CN111449952B - Clamping device for ampoule bottle dispensing robot - Google Patents
Clamping device for ampoule bottle dispensing robot Download PDFInfo
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- CN111449952B CN111449952B CN202010293016.1A CN202010293016A CN111449952B CN 111449952 B CN111449952 B CN 111449952B CN 202010293016 A CN202010293016 A CN 202010293016A CN 111449952 B CN111449952 B CN 111449952B
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- 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
- B67B7/38—Power-operated cutting devices
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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
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
-
- 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
-
- 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
- A61J2200/00—General characteristics or adaptations
- A61J2200/70—Device provided with specific sensor or indicating means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P40/00—Technologies relating to the processing of minerals
- Y02P40/50—Glass production, e.g. reusing waste heat during processing or shaping
- Y02P40/57—Improving the yield, e-g- reduction of reject rates
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Public Health (AREA)
- Pharmacology & Pharmacy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
- Devices For Opening Bottles Or Cans (AREA)
- Specific Conveyance Elements (AREA)
- Feeding Of Articles To Conveyors (AREA)
Abstract
The invention provides a clamping device for an ampoule bottle dispensing robot, which comprises a storage table, a rotary medicine tray, a plurality of clamping mechanisms and a push rod driving mechanism, wherein the storage table is arranged on the storage table; the clamping mechanism comprises two clamping jaws, a push rod and a push rod seat, the push rod seat is arranged on the rotary medicine tray, the push rod is arranged on the push rod seat in a sliding manner, and the push rod is respectively connected with the two clamping jaws through a hinge point; the object placing table is provided with a hollow shaft sleeve structure, the rotary medicine tray is sleeved outside the shaft sleeve structure, and the shaft sleeve structure is provided with grooves corresponding to the push rods in the clamping structures one by one; the push rod driving mechanism comprises a push-out piece, a supporting seat, a rack, a gear and a rotating shaft, wherein the push-out piece is used for penetrating through a groove to push the push rod, the supporting seat is embedded in the shaft sleeve structure, the rack is arranged on the supporting seat in a sliding mode and connected with the push-out piece, the gear is arranged on the supporting seat and matched with the rack, and the rotating shaft is used for driving the gear, and the rotating shaft is connected with the supporting seat in a rotating mode through a one-way bearing. The invention has the advantages of compact structure and good clamping effect.
Description
Statement of case division
The application is a divisional application of a Chinese patent application with the application number of 201811438209.0 and the invention name of 'an automatic dispensing robot for ampoule bottles' which is filed on the date of 2018, 11 and 28.
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to an automatic dispensing robot for ampoule bottles.
Background
The ampoule bottle is a small glass container for containing medicines, the structure of the ampoule bottle comprises a bottle body, a bottle head and a bottleneck positioned at a concave part between the bottle body and the bottle head, the capacity is generally 1-25 ml, and the interior of the ampoule bottle is generally stored as medicines for injection. At present, the preparation of intravenous transfusion medicines in hospitals is generally finished manually, the pollution of medicines to patients is easy to cause, meanwhile, in the occasion of preparing a large number of ampoule bottle medicines, the medicine dispensing efficiency is low, the actual requirements of hospitals are difficult to meet, and the treatment time of patients is prolonged.
The process of manual preparation medicine is loaded down with trivial details, need cut the ampoule, disinfect and just can extract the medicine with the syringe after the bottle is opened, and this in-process medical personnel working strength is big, and medical personnel need contact medicine in the manual preparation in-process moreover, especially when preparing poisonous medicine such as tumour treatment, causes chronic injury to the personnel of dispensing medicine easily, leads to occupational disease. In addition, in the ampoule opening process, because the cutting depth is insufficient, the cutting tough mouth is bad, the medicine bottle quality etc. causes the ampoule to break easily when the medicine bottle rupture is opened, still can cause medical personnel's injured problem. Aiming at the defect of manually preparing the intravenous infusion medicine of the ampoule bottle, the ampoule dispensing robot is designed to replace medical staff to prepare the intravenous infusion medicine, and the practical market is provided.
For example, chinese patent document 2014100547920 discloses an automatic ampoule bottle opening device with a horizontal pushing bottle changing function, which comprises a frame, a striking mechanism, a parallel bottle changing mechanism and a driving mechanism; the striking mechanism and the driving mechanism are arranged on the frame, the driving mechanism drives the striking mechanism to swing, and the striking mechanism strikes the ampoule bottle in the swinging process; the parallel bottle changing mechanism comprises a guide rail and a bottle changing guide rail which are mutually perpendicular, the parallel bottle changing mechanism is arranged on the frame through the guide rail, and an open slot is arranged between the guide rail and the bottle changing guide rail; the bottle replacing guide rail is internally provided with a plurality of bottle seats for fixing ampoule bottles, each bottle seat can linearly slide along the bottle replacing guide rail and can enter the guide rail through the opening groove and slide along the guide rail, and when the bottle seats slide to the set positions of the guide rail grooves, ampoule bottles arranged on the bottle seats can be hit by the hitting mechanism. Among the above-mentioned technical scheme, there is the ampoule fixed infirm, and the striking mechanism is when beating the ampoule, and the ampoule rocks to the impact force that its produced, and then causes the broken problem of ampoule body, the problem of operation failure.
For example, chinese patent document 2016102888420 discloses a dispensing device and a dispensing method for an ampoule, where the device includes a rotating member and a control system, the rotating member is provided with a bottle cutting module, a sterilizing module, a bottle breaking module and a suction module, the periphery of the rotating member is fixedly provided with a clamping module for clamping the ampoule, and the control system controls the rotating member to rotate above the clamping module to complete bottle cutting, sterilizing, bottle breaking or suction of the ampoule. The whole appearance of the dispensing device in the technical scheme is larger, the dispensing process is complicated, only one ampoule bottle can be opened in each working period, the process time is longer, and the process of dispensing is not convenient to concentrate; moreover, in the dispensing process of dispensing different ampoule bottles, the positions of the ampoule bottles cannot be unified, so that different cutting depths are caused, and further the risk of bottle opening failure is brought.
Based on the above, the applicant provides an ampoule automatic dispensing robot with strong universality and compact structure.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the ampoule bottle automatic dispensing robot which has the advantages of compact structure, small volume and strong universality.
