CN113786337A - Full-automatic flushing mechanism for intravenous administration - Google Patents
Full-automatic flushing mechanism for intravenous administration Download PDFInfo
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- CN113786337A CN113786337A CN202110952152.1A CN202110952152A CN113786337A CN 113786337 A CN113786337 A CN 113786337A CN 202110952152 A CN202110952152 A CN 202110952152A CN 113786337 A CN113786337 A CN 113786337A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 75
- 238000001990 intravenous administration Methods 0.000 title claims abstract description 44
- 238000011010 flushing procedure Methods 0.000 title claims abstract description 36
- 239000003814 drug Substances 0.000 claims abstract description 150
- 239000002904 solvent Substances 0.000 claims abstract description 69
- 238000004080 punching Methods 0.000 claims abstract description 22
- 230000009471 action Effects 0.000 claims abstract description 5
- 238000005520 cutting process Methods 0.000 claims description 28
- 239000003708 ampul Substances 0.000 claims description 24
- 210000000078 claw Anatomy 0.000 claims description 9
- 238000002156 mixing Methods 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 229940079593 drug Drugs 0.000 abstract description 43
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 9
- 238000002360 preparation method Methods 0.000 description 5
- 239000007788 liquid Substances 0.000 description 4
- 238000005303 weighing Methods 0.000 description 3
- 229930182555 Penicillin Natural products 0.000 description 1
- 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 description 1
- 239000002775 capsule Substances 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000004090 dissolution Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 229940049954 penicillin Drugs 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
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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
- A61J1/2096—Combination of a vial and a syringe for transferring or mixing their contents
-
- 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
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- Health & Medical Sciences (AREA)
- Pharmacology & Pharmacy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The invention relates to a full-automatic flushing and dispensing mechanism for intravenous administration, which comprises a first manipulator and a second manipulator; a needle cylinder push-pull module is arranged at the moving end of the first manipulator; a moving end of the second manipulator is provided with a first clamping jaw; the needle cylinder push-pull module is used for clamping the needle cylinder and providing push-pull power for a piston core rod of the needle cylinder; the first clamping jaw is used for clamping the medicine bottle; the first manipulator is used for moving the needle cylinder push-pull module to be matched with the medicine bottle moved by the second manipulator to perform the action of punching and preparing the medicine. According to the full-automatic flushing and dispensing mechanism for intravenous drugs, the needle cylinder is grabbed by one manipulator and can be used for suction operation, the other manipulator grabs the drug bottle, so that part of solvent is extracted by the needle cylinder and then injected into the drug bottle, and after the needle cylinder is withdrawn, the process of injecting the solvent can be automatically operated in the whole process, manual operation is replaced, the flushing and dispensing efficiency is high, and the requirement for automation of flushing and dispensing of intravenous drugs is met.
Description
Technical Field
The invention relates to the field of intravenous drug preparation centers, in particular to a full-automatic preparation mechanism for intravenous drugs.
Background
The medicine adding work in the traditional venous transfusion is finished by nurses in each disease area in respective treatment rooms, in the intravenous medicine preparing process, a small amount of liquid is extracted from a solvent and injected into a penicillin bottle filled with medicines to dissolve the medicines, and then the dissolved medicines are extracted and injected back into the solvent to complete the intravenous medicine preparing; however, with the advance of science and technology, the replacement of manual operation by mechanical automation is a necessary trend of development; when an automatic intravenous drug preparing system is established, the automatic intravenous drug preparing system is the primary objective of development in the field, and although the existing intravenous drug preparing process realizes the automation of partial equipment, a lot of operations still need to be completed manually, so that how to provide a full-automatic preparing mechanism becomes an urgent problem to be solved.
Disclosure of Invention
In order to solve the technical problems, the invention provides a full-automatic flushing and dispensing mechanism for intravenous drugs, which is characterized in that a mechanical arm is used for grabbing a needle cylinder and performing suction operation, the other mechanical arm is used for grabbing a drug bottle, so that part of solvent is extracted by the needle cylinder and then injected into the drug bottle, and after the needle cylinder is withdrawn, the process of injecting the solvent can be automatically operated in the whole process, manual operation is replaced, the flushing and dispensing efficiency is high, and the requirement on the automation of flushing and dispensing the intravenous drugs is met.
The technical scheme adopted by the invention for solving the technical problems is as follows: the full-automatic flushing and dispensing mechanism for intravenous administration comprises a first manipulator and a second manipulator; a needle cylinder push-pull module is arranged at the moving end of the first manipulator; a moving end of the second manipulator is provided with a first clamping jaw; the needle cylinder push-pull module is used for clamping the needle cylinder and providing push-pull power for a piston core rod of the needle cylinder; the first clamping jaw is used for clamping the medicine bottle; the first manipulator is used for moving the needle cylinder push-pull module to be matched with the medicine bottle moved by the second manipulator to perform the action of punching and preparing the medicine.
