CN111453671B - Cutting device for ampoule bottle dispensing robot - Google Patents

Abstract

The invention provides a cutting device for an ampoule bottle dispensing robot, which comprises a storage table, a rotary medicine tray, a cutting mechanism used for cutting the opening of an ampoule bottle and a power mechanism used for controlling a cutter wheel driving component to drive a cutter wheel to rotate by an angle, wherein a plurality of clamping mechanisms used for clamping the ampoule bottle are arranged on the periphery of the rotary medicine tray, and the ampoule bottle clamped by the plurality of clamping mechanisms synchronously rotates along with the rotary medicine tray; the cutting mechanism comprises a knife flywheel, a knife rest and a knife flywheel driving component, the middle part of the knife rest is rotationally arranged on the object placing table through a knife rest shaft, the knife flywheel is positioned at the working end of the knife rest, the knife flywheel driving component is positioned at the free end of the knife rest, and the driving component can drive the knife rest to rotate around the knife rest shaft so as to adjust the position of the knife flywheel; the power mechanism drives the cutter wheel to be located on a rotating path of the ampoule bottle clamped by the clamping mechanism, and in the rotating process of the ampoule bottle, the cutter wheel is in contact with the ampoule bottle to cut the bottleneck of the ampoule bottle. The ampoule bottle dispensing device is compact in structure and can automatically complete the ampoule bottle dispensing process.

Description

Cutting device for ampoule bottle dispensing robot

Statement of case division

The application is a divisional application of Chinese patent application with application number 201811438209.0 and invention name 'an automatic dispensing robot for ampoule' filed on 28.11.2018.

Technical Field

The invention belongs to the technical field of medical equipment, and particularly relates to an automatic dispensing robot for an ampoule bottle.

Background

The ampoule bottle is a small glass container for containing medicines, and the structure of the ampoule bottle comprises a bottle body, a bottle head and a bottle neck positioned at a concave part between the bottle body and the bottle head, wherein the capacity of the ampoule bottle is generally 1-25 ml, and the medicines for injection are generally stored in the ampoule bottle. At present, the preparation of intravenous infusion medicines in hospitals is generally completed manually, medicine pollution is easily caused to harm patients, and meanwhile, in occasions requiring the preparation of a large amount of ampoule medicines, the dispensing efficiency is low, the actual requirements of hospitals are difficult to meet, and the treatment time of patients is prolonged.

The process of preparing the medicine manually is tedious, the medicine can be extracted by the injector after the ampoule bottle is cut, disinfected and opened, the working strength of medical staff is high in the process, the medical staff needs to contact the medicine in the process of preparing the medicine manually, and particularly when toxic medicines such as tumor treatment and the like are prepared, the medicine is easily chronically injured by the medicine preparing staff, so that occupational diseases are caused. In addition, in the ampoule bottle opening process, due to the reasons of insufficient cutting depth, poor cutting toughness, the quality of the medicine bottle and the like, when the medicine bottle is broken and opened, the ampoule bottle is easy to break, and the medical care personnel can be injured. Aiming at the defects of manual preparation of the intravenous infusion medicines of the ampoule bottles, the ampoule medicine dispensing robot is designed to replace medical staff to prepare the intravenous infusion medicines, and the ampoule medicine dispensing robot has actual demand market.

For example, chinese patent document 2014100547920 discloses a horizontal-pushing bottle-changing type ampoule bottle automatic opening device, which includes a frame, a striking mechanism, a parallel bottle-changing mechanism, and a driving mechanism; 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 vertical to each other, the parallel bottle changing mechanism is arranged on the rack through the guide rail, and an open slot is arranged between the guide rail and the bottle changing guide rail; trade and be provided with the bottle seat that a plurality of is used for fixed ampoule in the bottle guide rail, every bottle seat homoenergetic is followed and trades bottle guide rail rectilinear sliding, and can get into the guide rail and slide along the guide rail through the open slot, and when the bottle seat slided the settlement position in guide rail groove, the ampoule that sets up on the bottle seat can receive hitting of hitting mechanism and hit and beat. Among the above-mentioned technical scheme, there is the ampoule fixed insecure, hits the mechanism of beating when beating the ampoule, and the power of beating that its produced can arouse the ampoule to rock, and then causes the broken problem of ampoule, the problem of operation failure.

For another example, chinese patent document 2016102888420 discloses a dispensing device and a dispensing method for ampoule bottles, the device includes a rotating component and a control system, the rotating component is provided with a bottle cutting module, a sterilizing module, a bottle breaking module and a suction module, the rotating component is fixedly provided with a clamping module for clamping the ampoule bottle at the periphery, and the control system controls the rotating component to rotate above the clamping module to complete the bottle cutting, sterilizing, bottle breaking or suction work of the ampoule bottle. The dispensing device in the technical scheme has a large overall appearance and a complex dispensing process, and can only finish the bottle opening operation of one ampoule bottle in each working period, so that the process is long in time and is not beneficial to the centralized dispensing process; in addition, in the dispensing process of dispensing different ampoule bottles, the positions of the ampoule bottles cannot be unified, so that the cutting depths are different, and the risk of bottle opening failure is further brought.

Based on this, the applicant provides an ampoule bottle automatic medicine 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 is compact in structure, small in size and high in universality.

In order to achieve the above object, the present invention provides an automated medicine dispensing robot for ampoule bottles, comprising: the automatic bottle opening device, the liquid transferring device and the solvent clamping device are all 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 the 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 tray, so that the clamped ampoule bottles are sequentially subjected to 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 into the solvent bag.

In the present invention, a plurality of holding mechanisms may be used to hold the ampoule, preferably, for example, 4 to 10 holding mechanisms; specifically, a plurality of clamping frameworks are distributed in a circumferential array or are oppositely arranged on the periphery of the rotary medicine tray.

Furthermore, the clamped ampoule bottle respectively completes the processes of bottle neck cutting and bottle head breaking of the ampoule bottle through a cutting mechanism and a breaking mechanism in the automatic bottle opening device, and the medicine in the ampoule bottle is transferred into the solvent bag through the liquid transfer device.

According to another embodiment of the invention, the rotating tray is tilted with respect to the horizontal plane on which the base is located, so that the ampoules are tilted synchronously, and the needle of the pipetting device is lowered to the lowermost end of the bottom of the ampoule in the aspirating state and completely aspirates the medicament in the ampoule.

Specifically, after the ampoule bottle is inclined, when a small amount of medicine is left in the ampoule bottle, the medicine can be collected to the bottom side (the bottommost position) of the ampoule bottle, and at the moment, the needle head in the liquid-moving device descends to the bottom bottommost side of the ampoule bottle, so that the medicine in the ampoule bottle can be completely sucked, and the utilization rate of the medicine is improved.

Preferably, the rotary medicine tray in this scheme has and is 10 degrees-30 degrees contained angles between the horizontal plane, and specific example has 15 degrees contained angles, and wherein, the operating position one side of sucking ampoule bottle medicine all is less than other operating positions, when placing this automatic bottle opener level on the desktop, more the gathering of medicine is in the bottle bottom one side of ampoule bottle, and the syringe of being convenient for sucks the medicine totally, avoids the bottom medicine too much to remain.

According to another embodiment of the invention, the pipetting device comprises a first sensor for controlling the height of the lowered pipetting needle, in particular, the first sensor is arranged close to the ampoule in the aspiration station and can be used for detecting the position of the lowest point of the bottom of the ampoule in the height direction, and the height of the lowered pipetting needle is controlled by determining the position of the lowest point of the bottom of the ampoule.

According to another embodiment of the invention, the clamping mechanism comprises two clamping jaws which are matched with each other, and a push rod for driving the two clamping jaws to open or close, wherein the push rod is arranged in a sliding manner in the radial direction of the rotary medicine tray.

Furthermore, the automatic bottle opening device is provided with a push rod driving mechanism for driving the push rods in the clamping mechanisms, and the push rod driving mechanism drives the push rods to extend out to open the clamping jaws in the clamping mechanisms. Wherein, the push rod driving mechanism drives the push rod to slide in the radial direction of the rotary medicine tray, in particular to the extending action.

For example, a hole structure matched with the push rod is arranged between the two clamping jaws, more specifically, the hole structure has a conical opening along the extending direction of the push rod, when the push rod extends into the hole structure to open the two clamping jaws, the ampoule bottle can be placed, and the used ampoule bottle (i.e. the medicine is sucked) can be taken out from the clamping jaws; preferably, the clamping jaws are provided with, for example, spring return means, under the action of which the two clamping jaws are returned to the clamping position when the push rod is retracted.

For another example, the push rod and the two jaws can be connected to each other by means of a hinged link, and the state switching (opening or closing) between the two jaws can be changed by changing the position of the hinged point.

Furthermore, 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 warp of the ampoule bottle clamped by the two clamping jaws; specifically, for example, the position of the end portion of the push rod extending outwards is detected by the second sensor, the opening degree of the two clamping jaws can be calculated and obtained through the specific position of the push rod, and the opening degree of the two clamping jaws is the bottle diameter of the corresponding ampoule bottle.

According to another embodiment of the present invention, the cutting mechanism has a cutting member disposed on a rotational path of the ampoule held by the holding mechanism, and the cutting member contacts the ampoule to cut a neck of the ampoule during the rotation of the ampoule.

The cutting component is used for cutting the bottle neck, and can be a knife wheel, a grinding wheel, a cutting strip and the like.

The cutting component is preferably a knife flywheel, wherein the knife flywheel is arranged on the object placing table, and the position of the knife flywheel is movable and can be accurately controlled through mechanism transmission in order to adapt to various ampoule bottles with different specifications; when the ampoule bottles with different specifications are cut, the cutter wheel can be adjusted to the corresponding position through a controller only by knowing relevant information (such as model information, the diameter of the ampoule bottle and the like) of the ampoule bottle. The cutting tool can be made of diamond or other materials with good cutting effect, and in order to achieve better cutting effect, a diamond cutting wheel is preferably adopted for cutting.

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, inverted Z-shaped, comprising a first girder having a working end, a second girder having a free end, and an intermediate girder connecting the first girder and the second girder, wherein the tool holder shaft is provided on the intermediate girder, and further preferably, a bearing is provided between the tool holder shaft and the intermediate girder to reduce friction during rotation.

The rotation of the cutter frame aims 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 ampoule bottle cutter is provided with a control device, programs matched with ampoule bottles of various specifications are arranged in the control device respectively to select the position of the cutter wheel, and the cutter wheel driving component is controlled to drive the rotation angle of the cutter frame by switching the programs so as to adjust the cutter wheel to an accurate working position.

The cutting mechanism of the invention can also be provided with a power mechanism for driving the cutting member, wherein the power mechanism comprises a motor driving telescopic mechanism, a sliding rail and sliding groove mechanism, a connecting rod mechanism, a cam mechanism and the like. Wherein, one kind of preferred of power unit is: the device comprises a cam disc which is rotatably arranged on a placing table, 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. Accordingly, in order to provide a motor assembly for driving the cam disc to rotate, preferably, in order to make the roller tightly abut against the outer periphery of the cam disc, thereby ensuring the position accuracy of the cutting member, an elastic return member, such as a spring, is provided in the object placing table, and the elastic return member is always in a stretched state, thereby providing a certain force for the roller to abut against the outer periphery of the cam disc.

According to another embodiment of the present invention, the placing table is provided with a bottleneck clamping mechanism which is slidably arranged along the radial direction of the rotary medicine tray, and the bottleneck clamping mechanism cooperates with the clamping mechanism to enable the ampoule bottle to have a certain clamping position in the height direction.

Specifically, the bottleneck clamping mechanism comprises a bottleneck clamping seat which is arranged in a sliding manner along the radial direction of the rotary medicine tray, wherein the bottleneck clamping seat is arranged at the upstream of the cutting member in the rotating direction of the rotary medicine tray; preferably, the front end of the bottle neck clamping seat is provided with a V-shaped opening, when the ampoule bottle is placed, the V-shaped opening is contacted with the bottle neck and determines the position, and then the ampoule bottle is clamped through the clamping mechanism to complete the positioning of the ampoule bottle.

Further, bottleneck screens seat can slide to other positions, for example initial position, behind fixture's clamp ampoule, bottleneck screens seat can not interfere ampoule's rotation process this moment.

According to another embodiment of the invention, the breaking mechanism is provided with a breaking component, the breaking component is arranged in a direction perpendicular to the head of the cut ampoule bottle, and the breaking component impacts to break the head of the cut ampoule bottle; the ampoule bottle clamped in the same clamping mechanism is firstly cut by the cutting component in the cutting mechanism, and then the bottle head of the ampoule bottle is broken by the breaking component.

Further, the breaking component is a movable breaking component which is positioned on the object placing table, and when the ampoule bottle rotates to the breaking position, the breaking component impacts the ampoule bottle along the direction perpendicular to the bottle head of the cut ampoule bottle, so that the bottle head of the ampoule bottle is broken.

Wherein, the breaking component can be a linear impact type or a rotary impact type; preferably, the breaking component impacts the head of the ampoule bottle in a linear motion mode, the linear motion has a large instant impact moment, the breaking effect is good, the head of the ampoule bottle is effectively broken, the bottle body of the ampoule bottle rarely or even cannot crack when the head of the ampoule bottle is broken in the linear impact mode, the ampoule bottle body can be protected to a large extent from being damaged in the process of breaking the head of the ampoule bottle, and then 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 component (specifically a breaking rod) is arranged on the nut seat, an impact component is arranged on the breaking component, and the nut seat is driven to move back and forth on the transmission screw rod through the rotation (positive rotation or negative rotation) of the motor, so that the extending or retracting process of the breaking component is realized; preferably, the motor is a stepping motor, has a starting acceleration of a larger block, and can enable the breaking member to have a stronger breaking force; more preferably, the impact member is made of, for example, hard glass reinforced plastic, stainless steel, etc., and is intended to better perform the process of impact fracture.

According to another embodiment of the present invention, a pipetting device includes a horizontal rotation mechanism, a needle holding mechanism, a needle elevating mechanism, and a suction injection mechanism. Wherein, the suction injection mechanism can be an injector mechanism and also can be a peristaltic pump mechanism.

According to another specific embodiment of the invention, the device further comprises a push rod driving mechanism, wherein a shaft sleeve structure is arranged on the object placing table, and specifically, 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 pushing-out piece, grooves corresponding to the plurality of clamping mechanisms are formed in the shaft sleeve, and the pushing-out piece penetrates through the grooves to abut against the push rod, so that the two clamping jaws are opened. In the scheme, one push rod driving mechanism is adopted to drive a plurality of clamping mechanisms respectively, and the opening or closing of the clamping jaws in the clamping mechanisms corresponding to the positions of the pushing-out pieces can be completed by changing the positions of the pushing-out pieces. Preferably, the number of the grooves is the same as that of the clamping mechanisms, and the grooves and the clamping mechanisms respectively correspond to each working position 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 piece, a gear matched with the rack and a rotating shaft driving the gear to rotate, and the rotating shaft and the supporting seat are connected through a one-way bearing, so that the supporting seat and the rotating shaft synchronously rotate when the push 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 the rack connected with the pushing part to move (specifically, extend), and at the moment, the pushing part 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 and rotates relative to the supporting seat, then the rotation of the rotating shaft is changed into the extension of the push-out piece through the rack connected with the push-out piece, and at the moment, the push-out piece extends out and abuts against the push rod, so that the two clamping jaws are opened.

More specifically, the rotation of the rotating shaft is realized by a driving motor and a worm transmission assembly which are arranged below the object placing table.

Furthermore, the pushing part is provided with a connecting part flexibly connected with the supporting seat, when the pushing part extends out, the two clamping jaws are in an open state, and at the moment, the connecting part is stretched and bears the reset force; when the clamping jaws need to be closed, the rotating shaft rotates reversely, at the moment, under the action of the reset force of the connecting piece, the push-out piece has the tendency of retraction movement instantly at the moment when the rotating shaft drives the push-out piece to disappear from the inside, at the moment, once the rotating shaft rotates reversely, the push-out piece retracts to the initial state from the groove immediately under the synergistic action of the reset force of the connecting piece, at the moment, the one-way bearing is locked, and then the supporting seat (the push-out piece) is driven to rotate reversely.

When the one-way bearing corotation in this scheme, can carry out the free rotation, during the reversal, rotate less angle and be died by the lock promptly, preferably, when the pivot reversal was in withdrawal state (initial condition) to the ejecting, one-way bearing was died by the lock, and the supporting seat rotated along with the rotation of pivot.

According to another embodiment of the invention, the push rod driving mechanism further comprises a reset piece, and after the push-out piece is restored to the initial state, the reset piece 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 extends, the spring is further compressed; after the acting force of the pushing-out piece on the push rod disappears, the push rod is restored to the initial state under the action of the restoring force of the spring, and at the moment, the two clamping jaws are correspondingly restored to the folding state.

According to another embodiment of the invention, the object placing table is provided with an automatic spraying disinfection mechanism, the disinfection mechanism comprises a disinfection bottle, and particularly, the disinfection process of the disinfection bottle is arranged after the cutting of the cutting mechanism and before the breaking process of the breaking component, preferably, the disinfection process is carried out immediately after the completion of the bottleneck cutting process, particularly, the position of the ampoule bottle is detected by a sensor for example, and the cut ampoule bottle is disinfected.

According to another embodiment of the invention, the power part of the rotary medicine tray in the invention adopts worm and gear transmission and synchronous wheel transmission, specifically, for example, the rotary medicine tray is connected with the worm wheel, the worm wheel is in fit connection with the worm connected with the first synchronous wheel, the second synchronous wheel is arranged at the output end of the motor and driven by the motor to rotate, and a transmission belt is arranged between the second synchronous wheel and the first synchronous wheel, so that the first synchronous wheel rotates, the worm drives the worm wheel to rotate, and finally the rotary medicine tray is driven to rotate.

According to another embodiment of the invention, the medicine bottle further comprises a sharp tool collecting device arranged on the base, and 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 liquid-moving device. Specifically, the sharps collection device includes bottle head sharps box and bottle sharps box, wherein, the bottle head sharps box is put and is located the position that is close to the rupture mechanism at the base, and bottle sharps box is high and is located the position that is close to rotatory batch pan suction station at the base.

The invention has the advantages that:

1. the breaking mechanism has good breaking effect, and the breaking component in the breaking mechanism impacts the head of the ampoule bottle along the direction vertical to the cut of the cut ampoule bottle, so that the bottle body is protected while the head of the ampoule bottle is broken, and the bottle body is not easy to break;

2. the automatic medicine dispensing device has the advantages of compact integral structure, small volume, high automation degree, no need of manual intervention in the medicine dispensing process, and automatic completion of the medicine dispensing process after the medicine and the syringe are placed;

3. the device has strong universality, can be compatible with ampoule bottles of almost all specifications and models, and realizes the automatic dispensing process of the ampoule bottles of various specifications and sizes;

4. the medical waste is automatically recovered, the broken bottle head and the sucked bottle body automatically enter the sharp tool collecting device, and the syringe automatically covers the needle cap, so that the dispensing personnel are prevented from directly contacting sharp objects, and the dispensing personnel are protected from physical and biochemical hazards.

The present invention will be described in further detail with reference to the accompanying drawings.

Drawings

In order that the manner in which the other features and advantages of the invention are obtained will be more clearly understood, embodiments of the invention will be described by way of non-limiting example, in which:

FIG. 1 is a schematic view showing the entire construction of an automatic dispensing robot according to embodiment 1;

FIG. 2 is a schematic view of the structure of another state of FIG. 1;

FIG. 3 is a schematic view of the automatic bottle opener of FIG. 1;

FIG. 4 is a schematic diagram of the automatic bottle opener of FIG. 1 showing a breaking mechanism;

FIG. 5 is a schematic structural view of the automatic bottle opener of FIG. 1 showing a cutting mechanism, wherein FIG. 5a mainly shows a knife holder and FIG. 5b mainly shows a bottle neck retainer;

FIG. 6 is a schematic diagram of the automatic bottle opener of FIG. 1 showing the distribution of a plurality of gripping mechanisms;

FIG. 7 is a schematic diagram of the FIG. 1 autopilot device showing the status of various clamping mechanisms;

FIG. 8 is a schematic diagram of the automatic bottle opener of FIG. 1 showing the construction of the push rod driving mechanism, wherein FIGS. 8a and 8b show different viewing angles, respectively;

FIG. 9 is a schematic view of the overall structure of the pipetting device in FIG. 1;

FIG. 10 is a schematic view of a portion of the structure of FIG. 9;

fig. 11 is a schematic configuration diagram of a pipetting device of an automated dispensing robot according to embodiment 2.

Detailed Description

Example 1

As shown in fig. 1-10, the present embodiment provides an automated dispensing robot for ampoules, comprising a base 100, an automatic bottle opener 200, a pipetting device 300, a solvent holding 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 sharp weapon collecting device 500 are all arranged on the base 100; to facilitate the automated dispensing process, a preferred arrangement is shown in fig. 1 and 2, with a vehicle holding device 400 disposed between the automatic decapping device 200 and the pipetting device 300.