To achieve the above object, the present invention provides an automatic dispensing robot for ampoule bottles, comprising: the automatic bottle opening device, the liquid transferring device and the solvent clamping device are arranged on the base; the automatic bottle opening device comprises a storage table, a rotary medicine tray, a cutting mechanism and a breaking mechanism, wherein the storage table is fixedly arranged on a base, the rotary medicine tray is rotatably arranged relative to the storage table, and a plurality of clamping mechanisms for clamping ampoule bottles are arranged on the rotary medicine tray; the ampoule bottles clamped by the clamping mechanism sequentially pass through the cutting mechanism and the breaking mechanism in the rotating direction of the rotary medicine disc, so that the clamped ampoule bottles sequentially perform bottleneck cutting and bottle head breaking; the solvent clamping device is used for clamping and fixing the solvent bag to one side of the rotary medicine tray; the pipetting device is used for transferring the medicine in the opened ampoule bottle to the solvent bag.
In the present invention, a plurality of clamping mechanisms can be used to clamp the ampoule, preferably, for example, 4-10 clamping mechanisms are provided; specifically, the plurality of clamping structures are distributed in a circumferential array or are oppositely arranged at the periphery of the rotary medicine tray.
Further, the clamped ampoule bottle is subjected to the bottleneck cutting and bottle head breaking processes respectively through a cutting mechanism and a breaking mechanism in the automatic bottle opening device, and medicines in the ampoule bottle are transferred into the solvent bag through the liquid transferring device.
According to another embodiment of the invention, the rotary medicine tray is arranged obliquely relative to the horizontal plane of the base, so that the ampoule bottles incline synchronously, and the needle in the liquid transferring device descends to the bottommost end of the ampoule bottle in the sucking state and completely sucks the medicine in the ampoule bottle.
Specifically, after the ampoule is inclined, when a small amount of medicine remains in the ampoule, the medicine can be collected to one side of the bottle bottom of the ampoule (the position at the bottommost end), at this moment, the needle in the pipetting device descends to one side of the bottle bottom of the ampoule, the medicine in the ampoule can be completely sucked, and the utilization rate of the medicine is improved.
Preferably, the rotatory medicine tray in this scheme has and is 10 degrees-30 degrees contained angles with the horizontal plane, specifically has 15 degrees contained angles for example, and wherein, the working position one side of sucking ampoule medicine is all lower than other working positions, when placing this automatic bottle opening device level on the desktop, the medicine is more to collect in ampoule's bottle end one side, and the syringe of being convenient for is clean with the medicine suction, avoids bottom medicine too much to remain.
According to another embodiment of the invention, the pipetting device comprises a first sensor for controlling the lowering height of the pipetting needle, in particular, the first sensor being arranged close to the ampoule in the aspiration station and being adapted to detect the position of the lowest point of the ampoule bottom in the height direction and to control the lowering height of the needle by determining the position of the lowest point of the ampoule bottom.
According to another embodiment of the invention, the clamping mechanism comprises two clamping jaws matched with each other and a push rod for driving the two clamping jaws to open or close, and the push rod is arranged in the radial direction of the rotary medicine tray in a sliding manner.
Further, the automatic bottle opening device is provided with a push rod driving mechanism for driving push rods in all the clamping mechanisms, and the push rod driving mechanism drives the push rods to extend out so as to open clamping jaws in the clamping mechanisms. The push rod driving mechanism drives the push rod to slide in the radial direction of the rotary medicine tray, and the push rod is specifically extended.
For example, a hole structure matched with the push rod is arranged between the two clamping jaws, more specifically, the hole structure is provided with a conical opening along the extending direction of the push rod, when the push rod extends into the hole structure, the two clamping jaws are opened, the ampoule bottle can be placed at the moment, and the used ampoule bottle (namely, the medicine is sucked) can be taken out from the clamping jaws; preferably, the clamping jaws are provided with, for example, a spring return, under the action of which the two clamping jaws return to the clamped state after retraction of the push rod.
For another example, the push rod and the two clamping jaws can be connected with each other by adopting a hinged connecting rod, and the state switching (opening or closing) between the two clamping jaws can be changed by changing the position of a hinged point.
Still further, the automatic bottle opening device is also provided with a second sensor, and the second sensor is used for detecting the position of the push rod, so as to obtain the bottle channel of the ampoule bottle clamped by the two clamping jaws; specifically, for example, the position of the end part of the push rod extending outwards is detected by the second sensor, and the opening degree of the two clamping jaws can be calculated and obtained through the specific position of the push rod, wherein the opening degree of the two clamping jaws is the bottle size of the corresponding ampoule bottle.
According to another embodiment of the invention, the cutting mechanism has a cutting member arranged in the rotational path of the ampoule held by the holding mechanism, the cutting member being in contact with the ampoule during rotation of the ampoule to cut the neck of the ampoule.
The cutting member is used for cutting the bottleneck, and can be a cutter wheel, a grinding wheel, a cutting strip and the like.
The cutting component is preferably a cutter wheel, wherein the cutter wheel is arranged on the object placing table, and the position of the cutter wheel is movable and can be precisely controlled through mechanism transmission in order to be suitable for ampoule bottles with various specifications; when ampoule bottles with different specifications are cut, the cutter wheel can be adjusted to the corresponding position through a controller only by knowing the related information (such as model information, bottle diameter of the ampoule bottle and the like) of the ampoule bottle. The diamond cutter wheel is preferably used for cutting in order to achieve better cutting effect.
Furthermore, the cutting mechanism can also comprise a knife rest for adjusting the position of the knife wheel, and the middle part of the knife rest is rotationally arranged on the object placing table through a knife rest shaft; the working end of the knife rest is provided with a knife wheel, the free end of the knife rest is provided with a knife wheel driving component, and the knife wheel driving component enables the knife rest to rotate around a knife rest shaft to adjust the position of the knife wheel.
Preferably, the tool holder is rod-shaped, more particularly, is inverted Z-shaped, and comprises a first truss rod with a working end, a second truss with a free end and an intermediate truss rod connecting the first truss and the second truss, wherein the tool holder shaft is arranged on the intermediate truss rod, and more preferably, a bearing is arranged between the tool holder shaft and the intermediate truss to reduce friction force in the rotation process.
