 2011-05-25 | 2011-08-17 | 深圳市桑谷科技有限公司 | Full-function liquid medicine preparation intelligent robot and medicine preparation method thereof |
| CN103417375A (en) * | 2012-05-18 | 2013-12-04 | 辽宁九洲龙跃医用净化科技有限公司 | Mechanical automatic intravenous medicine mixing device |
| EP2915517A1 (en) * | 2014-03-05 | 2015-09-09 | Kabushiki Kaisha Yaskawa Denki | Liquid transfer between a syringe and a vial with anti-foam pressure adjustment |
| CN104436354A (en) * | 2014-11-13 | 2015-03-25 | 东莞市长原喷雾技术有限公司 | Automatic fluid preparation system and automatic fluid preparation machine used for preparing intravenous fluids |
| CN108058875A (en) * | 2016-11-06 | 2018-05-22 | 顾莹 | A kind of label method of attaching and device in automated dispensing equipment |
| CN206880852U (en) * | 2017-02-13 | 2018-01-16 | 福建（泉州）哈工大工程技术研究院 | A kind of manipulator for quantitatively matching somebody with somebody liquid with muscle and intravenous injection |
| CN107213018A (en) * | 2017-05-19 | 2017-09-29 | 深圳市卫邦科技有限公司 | Automatic dispensation apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110368301A (en) | 2019-10-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110368301B (en) | Robot system for automatically preparing intravenous infusion medicines | |
| CN104436354B (en) | Automatic liquid mixing system and automatic liquid matching machine for preparing intravenous fluid | |
| CN106377425B (en) | Intelligent dispensing equipment | |
| CN110680653B (en) | Desktop dispensing robot and dispensing method thereof | |
| CN207502422U (en) | A kind of townhouse plastic ampoule quality automatic detecting machine | |
| CN107764836A (en) | A kind of townhouse plastic ampoule quality automatic detecting machine | |
| CN204275145U (en) | For preparing automatic liquid mixing system and the automatic liquid matching machine of intravenous fluid | |
| CN103341335B (en) | Automatic intravenous medicine dispensing equipment and swinging type rotating disc dispensing device | |
| KR20090058510A (en) | Machine for the preparation of pharmaceutical products | |
| CN103417375A (en) | Mechanical automatic intravenous medicine mixing device | |
| CN112263479A (en) | Intravenous liquid medicine dispensing robot and operation system control medicine dispensing method thereof | |
| CN109793662A (en) | A kind of granulated Chinese medicine preparation equipment | |
| CN112278419B (en) | Intelligent medicine cabinet and medicine taking method | |
| CN203029630U (en) | Mechanical automatic intravenous medicine admixture device | |
| CN103588161A (en) | Tabletop type medical dispensing operation station | |
| CN105292606A (en) | Medicine dispensing machine and medicine dispensing method | |
| CN111358696A (en) | Dispensing robot | |
| CN212166144U (en) | Dispensing robot | |
| CN108455176B (en) | Circulating conveying device for automated pharmacy | |
| CN217745057U (en) | XiLin bottle encapsulation medicine allotment robot | |
| CN215785012U (en) | Automatic screening machine for medicinal bottles | |
| CN218909845U (en) | Manipulator device and nuclear medicine split charging equipment adopting same | |
| CN212637974U (en) | Powder traditional chinese medicine racking machine | |
| CN212327963U (en) | Medicine bottle fixing and vibrating liquid medicine dissolving mechanism for automatic liquid medicine blending machine | |
| CN214388229U (en) | XiLin bottle dispensing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |