CN113001564A - 基于工业机器人的自动配液系统及方法 - Google Patents
基于工业机器人的自动配液系统及方法 Download PDFInfo
- Publication number
- CN113001564A CN113001564A CN202110267906.XA CN202110267906A CN113001564A CN 113001564 A CN113001564 A CN 113001564A CN 202110267906 A CN202110267906 A CN 202110267906A CN 113001564 A CN113001564 A CN 113001564A
- Authority
- CN
- China
- Prior art keywords
- unit
- clamping jaw
- horizontal rotation
- turnover
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000007788 liquid Substances 0.000 title claims abstract description 129
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000009826 distribution Methods 0.000 title claims abstract description 27
- 229930182555 Penicillin Natural products 0.000 claims abstract description 65
- JGSARLDLIJGVTE-MBNYWOFBSA-N Penicillin G Chemical compound N([C@H]1[C@H]2SC([C@@H](N2C1=O)C(O)=O)(C)C)C(=O)CC1=CC=CC=C1 JGSARLDLIJGVTE-MBNYWOFBSA-N 0.000 claims abstract description 65
- 229940049954 penicillin Drugs 0.000 claims abstract description 65
- 238000012545 processing Methods 0.000 claims abstract description 32
- 238000002360 preparation method Methods 0.000 claims abstract description 25
- 238000003860 storage Methods 0.000 claims abstract description 14
- 238000000605 extraction Methods 0.000 claims abstract description 7
- 230000007306 turnover Effects 0.000 claims description 73
- 230000009471 action Effects 0.000 claims description 49
- 239000003814 drug Substances 0.000 claims description 49
- 230000007246 mechanism Effects 0.000 claims description 36
- 230000005540 biological transmission Effects 0.000 claims description 29
- 239000002904 solvent Substances 0.000 claims description 21
- 230000008569 process Effects 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 11
- 238000005086 pumping Methods 0.000 claims description 9
- 229940079593 drug Drugs 0.000 claims description 7
- 239000000284 extract Substances 0.000 claims description 6
- 239000012530 fluid Substances 0.000 claims description 6
- 238000002347 injection Methods 0.000 claims description 6
- 239000007924 injection Substances 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 6
- 239000000843 powder Substances 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000000243 solution Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 238000001802 infusion Methods 0.000 description 4
- 238000001990 intravenous administration Methods 0.000 description 3
- 238000005303 weighing Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000002156 mixing Methods 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000005213 imbibition Methods 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- A61J1/2003—Accessories used in combination with means for transfer or mixing of fluids, e.g. for activating fluid flow, separating fluids, filtering fluid or venting
- A61J1/2048—Connecting means
- A61J1/2051—Connecting means having tap means, e.g. tap means activated by sliding
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
- A61J1/14—Details; Accessories therefor
- A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
- A61J1/2003—Accessories used in combination with means for transfer or mixing of fluids, e.g. for activating fluid flow, separating fluids, filtering fluid or venting
- A61J1/2048—Connecting means