The cutter frame rotates to change the position of a cutter wheel positioned at the working end of the cutter frame so as to adapt to ampoule bottles of different specifications and models; preferably, the invention is provided with a control device, programs which are respectively matched with ampoule bottles of various specifications are arranged in the control device to select the positions of the cutter wheels, and the cutter wheel driving member is controlled to drive the rotation angle of the cutter frame to adjust the cutter wheels to the accurate working positions through switching the programs.
The cutting mechanism of the present invention may also be provided with a power mechanism for driving the cutting member, such as a motor-driven telescopic mechanism, a slide rail chute mechanism, a link mechanism, a cam mechanism, and the like. One of the power mechanisms is preferably: the automatic feeding device comprises a cam disc rotatably arranged on a storage table, wherein a roller matched with the cam disc is arranged at the free end of a tool rest, and the roller is abutted against the periphery of the cam disc. Correspondingly, a motor assembly for driving the cam disc to rotate is arranged on the object placing table, preferably, in order to enable the roller to tightly prop against the periphery of the cam disc, further position accuracy of the cutting member is guaranteed, an elastic reset member, such as a spring, is arranged on the object placing table, and is always in a stretched state, and further a certain force is provided for the roller to prop against the periphery of the cam disc.
According to another embodiment of the invention, the object placing table is provided with a bottleneck clamping mechanism which is arranged in a sliding way along the radial direction of the rotary medicine tray, and the bottleneck clamping mechanism is matched with the clamping mechanism so that the ampoule bottle has a definite clamping position in the height direction.
Specifically, the bottleneck clamping mechanism comprises a bottleneck clamping seat, wherein the bottleneck clamping seat is arranged in a sliding manner along the radial direction of the rotary medicine disk, and the bottleneck clamping seat is arranged at the upstream of the cutting member in the rotation direction of the rotary medicine disk; preferably, the front end of the bottleneck clamping seat is provided with a V-shaped opening, when an ampoule bottle is placed, the V-shaped opening contacts with the bottleneck to determine the position, and then the ampoule bottle is clamped by the clamping mechanism to finish positioning of the ampoule bottle.
Further, the bottleneck clamping seat can slide to other positions, such as an initial position, after the clamping mechanism clamps the ampoule bottle, and the bottleneck clamping seat can not interfere with the rotation process of the ampoule bottle.
According to another embodiment of the invention, the breaking mechanism is provided with a breaking member, the breaking member is arranged perpendicular to the direction of the bottle head of the cut ampoule bottle, and the breaking member impacts to break the bottle head of the cut ampoule bottle; the ampoule bottle clamped in the same clamping mechanism is firstly cut by the cutting member in the cutting mechanism and then the bottle head of the ampoule bottle is broken by the breaking member.
Further, the breaking member is a movable breaking member located on the storage table, and when the ampoule is rotated to the breaking position, the breaking member impacts the ampoule along a direction perpendicular to the head of the ampoule to be cut, so that the head of the ampoule is broken.
Wherein, the breaking component can be a straight line impact type or a rotary impact type; preferably, the breaking member impacts the bottle head of the ampoule bottle in a linear motion mode, the linear motion has larger instant impact moment, the breaking effect is good, the bottle head of the ampoule bottle is effectively broken, the bottle body of the ampoule bottle is rarely or even not broken when the ampoule bottle head is broken in a linear impact mode, the bottle body of the ampoule bottle can be largely protected from being broken in the process of breaking the bottle head, and further the subsequent liquid suction process is completed.
A preferred embodiment of the breaking mechanism of the present invention is: the object placing table is provided with a motor, a transmission screw rod arranged at the output end of the motor and a nut seat arranged on the transmission screw rod, wherein a breaking member (specifically a breaking rod) is arranged on the nut seat, an impact member is arranged on the breaking member, and the nut seat is driven to move back and forth on the transmission screw rod through the rotation (forward rotation or reverse rotation) of the motor, so that the extending or retracting process of the breaking member is realized; preferably, the motor adopts a stepping motor, has a relatively large starting acceleration, and can enable the breaking member to have relatively strong breaking force; more preferably, the impact member is made of hard glass steel, steel for racing, etc., for better impact breaking process.
According to another embodiment of the invention, a pipetting device comprises a horizontal rotation mechanism, a needle holding mechanism, a needle lifting mechanism and a suction injection mechanism. The suction injection mechanism can be an injector mechanism or a peristaltic pump mechanism.
According to another specific embodiment of the invention, the device further comprises a push rod driving mechanism, wherein the object placing table is provided with a shaft sleeve structure, and the shaft sleeve structure is in a hollow cylinder shape; the rotary medicine tray is sleeved outside the shaft sleeve, the push rod driving mechanism comprises a push-out piece, grooves corresponding to the clamping mechanisms are formed in the shaft sleeve, and the push-out piece penetrates through the grooves and abuts against the push rod, so that the two clamping jaws are opened. In the scheme, a push rod driving mechanism is adopted to respectively drive a plurality of clamping mechanisms, and the clamping jaw in the clamping mechanism corresponding to the position of the push-out piece can be opened or closed by changing the position of the push-out piece. Preferably, the number of the grooves is the same as that of the clamping mechanisms, and the grooves correspond to all working positions in the bottle opening process.
Specifically, the push rod driving mechanism can further comprise a supporting seat embedded in the shaft sleeve, the supporting seat is provided with a rack connected with the push-out piece, a gear matched with the rack and a rotating shaft for driving the gear to rotate, the rotating shaft is connected with the supporting seat through a one-way bearing, and the supporting seat and the rotating shaft synchronously rotate when the push-out piece is in a retraction state. When the rotating shaft rotates reversely, the one-way bearing is locked, the supporting seat and the rotating shaft rotate synchronously, the gear cannot drive a rack connected with the pushing-out piece to act (particularly to extend out), and at the moment, the pushing-out piece does not work; when the rotating shaft rotates positively, the one-way bearing can rotate freely, the supporting seat does not rotate along with the rotation of the rotating shaft, the gear is driven by the rotating shaft to rotate relative to the supporting seat, and then the rotation of the rotating shaft is converted into the extension of the pushing-out piece through the rack connected with the pushing-out piece, at the moment, the pushing-out piece extends out and props against the push rod, so that the two clamping jaws are opened.
More specifically, the rotation of the shaft is achieved by, for example, a drive motor and worm drive assembly disposed below the object placing table.