Referring to fig. 3 and 4, the automatic bottle opener 200 includes a placement platform 210, a rotary tray 220, a cutting mechanism 230, and a breaking mechanism 240, the placement platform 210 is fixedly disposed on the base 100, the rotary tray 220 is rotatably disposed relative to the placement platform 210, the rotary tray 220 is provided with a plurality of clamping mechanisms 250 for clamping ampoule bottles, preferably, eight clamping mechanisms 250 are provided in this embodiment, and the eight clamping mechanisms 250 are distributed on the outer periphery of the rotary tray 220 in a circumferential array, and the rotating direction is indicated by arrows in fig. 1; further, the holding mechanism 250 at the position a is a station for placing ampoules, i.e., an initial station, and the ampoules held by the holding mechanism 250 rotate synchronously with the rotation of the rotary tray 220.

Preferably, the rotary tray 220 is disposed obliquely and has an angle of, for example, 15 degrees with a horizontal plane of the base 100, so as to collect more medicine in the ampoule bottle at one side of the bottom of the bottle, thereby facilitating the syringe to suck the medicine clean and avoiding excessive medicine at the bottom from remaining.

The cutting mechanism 230 is used for cutting the bottleneck of the ampoule bottle, and includes 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 a rotation path of the ampoule bottle held in the holding mechanism 250, and during the rotation of the ampoule bottle, the cutter wheel 231 contacts with the ampoule bottle to cut the bottleneck of the ampoule bottle; further, a cutter wheel 231 is arranged after the initial station; specifically, an intermediate station may be provided between the initial station and the cutting station where the cutter wheel 231 is located.

After the cutting mechanism 230 cuts the ampoule, preferably, the bottleneck of the ampoule is sterilized, specifically, the object 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 by means of a detection mode of a sensor, for example, an automatic liquid spraying sterilizing process is started to complete the sterilizing process of the bottleneck position of the cut ampoule.

After the ampoule bottle is sterilized, the head of the ampoule bottle can be broken, and in particular, the breaking mechanism 240 includes a breaking member 241, and preferably, the breaking member 241 rapidly extends in a direction perpendicular to the cut at the neck of the ampoule bottle, and the cut head of the ampoule bottle is broken by the impact.

Referring to fig. 4, the breaking member 241 in this embodiment is a linear structure, and in other examples of the present invention, a rotary structure may be adopted; specifically, the breaking mechanism 240 further includes a push-out motor 242 disposed on the object placing table 210, a transmission lead screw disposed at an output end of the push-out motor 242, and a nut seat 243 disposed on the transmission lead screw, wherein the 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 lead screw by rotation (forward rotation or reverse rotation) of the push-out motor 242, so as to implement an extending or retracting process of the breaking member 241; preferably, the pushing motor 242 is a stepping motor, and has a fast starting acceleration, so that the breaking member 241 has a strong breaking force; more preferably, the striking member 244 is made of, for example, stainless steel, and the breaking process is preferably performed.

Further, in order to accommodate a plurality of different types of ampoules, referring to fig. 5a and 5b, the cutting mechanism 230 may be further provided with a blade carrier 232; the tool rest 232 includes a first bar 2321, a second bar 2322, and an intermediate bar 2323 disposed between the first bar 2321 and the second bar 2322, specifically, the tool wheel is disposed on the first bar 2321, the intermediate bar 2323 is rotatably disposed on the object placing table 210 through the tool rest shaft 233, and preferably, a bearing is disposed between the intermediate bar 2323 and the tool rest shaft 233 to reduce the rotational friction.

In order to ensure the cutting quality and determine the accurate cutting position, a bottleneck clamping mechanism is arranged at the mounting position of the ampoule bottle, namely the initial station of the object placing table 210, the bottleneck clamping mechanism comprises a bottleneck clamping seat 211, the bottleneck clamping seat 211 is arranged in the radial direction of the rotary medicine tray 220, and the ampoule bottle is matched with the clamping mechanism 250 to have a determined clamping position in the height direction; specifically, in the rotation direction of the ampoule bottle, the bottle neck clamping seat 211 is arranged in front of the knife rest 232; preferably, the front end of the neck clamping seat 211 has a V-shaped opening 2111, when the ampoule bottle is placed, the V-shaped opening 2111 contacts the neck of the bottle and determines the position, determines the height position, and then clamps the ampoule bottle by the clamping mechanism 250 to complete the positioning of the ampoule bottle.

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, so that the structure is more compact; specifically, the placing table 210 is provided with a cam plate 212, the driving part of the cam plate 212 may be selected as a motor or an air cylinder, for example, a gear transmission assembly or a rack-and-pinion transmission assembly may be provided between the driving parts, and in order to improve the accuracy, the rotation of the cam plate is controlled by a stepping motor in cooperation with a reduction gearbox in the present embodiment.

On the basis of limited experimental verification, a cutter frame driving section for driving the position of a cutter frame 231 of the cutter frame to adjust the position and a clamping seat driving section for driving the position of a bottleneck clamping seat 311 to adjust are arranged on the periphery of the cam plate 212, so that the adjusting mode suitable for ampoules of different specifications is realized.