- A61J1/2055—Connecting means having gripping means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
- A61J1/14—Details; Accessories therefor
- A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
- A61J1/2096—Combination of a vial and a syringe for transferring or mixing their contents
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Pharmacology & Pharmacy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Robotics (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110267906.XA CN113001564B (zh) | 2021-03-11 | 2021-03-11 | 基于工业机器人的自动配液系统及方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110267906.XA CN113001564B (zh) | 2021-03-11 | 2021-03-11 | 基于工业机器人的自动配液系统及方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113001564A true CN113001564A (zh) | 2021-06-22 |
CN113001564B CN113001564B (zh) | 2021-12-21 |
Family
ID=76405722
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202110267906.XA Active CN113001564B (zh) | 2021-03-11 | 2021-03-11 | 基于工业机器人的自动配液系统及方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN113001564B (zh) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113487510A (zh) * | 2021-07-16 | 2021-10-08 | 中国科学院自动化研究所 | 用于机器人自动配液的针尖位置检测方法、系统、设备 |
CN113580114A (zh) * | 2021-09-16 | 2021-11-02 | 重庆医科大学附属儿童医院 | 一种注射器辅助配液外骨骼装置及其控制方法 |
CN114246796A (zh) * | 2021-12-21 | 2022-03-29 | 中国科学院自动化研究所 | 新型配液机器人系统 |
CN115256419A (zh) * | 2022-08-12 | 2022-11-01 | 中科院南昌高新技术产业协同创新研究院 | 一种临床手术模拟用机械臂及其模拟方法 |
CN115400693A (zh) * | 2022-05-06 | 2022-11-29 | 深圳市瑞吉生物科技有限公司 | 药物合成设备和方法 |
CN116202820A (zh) * | 2023-04-28 | 2023-06-02 | 融域智慧(西安)智能科技有限公司 | 一种化工生产用下取样装置 |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000310884A (ja) * | 1999-02-22 | 2000-11-07 | Canon Inc | トナー、画像形成方法、及び装置ユニット |
US20120218854A1 (en) * | 2008-12-01 | 2012-08-30 | Bruce Behringer | Rotary Reagent Tray Assembly and Method of Mixing Solid-Phase Reagents |
CN103070772A (zh) * | 2011-10-25 | 2013-05-01 | 深圳市卫邦科技有限公司 | 自动配药机器人及其控制系统 |
CN103341335A (zh) * | 2013-07-12 | 2013-10-09 | 李坚毅 | 静脉用药自动配制设备和摆动型转盘式配药装置 |
CN104436354A (zh) * | 2014-11-13 | 2015-03-25 | 东莞市长原喷雾技术有限公司 | 用于配制静脉注射液的自动配液系统以及自动配液机 |
CN106389121A (zh) * | 2016-08-31 | 2017-02-15 | 深圳市博为医疗机器人有限公司 | 一种抽吸注射装置以及抽吸注射方法 |
CN107822877A (zh) * | 2017-11-30 | 2018-03-23 | 韩秋霞 | 一种西林瓶配药方法及西林瓶配药机器人 |
CN108159973A (zh) * | 2018-01-09 | 2018-06-15 | 苏州长光华医生物医学工程有限公司 | 一种试剂仓结构 |
CN108371921A (zh) * | 2018-03-12 | 2018-08-07 | 杨雪锋 | 一种全自动医学取样试管混匀装置 |
US20190351146A1 (en) * | 2013-05-23 | 2019-11-21 | Allergan, Inc. | Methods of treatment using a syringe extrusion accessory |
-
2021
- 2021-03-11 CN CN202110267906.XA patent/CN113001564B/zh active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000310884A (ja) * | 1999-02-22 | 2000-11-07 | Canon Inc | トナー、画像形成方法、及び装置ユニット |
US20120218854A1 (en) * | 2008-12-01 | 2012-08-30 | Bruce Behringer | Rotary Reagent Tray Assembly and Method of Mixing Solid-Phase Reagents |
CN103070772A (zh) * | 2011-10-25 | 2013-05-01 | 深圳市卫邦科技有限公司 | 自动配药机器人及其控制系统 |
US20190351146A1 (en) * | 2013-05-23 | 2019-11-21 | Allergan, Inc. | Methods of treatment using a syringe extrusion accessory |
CN103341335A (zh) * | 2013-07-12 | 2013-10-09 | 李坚毅 | 静脉用药自动配制设备和摆动型转盘式配药装置 |
CN104436354A (zh) * | 2014-11-13 | 2015-03-25 | 东莞市长原喷雾技术有限公司 | 用于配制静脉注射液的自动配液系统以及自动配液机 |