Furthermore, the pushing-out piece is provided with a connecting piece flexibly connected with the supporting seat, when the pushing-out piece stretches out, the two clamping jaws are in an open state, and at the moment, the connecting piece is stretched and bears a restoring force; when the clamping jaw needs to be folded, the rotating shaft reversely rotates, at the moment, under the action of the restoring force of the connecting piece, when the rotating shaft drives the pushing-out piece to stretch out, the pushing-out piece instantly has the trend of retraction movement, at the moment, once the rotating shaft reversely rotates, the pushing-out piece immediately retracts from the groove to an initial state under the synergistic effect of the restoring force of the connecting piece, at the moment, the one-way bearing is locked, and then the supporting seat (pushing-out piece) is driven to reversely rotate.
When the unidirectional bearing in this scheme is corotated, can carry out free rotation, when reversing, rotate less angle and be locked promptly, and preferably, when the pivot is reversed to the ejecting piece and is in withdrawal state (initial state), unidirectional bearing is locked, and the supporting seat rotates along with the rotation of pivot.
According to another embodiment of the present invention, the push rod driving mechanism further includes a reset member, and after the push-out member returns to the initial state, the reset member resets the push rod to drive the two clamping jaws to close. Preferably, the reset piece is a spring arranged on the push rod, in particular a compression spring, and when the push rod stretches out, the spring is further compressed; after the acting force of the pushing-out piece acting on the push rod disappears, the push rod is restored to the initial state under the action of the spring restoring force, and at the moment, the two clamping jaws are correspondingly restored to the folding state.
According to another embodiment of the invention, the automatic spraying disinfection mechanism is arranged on the object placing table, the disinfection mechanism comprises disinfection bottles, the disinfection process of the disinfection bottles is arranged after the cutting of the cutting mechanism and before the breaking process of the breaking member, preferably, the disinfection process is carried out immediately at the moment of finishing the bottleneck cutting process, the position of the ampoule bottles is detected in a mode of detecting by a sensor, for example, and the cut ampoule bottles are disinfected.
According to another specific embodiment of the invention, the power part of the rotary medicine tray adopts worm gear transmission and synchronous wheel transmission, specifically, for example, the rotary medicine tray is connected with a turbine, the turbine is in matched connection with a worm connected with a synchronous wheel I, a synchronous wheel II is arranged at the output end of a motor and driven to rotate by the motor, and a transmission belt is arranged between the synchronous wheel II and the synchronous wheel I, so that the synchronous wheel I rotates, the worm drives the turbine to rotate, and finally the rotary medicine tray is driven to rotate.
According to another embodiment of the invention, the device further comprises a sharp tool collecting device arranged on the base, wherein the sharp tool collecting device is used for collecting the bottle head broken by the breaking mechanism and the bottle body after the medicine is sucked by the pipetting device. Specifically, the sharp instrument collection device comprises a bottle head sharp instrument box and a bottle body sharp instrument box, wherein the bottle head sharp instrument box is placed at a position, close to the breaking mechanism, of the base, and the bottle body sharp instrument box is placed at a position, close to the suction station of the rotary medicine disc, of the base.
The invention has the advantages that:
1. the breaking effect is good, the broken component in the breaking mechanism impacts the bottle head of the ampoule bottle along the direction perpendicular to the cut direction of the cut ampoule bottle, and the bottle body is protected while the bottle head is broken, so that the bottle body is not easy to break;
2. the whole structure is compact, the volume is small, the automation degree is high, manual intervention is not needed in the dispensing process, and the dispensing process is automatically completed after the medicine and the injector are placed;
3. the universality is strong, the ampoule bottles of almost all specifications and types can be compatible, and the automatic dispensing process of the ampoule bottles with various specifications and sizes is realized;
4. the medical waste is automatically recovered, the broken bottle head and the sucked bottle body automatically enter the sharp tool collecting device, the injector automatically sleeved with the needle cap, the direct contact of the medicine dispensing personnel with the sharp tool is avoided, and the medicine dispensing personnel is protected from physical and biochemical hazards.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
For a clearer understanding of other features and advantages of the present invention, embodiments of the invention will be described by way of example and not limitation, and the accompanying drawings in which:
fig. 1 is a schematic view of the overall structure of an automatic dispensing robot of embodiment 1;
FIG. 2 is a schematic view of the structure of FIG. 1 in another state;
FIG. 3 is a schematic view of the overall structure of the automatic bottle opening device in FIG. 1;
FIG. 4 is a schematic view of the automatic bottle opening device of FIG. 1 showing the breaking mechanism;
FIG. 5 is a schematic view showing the structure of a cutting mechanism in the automatic bottle opening device of FIG. 1, wherein FIG. 5a mainly shows a knife rest and FIG. 5b mainly shows a bottleneck clamping seat;
FIG. 6 is a schematic view of the automatic bottle opening device of FIG. 1 showing the distribution of a plurality of clamping mechanisms;
FIG. 7 is a schematic view of the automatic bottle opening device of FIG. 1 showing different clamping mechanism states;
FIG. 8 is a schematic view showing the structure of the push rod driving mechanism in the automatic bottle opening device of FIG. 1, wherein FIGS. 8a and 8b show different views, respectively;
FIG. 9 is a schematic view showing the whole structure of the pipetting device in FIG. 1;
FIG. 10 is a partial schematic view of the structure of FIG. 9;
fig. 11 is a schematic structural view of a pipetting device of the automatic dispensing robot of example 2.
Detailed Description
Example 1
As shown in fig. 1 to 10, the present embodiment provides an automatic dispensing robot for ampoule bottles, comprising a base 100, an automatic bottle opening device 200, a pipetting device 300, a solvent clamping device 400 and a sharps collecting device 500; wherein, the automatic bottle opening device 200, the liquid transferring device 300, the solvent clamping device 400 and the sharps collecting device 500 are all arranged on the base 100; to facilitate the automated dispensing process, a preferred distribution is shown in fig. 1 and 2, with a solvent holding device 400 disposed between the automatic bottle opener 200 and the pipetting device 300.