More specifically, referring again to fig. 5a and 5b, a roller 234 is provided in the carriage at a position where the second beam 2322 contacts the cam plate 212, and the roller 234 abuts against the outer periphery of the cam plate 212, and a carriage return spring 235 is provided in the placement stage 210, and the carriage return spring 235 is always in a stretched state, so that the roller 234 tightly abuts against the outer periphery of the cam plate 212; as the cam plate 212 rotates, the carriage 231 rotates a certain angle about the carriage shaft 233, thereby changing the cutter wheel 231 to an accurate cutting position.

Further, the rear end 3111 of the bottleneck clamping seat abuts against the periphery of the cam plate 212, for example, by means of a roller, and a clamping seat return spring (not shown) is disposed on the object placing table 210 and is in a stretched state all the time, so that the rear end 3111 of the bottleneck clamping seat abuts against the periphery of the cam plate 212 all the time; after the ampoule is clamped by the bottleneck clamping seat cooperating with the clamping mechanism 250, the cam plate 212 rotates to a position where the bottleneck clamping seat retracts, and at this time, the bottleneck clamping seat 311 does not interfere with the rotation process of the ampoule.

Referring to fig. 6 and 7, the clamping mechanism 250 has two clamping jaws 251, a pushing rod 252, a pushing rod seat 253 for placing the pushing rod 252, and a pushing rod driving mechanism 270, wherein the pushing rod seat 253 is arranged inside the rotary tray 220, the pushing rod 252 is used for driving the two clamping jaws 251 to open (or close), the pushing rod seat 253 is slidably arranged inside the pushing rod seat 253, the two clamping jaws 251 always have a tendency to switch to a closed state under the driving state without external force (pushing force of the pushing rod), and preferably, a compression spring 254 is arranged outside the pushing 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 changed by changing the position of the hinged point.

Referring to fig. 7, a shaft sleeve structure 213 is disposed on the object placing table 210, specifically, the shaft sleeve structure 213 is a hollow cylinder; the rotating medicine tray 220 is sleeved outside the shaft sleeve structure 213, the push rod driving mechanism 270 includes an ejector 271, the shaft sleeve structure 213 is provided with a groove 214 corresponding to the plurality of clamping mechanisms 250, the ejector 241 penetrates through the groove 214 to abut against the push rod 252, so that the two clamping jaws 251 are opened, preferably, the number of the grooves 214 and the number of the clamping mechanisms 250 are the same, and the grooves 214 and the clamping mechanisms 250 respectively correspond to each working position of the automatic ampoule bottle opening device 200.

Preferably, in this embodiment, one push rod driving mechanism 270 is adopted to drive a plurality of clamping mechanisms 250 respectively, and the opening of the two clamping jaws 251 in the clamping mechanisms 250 corresponding to the positions of the push-out pieces 271 can be completed by changing the positions of the push-out pieces 271; the push rod driving mechanism 270 has a power source with an adjustable position, and the opening or closing of the clamping jaw 251 in the clamping mechanism 250 corresponding to the position of the push-out member 271 can be completed by changing the position.

Wherein, still preferably, referring to fig. 8a and 8b, the push rod driving mechanism 270 further comprises a supporting seat 272 embedded in the shaft sleeve, the supporting seat 272 is provided with a rack 273 connected with the pushing element 271, a gear 274 engaged with the rack 273, and a rotating shaft 275 for 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 rotate synchronously when the pushing element 271 is in the retracted state.

Specifically, when the rotating shaft 275 rotates reversely, the one-way bearing 276 is in a locked state, the supporting seat 272 and the rotating shaft 275 rotate synchronously, the gear 274 does not drive the rack 273 connected with the pushing-out piece 271 to move (specifically, to extend), and at this time, the pushing-out piece 271 does not work; when the rotating shaft 275 rotates forward, 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, further, the rotation of the rotating shaft 275 is converted into the extension of the pushing piece 271 through the rack 273 connected with the pushing piece 271, at the moment, the pushing piece 271 extends out and abuts against the push rod 252, and the two clamping jaws 251 are opened.

More specifically, the rotation of the rotation shaft 275 is realized by, for example, a driving motor and a worm gear assembly provided in the placing table 210.

It is further preferable that the pushing-out member 271 has a connecting member (e.g., a spring, not shown) flexibly connected to the supporting seat 272, the specific position is shown by an arrow 277, when the pushing-out member 271 extends, the two clamping jaws 251 are opened, and at this time, the connecting member is stretched and receives the restoring force; when the clamping jaws 251 are closed, the rotating shaft 275 rotates reversely, at this time, under the action of the restoring force of the connecting piece, at the moment that the force of the rotating shaft 275 driving the pushing-out piece 271 to extend disappears, the pushing-out piece 271 has a tendency of retracting movement immediately, at this time, once the rotating shaft 275 rotates reversely, under the synergistic effect of the restoring force of the connecting piece, the pushing-out piece 271 will retract from the groove 214 to the initial state immediately, and at the same time, the one-way bearing 276 is locked, and the supporting seat 272 (the pushing-out piece 271) is driven to rotate reversely.

In the present embodiment, the one-way bearing 276 can rotate freely when rotating forward, and can be locked when rotating a smaller angle when rotating backward, preferably, when the rotating shaft 275 rotates backward until the pushing-out member 271 is in the retracted state (initial state), the one-way bearing 276 is locked, and the supporting seat 272 rotates along with the rotation of the rotating shaft 275.