CN106389121A (zh) * | 2016-08-31 | 2017-02-15 | 深圳市博为医疗机器人有限公司 | 一种抽吸注射装置以及抽吸注射方法 |
CN107822877A (zh) * | 2017-11-30 | 2018-03-23 | 韩秋霞 | 一种西林瓶配药方法及西林瓶配药机器人 |
CN108159973A (zh) * | 2018-01-09 | 2018-06-15 | 苏州长光华医生物医学工程有限公司 | 一种试剂仓结构 |
CN108371921A (zh) * | 2018-03-12 | 2018-08-07 | 杨雪锋 | 一种全自动医学取样试管混匀装置 |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113487510A (zh) * | 2021-07-16 | 2021-10-08 | 中国科学院自动化研究所 | 用于机器人自动配液的针尖位置检测方法、系统、设备 |
CN113580114A (zh) * | 2021-09-16 | 2021-11-02 | 重庆医科大学附属儿童医院 | 一种注射器辅助配液外骨骼装置及其控制方法 |
CN114246796A (zh) * | 2021-12-21 | 2022-03-29 | 中国科学院自动化研究所 | 新型配液机器人系统 |
CN114246796B (zh) * | 2021-12-21 | 2024-06-14 | 中国科学院自动化研究所 | 新型配液机器人系统 |
CN115400693A (zh) * | 2022-05-06 | 2022-11-29 | 深圳市瑞吉生物科技有限公司 | 药物合成设备和方法 |
CN115400693B (zh) * | 2022-05-06 | 2024-05-28 | 深圳瑞吉生物科技有限公司 | 药物合成设备和方法 |
CN115256419A (zh) * | 2022-08-12 | 2022-11-01 | 中科院南昌高新技术产业协同创新研究院 | 一种临床手术模拟用机械臂及其模拟方法 |
CN115256419B (zh) * | 2022-08-12 | 2023-08-04 | 中科院南昌高新技术产业协同创新研究院 | 一种临床手术模拟用机械臂及其模拟方法 |
CN116202820A (zh) * | 2023-04-28 | 2023-06-02 | 融域智慧(西安)智能科技有限公司 | 一种化工生产用下取样装置 |
CN116202820B (zh) * | 2023-04-28 | 2023-11-21 | 融域智慧(西安)智能科技有限公司 | 一种化工生产用下取样装置 |
Also Published As
Publication number | Publication date |
---|---|
CN113001564B (zh) | 2021-12-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN113001564B (zh) | 基于工业机器人的自动配液系统及方法 | |
JP5896104B2 (ja) | 細胞の立体構造体製造装置 | |
CN108030673B (zh) | 一种用于西林瓶的自动配药机器人 | |
CN104436354B (zh) | 用于配制静脉注射液的自动配液系统以及自动配液机 | |
CN107149886A (zh) | 自动配药装置 | |
CN113043291B (zh) | 夹爪装置、自动配液系统 | |
CN111358696A (zh) | 一种配药机器人 | |
CN216505125U (zh) | 一种视觉引导高精度定位系统 | |
CN205906537U (zh) | 药品管理系统 | |
CN211439966U (zh) | 一种具有检测抓取功能的机械手臂 | |
CN216082506U (zh) | 用于视觉检测的多自由度串联精密定位平台 | |
CN218097595U (zh) | 一种转盘式视觉与激光测量设备 | |
CN208054873U (zh) | 一种试管脱帽机构 | |
CN113021368B (zh) | 平旋翻转脱电机构、自动配液机器人 | |
CN115825461A (zh) | 一种利用全自动机器人实现多功能多领域检测分析的方法 | |
CN115476379A (zh) | 一种柔性机器人及其控制方法 | |
CN212749627U (zh) | 视觉引导取放料装置及系统 | |
CN113548441A (zh) | 一种精密视差屏障光栅贴合用非接触面翻转机构 | |
CN210703552U (zh) | 电池安装设备 | |
CN203578232U (zh) | 一种灭弧室自动化检测线 | |
CN206738133U (zh) | 蠕动泵及包括该蠕动泵的自动配药装置 | |
CN216882558U (zh) | 一种预充针外壳与内衬自动组装机构 | |
CN111839547A (zh) | 一种小型采血机器人 | |
CN111439701A (zh) | 一种移动机器人自动更换操作机构的装置及其使用方法 | |
CN220994522U (zh) | 一种工业机器人的自动找平校正装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information |
Inventor after: Lu Tao Inventor after: Cao Xuewei Inventor after: Cheng Daoyi Inventor after: Liu Dongzhen Inventor before: Lu Tao Inventor before: Cao Xuewei Inventor before: Cheng Daoyi Inventor before: Liu Dongzheng |
|
CB03 | Change of inventor or designer information | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230111 Address after: No. 95, Zhongguancun East Road, Haidian District, Beijing 100086 Patentee after: INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES Patentee after: Zhongke smart medical technology development (Nanjing) Co.,Ltd. Address before: 100190 No. 95 East Zhongguancun Road, Beijing, Haidian District Patentee before: INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES Patentee before: TIANJIN INTELLIGENT TECH. INSTITUTE OF CASIA Co.,Ltd. Patentee before: Zhongke smart medical technology development (Nanjing) Co.,Ltd. |
|
TR01 | Transfer of patent right |