Referring to fig. 3 and 4, the automatic bottle opening device 200 includes a placement table 210, a rotary medicine tray 220, a cutting mechanism 230 and a breaking mechanism 240, where the placement table 210 is fixedly arranged on the base 100, the rotary medicine tray 220 is rotatably arranged relative to the placement table 210, the rotary medicine tray 220 is provided with a plurality of clamping mechanisms 250 for clamping ampoule bottles, preferably, eight clamping mechanisms 250 are provided in the embodiment, and the eight clamping mechanisms 250 are distributed on the periphery of the rotary medicine tray 220 in a circumferential array, and the rotation direction is shown by an arrow in fig. 1; further, the clamping mechanism 250 at the position a is a station for placing the ampoule, that is, an initial station, and the ampoule clamped by the clamping mechanism 250 rotates synchronously with the rotation of the rotating tray 220.
Preferably, in this embodiment, the rotating tray 220 is disposed obliquely, and has an included angle of, for example, 15 degrees with the horizontal plane of the base 100, so as to collect more medicine in the ampoule bottle on one side of the bottom of the bottle, so that the injector can suck the medicine cleanly, and excessive residue of the medicine at the bottom can be avoided.
The cutting mechanism 230 is used for cutting the bottleneck of the ampoule bottle, and comprises a cutting member, preferably, the cutting member in this embodiment is a cutter wheel 231, wherein the cutter wheel 231 is disposed on the object placing table 210 and is disposed on the rotating path of the ampoule bottle clamped by the clamping mechanism 250, and during the rotation process of the ampoule bottle, the cutter wheel 231 contacts with the ampoule bottle to cut the bottleneck of the ampoule bottle; further, the cutter wheel 231 is arranged after the initial station; in particular, an intermediate station may also be provided between the initial station and the cutting station where the knife flywheel 231 is located.
After the ampoule is cut by the cutting mechanism 230, preferably, the bottleneck of the ampoule is sterilized, specifically, the placing table 210 is provided with a sterilizing bottle 260, the sterilizing process of the sterilizing bottle 260 is set after the bottleneck cutting process of the cutting mechanism 230, and an automatic spraying sterilizing process is started by a sensor detection mode, so that the sterilizing process of the bottleneck position of the ampoule after cutting is completed.
After the sterilization of the ampoule, the breaking of the head of the ampoule may be performed, and in particular, the breaking mechanism 240 includes a breaking member 241, preferably, the breaking member 241 is rapidly protruded in a direction perpendicular to a cutting direction at a bottleneck of the ampoule, and the head of the cut ampoule is broken by impact.
Referring to fig. 4, the breaking member 241 in the present embodiment has a linear structure, and in other examples of the present invention, a rotary structure may be used; specifically, the breaking mechanism 240 further includes a pushing motor 242 disposed on the object placing table 210, a transmission screw rod disposed at an output end of the pushing motor 242, and a nut seat 243 disposed on the transmission screw rod, where a breaking member 241 (specifically, a breaking rod) is disposed on the nut seat 243, and an impact member 244 is disposed at a working end of the breaking member 241, and the nut seat 243 is driven to move back and forth on the transmission screw rod by rotation (forward rotation or reverse rotation) of the pushing motor 242, so as to implement a process of extending or retracting the breaking member 241; preferably, the push-out motor 242 is a stepper motor, which has a faster starting acceleration, so that the breaking member 241 has a stronger breaking force; more preferably, the strike member 244 is made of, for example, a siren material, and the breaking process is preferably performed.
Further, to accommodate a variety of different types of ampoule bottles, referring to fig. 5a and 5b, cutting mechanism 230 may also be provided with a blade holder 232; the tool post 232 includes a first truss rod 2321, a second truss rod 2322, and an intermediate truss rod 2323 disposed between the first truss rod 2321 and the second truss rod 2322, specifically, a cutter wheel is disposed on the first truss rod 2321, the intermediate truss rod 2323 is rotatably disposed on the object placing table 210 through the tool post shaft 233, and preferably, a bearing is disposed between the intermediate truss rod 2323 and the tool post shaft 233 to reduce a rotation friction force.
In order to ensure the cutting quality, determining the accurate cutting position, a bottleneck clamping mechanism is arranged at the mounting position of the storage table 210 on the ampoule bottle, namely at the initial station, wherein the bottleneck clamping mechanism comprises a bottleneck clamping seat 211, and the bottleneck clamping seat 211 is arranged in the radial direction of the rotary medicine tray 220 and is matched with the clamping mechanism 250 to ensure that the ampoule bottle has a determined clamping position in the height direction; specifically, in the rotational direction of the ampoule, the bottleneck clamping seat 211 is provided before the tool post 232; preferably, the front end of the neck clamping seat 211 has a V-shaped opening 2111, and when the ampoule is placed, the V-shaped opening 2111 contacts with the neck of the bottle and positions the bottle to determine the height position, and then the ampoule is clamped by the clamping mechanism 250 to complete the positioning of the ampoule.
In the embodiment, a power component is adopted to realize the cooperative adjustment of the positions of the bottleneck clamping seat 211 and the cutter wheel 231, and the positions and actions of the bottleneck clamping seat 211 and the cutter wheel 231 are interlocked with each other, so that the structure is more compact; specifically, a cam plate 212 is provided on the object placing table 210, a driving component of the cam plate 212 may be selected as a motor or an air cylinder, and a gear transmission component or a gear rack transmission component, for example, may be provided between the driving components.
On the basis of limited experimental verification, the applicant sets a cutter frame driving section for driving the cutter frame 231 for adjusting the cutter frame position and a clamping seat driving section for driving the bottleneck clamping seat 311 for adjusting the position on the periphery of the cam disc 212, so as to realize an adjusting mode suitable for ampoule bottles with different specifications.
More specifically, referring again to fig. 5a and 5b, a roller 234 is disposed at a position of the second truss 2322 contacting the cam plate 212 in the tool rest, the roller 234 abuts against the outer periphery of the cam plate 212, and a tool rest return spring 235 is disposed at the object placing table 210, and the tool rest return spring 235 is always in a stretched state, such that the roller 234 is tightly contacted with the outer Zhou Xiangdi of the cam plate 212; as the cam plate 212 rotates, the knife holder 231 rotates a certain angle about the knife holder shaft 233, thereby changing the knife wheel 231 to an accurate cutting position.
Further, the rear end 3111 of the bottleneck clamping seat abuts against the periphery of the cam disc 212, for example, a roller is also adopted, and a clamping seat return spring (not shown in the figure) is arranged on the object placing table 210, and the clamping seat return spring is always in a stretched state, so that the rear end 3111 of the bottleneck clamping seat is always in contact with the outer side Zhou Xiangdi of the cam disc 212; after the ampoule is clamped by the bottleneck clamping mechanism 250, the cam plate 212 is rotated to a position where the bottleneck clamping mechanism is retracted, and at this time, the bottleneck clamping mechanism 311 does not interfere with the rotation process of the ampoule.