Referring again to fig. 7, two clamping mechanisms 250 are shown, wherein one of the clamping mechanisms 250 is in an open position, in which ampoule placement may be performed, or in which an ampoule that has been used (i.e., a medication has been drawn) may be removed from the jaws 251; the other clamping mechanism 250 is in a closed and tightened position on the ampoule.

In this embodiment, the power component of the rotary medicine tray 220 adopts a worm gear and worm transmission mode and a synchronous wheel transmission mode, specifically, for example, the rotary medicine tray 220 is connected with the worm wheel, the worm wheel is connected with the worm connected with the first synchronous wheel in a matching mode, the second synchronous wheel is arranged at the output end of the motor and driven by the motor to rotate, and a transmission belt is arranged between the second synchronous wheel and the first synchronous wheel, so that the first synchronous wheel rotates, the worm drives the worm wheel to rotate, and finally the rotary medicine tray 220 is driven to rotate.

Referring to fig. 3 and 4 again, the work stations where the eight clamping mechanisms 250 are located in the present embodiment are, for example, in sequence from the position a: initial station-intermediate station-cutting station (disinfection treatment after cutting) -breaking station-intermediate station-bottle bottom detection station-suction station (bottle body separation after suction) -intermediate station-initial station.

In this embodiment, a tray cover 215 is further provided, referring to fig. 3, the tray cover 215 is detachably disposed on the upper outer side of the object placing table 210, and is used to protect the cutting mechanism 230, the breaking mechanism 240, and the like, so as to prevent the internal structure from being exposed to the environment, and improve the stability of the system motion and the structural aesthetic property.

Referring again to fig. 1, the sharps collection device 500 in this embodiment includes two sharps containers, one for collecting the ampoule head waste, specifically at a position on the base 100 on the side of the breaking member 241, and the other for collecting the ampoule body waste, at a position on the base 100 adjacent to the medium holding device 400.

Referring to fig. 2, in order to make full use of the medicine in the ampoule bottle and ensure complete suction of the medicine into the ampoule bottle, it is preferable that a sensor (not shown) for detecting the bottom position of the ampoule bottle is provided at the placement stage 210, for example, a sensor is provided directly below another station located after the initial station, for example, directly below the first intermediate station after the breakage, and the detected bottom position is transferred to the pipetting device 300, thereby controlling the lowering distance of the syringe; the bottom position of the detected ampoule bottle is the position of the lowest point of the bottom needle of the injector, and the medicine in the ampoule bottle can be fully sucked as far as possible in the process of sucking the ampoule bottles with different specifications.

Referring to fig. 1 again, a detection distance sensor 216 is disposed right below the initial station in the automatic bottle opener 200, and is used to detect the position of the extending end (the end engaged with the two jaws) of the push rod in the clamping mechanism 250 at this time, i.e. the extending displacement of the push rod, it should be noted that, in this embodiment, preferably, the position of the push rod 252 and the clamping state of the two jaws 251 are linearly related, and according to the relationship between the preset push rod displacement and the working surface clamped by the jaws 251, the diameter of the clamped ampoule bottle is further obtained, and the information of the ampoule bottle to be processed is obtained.

Referring to fig. 9, the pipetting device 300 includes a horizontal rotation mechanism 310, a syringe holding mechanism 320, a syringe lifting mechanism 330, and a suction injection mechanism 340.

The horizontal rotation mechanism 310 includes a bearing seat 311 disposed on the base 100, a rotation plate 312 disposed on the bearing seat 311, and specifically, a rotation motor 313 and a worm gear transmission assembly at an output end thereof disposed on the bearing seat 311, and the rotation plate 312 is driven by the rotation motor 313 to rotate in a horizontal plane or a nearly horizontal plane.

The injector lifting mechanism 330 is arranged on the rotating plate 312, and comprises a first vertical plate 331, a lead screw 332 vertically arranged on the first vertical plate 331, a first lifting motor 333 for driving the lead screw 332, a guide rail slider 334 arranged on the lead screw 332, a first synchronizing wheel and a second synchronizing wheel, wherein the first synchronizing wheel and the second synchronizing wheel are connected through a synchronous belt, the injector clamping mechanism 320 is specifically arranged on the guide rail slider 334, the first lifting motor 333 drives the lead screw 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 injector clamping mechanism 320 to lift.

Specifically, a cap holder 314 for fixing a syringe cap is provided on the carrier 311, and in an initial state, a needle of the syringe is placed in the cap located in the cap holder 314.

Referring to fig. 10, the syringe clamping mechanism 320 includes a second vertical plate 321, and a syringe supporting block 322, a syringe claw 323 and a needle point claw 324 are disposed on the second vertical plate 321, wherein the syringe supporting block 322 is disposed between the syringe claw 323 and the needle point claw 324, and is used for supporting and fixing the syringe; after the syringe is put on, the syringe is firstly held by the syringe claw 323, and the needle point is held by the needle point claw 324 after the needle cap is removed.

Preferably, the opening angle of the syringe finger 323 and the needle point finger 324 is adjustable, and the locking finger can be locked, for example, by adjusting a bolt.