Referring to fig. 6 and 7, the clamping mechanism 250 has two mutually matched clamping jaws 251, a push rod 252, a push rod seat 253 for placing the push rod 252 and a push rod driving mechanism 270, wherein the push rod seat 253 is arranged on the inner side of the rotary medicine tray 220, the push rod 252 is used for driving the two clamping jaws 251 to open (or close), the push rod seat 253 is arranged in a sliding manner, in a state driven by no external force (pushing force of the push rod), the two clamping jaws 251 always have a tendency to switch to a closing state, and preferably, a compression spring 254 is arranged outside the push rod 252, and the compression spring 254 is always in a compressed state; wherein the push rod 252 and the two clamping jaws 251 are connected with each other in a hinged manner, for example, and the state switching (opening or closing) between the two clamping jaws 251 is realized by changing the position of a hinged point.
Referring to fig. 7, a shaft sleeve structure 213 is disposed on the object placing table 210, and specifically, the shaft sleeve structure 213 is hollow and cylindrical; the rotary medicine tray 220 is sleeved outside the shaft sleeve structure 213, the push rod driving mechanism 270 comprises a push-out piece 271, the shaft sleeve structure 213 is provided with grooves 214 corresponding to the plurality of clamping mechanisms 250, the push-out piece 241 passes through the grooves 214 and abuts against the push rod 252, so that the two clamping jaws 251 are opened, and preferably, the grooves 214 and the clamping mechanisms 250 are the same in number and correspond to all working positions of the ampoule automatic bottle opening device 200 respectively.
Preferably, in the present embodiment, one push rod driving mechanism 270 is used to drive the plurality of clamping mechanisms 250, and the two clamping jaws 251 in the clamping mechanism 250 corresponding to the positions of the push-out member 271 can be opened by changing the positions of the push-out member; the push rod driving mechanism 270 has a power source with an adjustable position, and the clamping jaw 251 in the clamping mechanism 250 corresponding to the position of the push rod driving mechanism can be opened or closed by changing the position of the push-out member 271.
It is further preferable, referring to fig. 8a and 8b, that the push rod driving mechanism 270 further includes a supporting seat 272 embedded in the shaft sleeve, the supporting seat 272 is provided with a rack 273 connected with the push-out member 271, a gear 274 cooperating with the rack 273, and a rotating shaft 275 driving the gear 274 to rotate, and the rotating shaft 275 is connected with the supporting seat 272 through a one-way bearing 276, so that the supporting seat 272 and the rotating shaft 275 synchronously rotate when the push-out member 271 is in the retracted state.
Specifically, when the rotation shaft 275 is reversed, the one-way bearing 276 is in a locked state, the support seat 272 and the rotation shaft 275 rotate synchronously, the gear 274 does not drive the rack 273 connected with the push-out member 271 to act (specifically, to extend), and at this time, the push-out member 271 does not work; when the rotating shaft 275 rotates positively, the one-way bearing 276 can rotate freely, the supporting seat 272 does not rotate along with the rotation of the rotating shaft 275, the gear 274 is driven by the rotating shaft 275 to rotate relative to the supporting seat 272, and then the rotation of the rotating shaft 275 is converted into the extension of the pushing member 271 through the rack 273 connected with the pushing member 271, at this time, the pushing member 271 extends and abuts against the push rod 252, so that the two clamping jaws 251 are opened.
More specifically, rotation of the shaft 275 is accomplished by, for example, a drive motor and worm drive assembly disposed in the table 210.
Still preferably, the pushing member 271 is provided with a connecting member (e.g., a spring, not shown) flexibly connected to the supporting seat 272, specifically positioned as shown by arrow 277, and when the pushing member 271 is extended, the two clamping jaws 251 are opened, and at this time, the connecting member is stretched and subjected to a restoring force; when the clamping jaw 251 is closed, the rotating shaft 275 rotates reversely, at this time, under the action of the restoring force of the connecting piece, at the moment when the force of the rotating shaft 275 driving the pushing piece 271 to extend disappears, the pushing piece 271 has a trend of retracting motion instantly, at this time, once the rotating shaft 275 rotates reversely, the pushing piece 271 can retract from the groove 214 to the initial state instantly under the cooperation of the restoring force of the connecting piece, meanwhile, the one-way bearing 276 is locked, and the supporting seat 272 (the pushing piece 271) is driven to rotate reversely.
The one-way bearing 276 in this embodiment can be freely rotated when it is rotated forward and locked by a small angle when it is rotated backward, and preferably, the one-way bearing 276 is locked when the rotation shaft 275 is rotated backward until the push-out member 271 is in the retracted state (initial state), and the support base 272 rotates with the rotation of the rotation shaft 275.
Referring again to fig. 7, there are shown two gripping mechanisms 250, one of which 250 is in an open position, in which ampoule placement is possible, or in which a used ampoule (i.e. drug has been sucked) is removed from the jaw 251; the other clamping mechanism 250 is in a closed and gripping condition for the ampoule.
In this embodiment, the power component of the rotating medicine tray 220 adopts a mode of, for example, worm gear transmission and synchronous wheel transmission, specifically, for example, the rotating medicine tray 220 is connected with a turbine, the turbine is connected with a worm connected with a synchronous wheel one in a matched manner, the synchronous wheel two is arranged at the output end of the motor and driven to rotate by the motor, and a transmission belt is arranged between the synchronous wheel two and the synchronous wheel one, so that the synchronous wheel one rotates, and the worm drives the turbine to rotate, and finally drives the rotating medicine tray 220 to rotate.
Referring again to fig. 3 and 4, the stations where the eight clamping mechanisms 250 are located in this embodiment are, for example, in order from the position a: the bottle bottom detection device comprises an initial station, an intermediate station, a cutting station (post-cutting disinfection treatment), a breaking station, an intermediate station, a bottle bottom detection station, a suction station (bottle body separation after suction), an intermediate station and an initial station.
In this embodiment, a tray cover 215 is further provided, referring to fig. 3, where the tray cover 215 is detachably provided on the outer side above the object placing table 210, for protecting the cutting mechanism 230, the breaking mechanism 240, and the like, so as to avoid exposing the internal structure to the environment, and improve the stability and structural aesthetic property of the system movement.
Referring again to fig. 1, the sharps collection device 500 in this embodiment includes two sharps boxes, one for collecting the head waste of the ampoule, specifically, at the position where the base 100 is located at one side of the breaking member 241, and the other for collecting the body waste of the ampoule, which is located on the base 100 and at a station near the solvent holding device 400.
Referring to fig. 2, in order to more fully utilize the medicine in the ampoule to ensure complete aspiration of the medicine in the ampoule, it is preferable that a sensor (not shown) for detecting the bottom position of the ampoule is provided at the placement stage 210, for example, the sensor is provided directly under other stations located after the initial station, for example, directly under the first intermediate station after breaking, and the detected bottom position is transferred to the pipetting device 300, thereby controlling the descent distance of the syringe; the bottom position of the ampoule bottle is the position of the lowest descending point of the needle at the bottom end of the syringe, and the medicine in the ampoule bottle is sucked as fully as possible in the sucking process of the ampoule bottles with different specifications.
Referring to fig. 1 again, a detection distance sensor 216 is disposed directly below the initial station in the automatic bottle opening device 200, and is used for detecting the position of the protruding end (the end matched with the two clamping jaws) of the push rod in the clamping mechanism 250 at this time, that is, the protruding displacement amount of the push rod, it should be noted that, in this embodiment, the position of the push rod 252 and the clamping state of the two clamping jaws 251 are preferably linearly related, and the diameter of the clamped ampoule bottle is further obtained according to the preset relationship between the displacement amount of the push rod and the working surface clamped by the clamping jaws 251, so as to obtain the information of the ampoule bottle to be processed at this time.
Referring to fig. 9, pipetting device 300 includes a horizontal rotation mechanism 310, a syringe clamping mechanism 320, a syringe lifting mechanism 330, and a suction injection mechanism 340.
The horizontal rotation mechanism 310 includes a bearing seat 311 provided on the base 100, a rotation plate 312 is provided on the bearing seat 311, specifically, a worm gear assembly such as a rotation motor 313 and an output end thereof is provided on the bearing seat 311, and the rotation plate 312 is driven to rotate in a horizontal plane or a nearly horizontal plane by the rotation motor 313.
The injector lifting mechanism 330 is disposed on the rotating plate 312, and includes a first vertical plate 331, a screw rod 332 vertically disposed on the first vertical plate 331, a first lifting motor 333 for driving the screw rod 332, a guide rail slider 334 disposed on the screw rod 332, a first synchronizing wheel and a second synchronizing wheel, wherein the first synchronizing wheel and the second synchronizing wheel are connected by a synchronous belt, the injector clamping mechanism 320 is specifically disposed on the guide rail slider 334, and the first lifting motor 333 drives the screw rod 332 to rotate through transmission among the first synchronizing wheel, the second synchronizing wheel and the synchronous belt, so that the guide rail slider 334 drives the lifting process of the injector clamping mechanism 320.
Specifically, the bearing seat 311 is provided with a needle cap seat 314 for fixing a needle cap of the syringe, and in an initial state, a needle of the syringe is placed in the needle cap positioned in the needle cap seat 314.
Referring to fig. 10, the syringe clamping mechanism 320 includes a second riser 321, and a syringe support block 322, a syringe claw 323, and a needle tip claw 324 are provided at the second riser 321, wherein the syringe support block 322 is provided between the syringe claw 323 and the needle tip claw 324 for supporting and fixing a syringe; after the injector is put on, the needle cylinder is held tightly by the needle cylinder paw 323, and after the needle cap is removed, the needle tip is held tightly by the needle tip paw 324.
Preferably, the opening angle of the cylinder finger 323 and the needle tip finger 324 is adjustable and the finger can be locked, for example, by adjusting the screw to perform the loosening and locking operations.
In order to realize the suction action of the syringe, a suction injection mechanism 340 (specifically, a needle handle lifting mechanism) is arranged on the second vertical plate 321, the suction injection mechanism 340 comprises two side plates 341 arranged on the second vertical plate 321, the suction injection mechanism 340 comprises a suction lifting motor 342 arranged on one side plate 341, a synchronous wheel assembly driven by the suction lifting motor 342, and a lifting screw rod 343 arranged on the side plate 341 and driven by the synchronous wheel assembly, a needle handle lifting table 344 is arranged on the lifting screw rod 343, a needle handle claw 345 is arranged on the needle handle lifting table 343, and the needle handle lifting table 343 is driven by the suction lifting motor 342 and is driven by the synchronous wheel assembly to rotate along with the lifting screw rod 343 so as to drive the needle handle to vertically lift and descend, so that the suction process of the medicine in a specified ampoule bottle or the medicine in the syringe is injected into a solvent bag can be completed.
Preferably, the needle handle grip 345 is also a grip that is adjustable in its angle of deployment and that can be locked, such as by means of an adjustment screw, for example.
Further, steel belts 346 which can be synchronously lifted along with the needle handle lifting table 343 are arranged on the two side plates 341 so as to protect internal parts and improve the running stability and the appearance neatness.
The embodiment has high suction precision, and can judge whether the suction quantity requirement is met by presetting the suction quantity and measuring the diameter and the bottom of the ampoule bottle and comparing the preset quantity with the actual measurement; meanwhile, the needle point position of the injector is accurately controlled according to the measured value, so that the medicine in the ampoule bottle can be completely sucked, and the stroke of the injector is controlled to realize quantitative extraction of the medicine.
Example 2
As shown in fig. 11, this embodiment is different from embodiment 1 in that: peristaltic pump mechanisms are used as aspiration and injection mechanisms in pipetting devices.
Referring to fig. 11, pipetting device 600 includes a horizontal rotation mechanism 610, a needle clamping mechanism 620, a needle lifting mechanism 630, and a peristaltic pump mechanism 640.
The horizontal rotation mechanism 610 and the needle lifting mechanism 630 are substantially the same as those in embodiment 1, and will not be described here.
The needle holding mechanism 620 includes a holding plate 621 fixed to a needle lifting mechanism 630 (lifting plate 631), and a through hole for passing and fixing the pipette needle 622 is provided at an end of the holding plate 621.