In order to realize the pumping action of the injector, a pumping and injecting mechanism 340 (specifically, a needle handle lifting mechanism) is arranged on the second vertical plate 321, and comprises two side plates 341 arranged on the second vertical plate 321, the pumping and injecting mechanism 340 comprises a pumping and lifting motor 342 mounted on one of the side plates 341, a synchronous wheel component driven by the pumping and lifting motor 342, and a lifting screw 343 arranged on the side plates 341 and driven by the synchronous wheel component, a needle handle lifting platform 344 is arranged on the lifting screw 343, a needle handle claw 345 is arranged on the needle handle lifting platform 343, and the needle handle lifting platform 343 is driven by the pumping and lifting motor 342 and is driven by the synchronous wheel component to perform transmission, and the needle handle lifting platform 343 drives the needle handle to vertically ascend and descend along with the rotation of the lifting screw 343, so as to complete the pumping process of the medicine in a specified ampoule bottle or inject the medicine in the injector into a solvent bag.

Preferably, the needle handle gripper 345 is also a gripper that is adjustable in opening angle and can be locked, for example, by adjusting a bolt.

Further, steel belts 346 which can be lifted synchronously along with the needle shank lifting table 343 are arranged on the two side plates 341 to protect internal parts and improve the stability of operation and the neatness of appearance.

The method has the advantages that the suction precision is high, the ampoule bottle diameter and the ampoule bottle bottom are measured simultaneously through the preset suction amount, and whether the suction amount requirement is met or not is judged through comparison between the preset amount and actual measurement; meanwhile, the position of the needle point of the syringe 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 syringe is controlled to realize the quantitative extraction of the medicine.

Example 2

As shown in fig. 11, the present embodiment is different from embodiment 1 in that: a peristaltic pump mechanism is used as the aspiration and injection mechanism in the pipetting device.

Referring to fig. 11, the pipetting device 600 includes a horizontal rotation mechanism 610, a needle holding mechanism 620, a needle elevation mechanism 630 and a peristaltic pump mechanism 640.

The horizontal rotation mechanism 610 and the needle lifting mechanism 630 are basically the same as those in embodiment 1, and are not described herein again.

The needle holding mechanism 620 includes a holding plate 621 fixed to the needle elevating mechanism 630 (elevating plate 631), and a through hole for passing and fixing the suction needle 622 is provided at an end of the holding plate 621.

The peristaltic pump mechanism 640 comprises a peristaltic pump 641 fixed on the 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 the liquid suction needle 622, the liquid outlet hose 643 is provided with a liquid outlet needle 644 used for transferring the medicine into the solvent bag, and when the medicine is sucked, the medicine in the ampoule bottle is transferred into the solvent bag through the liquid suction hose 642 and the liquid outlet hose 643 by the peristaltic pump 641; 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.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.

Claims (6)

1. A cutting device for an ampoule dispensing robot, comprising:

a placing table;

the rotary medicine tray is arranged on the object placing table, and the rotary medicine tray is obliquely arranged relative to a horizontal plane;

the ampoule bottles clamped by the plurality of clamping mechanisms synchronously rotate along with the rotary medicine tray;

and

the cutting mechanism is used for cutting the opening of the ampoule bottle;

the cutting mechanism comprises a knife wheel, a knife rest and a knife wheel driving component, the middle part of the knife rest is rotatably arranged on the object placing table through a knife rest shaft, the knife wheel is positioned at the working end of the knife rest, the knife wheel driving component is positioned at the free end of the knife rest, and the knife wheel driving component can drive the knife rest to rotate around the knife rest shaft so as to adjust the position of the knife wheel;

and

the power mechanism is used for controlling the cutter wheel driving component to drive the rotation angle of the cutter wheel;

and

the power mechanism drives the bottleneck clamping seat to cooperate with the clamping mechanism to clamp the ampoule at the clamping position in the determined height direction;

the power mechanism comprises a cam disc, a motor assembly for driving the cam disc to rotate and a cutter rest return spring, wherein a roller matched with the cam disc is arranged at the free end of the cutter rest, and the cutter rest return spring acts on the cutter rest to enable the roller to be abutted against the periphery of the cam disc;

the periphery of the cam disc is respectively provided with a cutter rest driving section and a clamping seat driving section, the roller is abutted against the cutter rest driving section, and the rear end of the bottleneck clamping seat is abutted against the clamping seat driving section;

the power mechanism drives the cutter wheel to be located on a rotating path of the ampoule bottle clamped by the clamping mechanism, and in the rotating process of the ampoule bottle, the cutter wheel is in contact with the ampoule bottle to cut the bottleneck of the ampoule bottle.

2. The cutting device for an ampoule dispensing robot of claim 1, wherein the blade carrier is in the shape of an inverted Z comprising a first beam having a working end, a second beam having a free end, and an intermediate beam connecting the first beam and the second beam, wherein the blade carrier shaft is disposed on the intermediate beam.

3. The cutting apparatus for an ampoule dispensing robot according to claim 2, wherein a bearing is provided between the knife holder shaft and the intermediate beam.

4. The cutting device for an ampoule dispensing robot according to claim 1, wherein the front end of the neck retainer has a V-shaped opening.

5. The cutting device for an ampoule dispensing robot according to claim 1, wherein a stopper return spring acting on the neck stopper is provided on the placement table so that a rear end of the neck stopper abuts against the stopper drive section.

6. The cutting device for an ampoule dispensing robot according to claim 1, wherein the neck detent is provided in front of the blade holder in a rotation direction of the ampoule.

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