The peristaltic pump mechanism 640 comprises a peristaltic pump 641 fixed on a lifting plate 631, the peristaltic pump 641 is provided with a liquid suction hose 642 and a liquid outlet hose 643, wherein the liquid suction hose 642 is connected with a liquid suction needle 622, the liquid outlet hose 643 is provided with a liquid outlet needle 644 for transferring medicine into a solvent bag, and when the medicine is sucked, the peristaltic pump 641 is used for transferring medicine into the solvent bag from an ampoule bottle through the liquid suction hose 642 and the liquid outlet hose 643; specifically, the liquid suction hose 642 and the liquid discharge hose 643 are the same hose, and the liquid medicine is moved in the hose by squeezing the hose by the peristaltic pump 641, thereby completing the transfer of the liquid medicine.
While the invention has been described in terms of preferred embodiments, it is not intended to limit the scope of the invention. It is intended that all modifications within the scope of the invention, i.e., all equivalents thereof, be embraced by the invention as they come within their scope without departing from the invention.
Claims (3)
1. A clamping device for an ampoule dispensing robot, comprising:
a storage table;
the rotary medicine tray is arranged on the object placing table;
and
A plurality of clamping mechanisms arranged on the periphery of the rotary medicine tray;
the clamping mechanism comprises two clamping jaws, a push rod and a push rod seat which are matched with each other, the push rod seat is arranged on the inner side of the rotary medicine tray, the push rod is arranged on the push rod seat in a sliding mode, and the push rod is respectively connected with the two clamping jaws through a hinge point so as to open the two clamping jaws after the push rod is pushed out; the two clamping jaws are respectively connected with the push rod through hinges, and the two clamping jaws are opened or closed by changing the position of the hinge point;
the push rod is arranged in the radial direction of the rotary medicine tray in a sliding manner;
the storage table is provided with a hollow shaft sleeve structure, the rotary medicine tray is sleeved outside the shaft sleeve structure, and the shaft sleeve structure is provided with grooves corresponding to the push rods in the clamping mechanisms one by one;
and
A push rod driving mechanism;
the push rod driving mechanism comprises a push-out piece, a supporting seat, a rack, a gear and a rotating shaft, wherein the push-out piece is used for penetrating through the groove to push the push rod, the supporting seat is embedded in the shaft sleeve structure, the rack is arranged on the supporting seat in a sliding mode and connected with the push-out piece, the gear is arranged on the supporting seat and matched with the rack, the rotating shaft is used for driving the gear, the rotating shaft is in rotary connection with the supporting seat through a one-way bearing, and when the push-out piece is in a retracted state, the supporting seat and the rotating shaft synchronously rotate; when the rotating shaft rotates reversely, the one-way bearing is in a locked state, the supporting seat and the rotating shaft rotate synchronously, the gear cannot drive a rack connected with the pushing-out piece to act, and the pushing-out piece does not work; when the rotating shaft rotates positively, the one-way bearing can rotate freely, the rotating shaft rotates relative to the supporting seat, and the gear is driven to rotate so as to push out the push-out piece;
the push rod driving mechanism is provided with a power source with an adjustable position, and the clamping jaw in the clamping mechanism corresponding to the position of the push rod driving mechanism can be opened or closed by changing the position of the push-out piece;
the pushing-out piece is provided with a connecting piece flexibly connected with the supporting seat, and the connecting piece is used as the pushing-out piece to provide a reset acting force; the connecting piece is a return spring;
under the effect of the restoring force of the connecting piece, the pushing piece immediately has a trend of retracting motion at the moment when the force of the rotating shaft driving the pushing piece to extend out disappears, at this moment, once the rotating shaft reversely rotates, the pushing piece immediately retracts to an initial state from the groove under the synergistic effect of the restoring force of the connecting piece, and meanwhile, the one-way bearing is locked, so that the supporting seat is driven to reversely rotate.
2. A gripping device for ampoule dispensing robot as claimed in claim 1, characterized in that the number of the gripping mechanisms is 4-10, and a plurality of the gripping mechanisms are uniformly arranged on the outer circumference of the rotary medicine tray.
3. A gripping device for ampoule dispensing robots as claimed in claim 1, characterized in that the rotating tray is arranged obliquely with an angle of 10-30 degrees to the horizontal.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018110535896 | 2018-09-10 | ||
| CN201811053589 | 2018-09-10 | ||
| CN201811438209.0A CN109394535B (en) | 2018-09-10 | 2018-11-28 | A automatic medicine dispensing robot for ampoule |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201811438209.0A Division CN109394535B (en) | 2018-09-10 | 2018-11-28 | A automatic medicine dispensing robot for ampoule |
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| CN111449952A CN111449952A (en) | 2020-07-28 |
| CN111449952B true CN111449952B (en) | 2023-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010293016.1A Active CN111449952B (en) | 2018-09-10 | 2018-11-28 | Clamping device for ampoule bottle dispensing robot |
| CN201811438209.0A Active CN109394535B (en) | 2018-09-10 | 2018-11-28 | A automatic medicine dispensing robot for ampoule |
| CN202010294054.9A Active CN111453670B (en) | 2018-09-10 | 2018-11-28 | Automatic bottle opening device for ampoule bottle dispensing robot |
| CN202010293037.3A Active CN111453671B (en) | 2018-09-10 | 2018-11-28 | Cutting device for ampoule bottle dispensing robot |
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| CN201811438209.0A Active CN109394535B (en) | 2018-09-10 | 2018-11-28 | A automatic medicine dispensing robot for ampoule |
| CN202010294054.9A Active CN111453670B (en) | 2018-09-10 | 2018-11-28 | Automatic bottle opening device for ampoule bottle dispensing robot |
| CN202010293037.3A Active CN111453671B (en) | 2018-09-10 | 2018-11-28 | Cutting device for ampoule bottle dispensing robot |
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2018
- 2018-11-28 CN CN202010293016.1A patent/CN111449952B/en active Active
- 2018-11-28 CN CN201811438209.0A patent/CN109394535B/en active Active
- 2018-11-28 CN CN202010294054.9A patent/CN111453670B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| CN111453670B (en) | 2022-02-18 |
| CN111453671B (en) | 2022-01-25 |
| CN111453670A (en) | 2020-07-28 |
| CN111449952A (en) | 2020-07-28 |
| CN109394535B (en) | 2021-11-19 |
| CN111453671A (en) | 2020-07-28 |
| CN109394535A (en) | 2019-03-01 |
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