Further, the needle cylinder push-pull module comprises a mounting frame mounted with the first manipulator, and a second clamping jaw is fixed at the bottom end of the mounting frame; a push-pull device is fixed above the second clamping jaw by the mounting frame; the push-pull device comprises a push-pull platform fixed with the mounting rack and a push-pull claw fixed on the push-pull platform; the second clamping jaw is used for clamping the syringe body of the syringe; the push-pull claw is used for acting on the tail end of the piston core rod of the needle cylinder.
Further, the first jaw comprises two first jaw portions; each first clamping claw part is composed of two first clamping arms; the two first clamping arms are provided with first clamping grooves at positions close to the front.
Further, the punching and matching mechanism further comprises a punching and matching cabin; a workbench is arranged in the punching and distributing cabin; the first mechanical arm and the second mechanical arm are both arranged on the workbench.
Furthermore, still be provided with the cylinder feed frame in the preparation cabin, a plurality of cylinders have been placed on the cylinder feed frame for supply the cylinder for first manipulator.
Further, a cap pulling device is further arranged in the punching and matching cabin and comprises a third clamping jaw; the third clamping jaw is used for clamping a needle cap of the needle cylinder and assisting the first mechanical arm in uncapping the needle cylinder.
Furthermore, an ampoule bottle cutting mechanism is further arranged in the blending cabin and comprises a notch, the inlet of the notch is large, the outlet of the notch is small, and the notch consists of an upper cutting edge and a lower cutting edge; the two cutting edges are arranged on the bottle cutting fixing frame; the second manipulator is also used for grabbing the ampoule bottle, sending the bottleneck of the ampoule bottle to the mounting notch, moving the ampoule bottle from a large inlet to a small outlet, and cutting and opening the ampoule bottle through the notch.
Further, the flushing mechanism comprises a main medicine dispensing cabin; a medicine taking manipulator is arranged in front of the main medicine dispensing cabin; the medicine bottle taking manipulator is arranged on the moving end of the moving platform; the punching and distributing mechanism also comprises a medicine bottle conveying line; one end of the medicine bottle conveying line is matched with the medicine bottle taking manipulator of the main medicine dispensing cabin, and the other end of the medicine bottle conveying line is matched with the second manipulator; a medicine bottle positioning block is arranged on the medicine bottle conveying line; the mobile platform is used for driving the medicine taking mechanical arm to move up, down, left and right in front of the main medicine dispensing cabin to take medicine bottles and convey the medicine bottles to the medicine bottle positioning blocks on the medicine bottle conveying line; the medicine bottle conveying line is used for receiving and positioning the medicine bottles through the medicine bottle positioning blocks; the second manipulator is also used for grabbing the medicine bottles from the medicine bottle positioning blocks of the medicine bottle conveying line.
Furthermore, the flushing mechanism also comprises a solvent dispensing cabin; the solvent regulating cabin is provided with a plurality of bin positions, and a solvent is vertically stacked in each bin position; each bin is provided with a lifting mechanism; the lifting mechanism is used for lifting the solvent corresponding to the bin position, so that the solvent of the bin position is at a set supply height, and the second manipulator is also used for grabbing the solvent from the solvent blending cabin.
Furthermore, the flushing mechanism also comprises a flushing solvent output line; the second manipulator is also used for placing the solvent after being flushed on the solvent flushing output line and outputting the solvent after being flushed through the solvent flushing output line.
The invention has the advantages that: according to the full-automatic flushing and dispensing mechanism for intravenous drugs, the needle cylinder is grabbed by one manipulator and can be used for suction operation, the other manipulator grabs the drug bottle, so that part of solvent is extracted by the needle cylinder and then injected into the drug bottle, and after the needle cylinder is withdrawn, the process of injecting the solvent can be automatically operated in the whole process, manual operation is replaced, the flushing and dispensing efficiency is high, and the requirement for automation of flushing and dispensing of intravenous drugs is met.
Drawings
FIG. 1 is a schematic view of a first robot and a second robot of a fully automatic reconstitution mechanism for intravenous medication according to an embodiment;
fig. 2 is a perspective view of a syringe push-pull module of the fully automatic flushing mechanism for intravenous administration according to the embodiment;
fig. 3 is a perspective view of a first jaw of a syringe push-pull module of the fully automatic flushing mechanism for intravenous administration according to the embodiment;
FIG. 4 is a schematic perspective view of a brewing chamber of the fully automatic brewing mechanism for intravenous administration of an embodiment;
FIG. 5 is a schematic perspective view of a cap removing device of the fully automatic flushing mechanism for intravenous administration according to an embodiment;
FIG. 6 is a schematic perspective view of an ampoule cutting mechanism of the fully automatic brewing mechanism for intravenous administration according to an embodiment;
FIG. 7 is a schematic front view of an ampoule cutting mechanism of the fully automatic brewing mechanism for intravenous administration according to an embodiment;
FIG. 8 is a schematic cross-sectional view A-A of FIG. 7;
FIG. 9 is a schematic perspective view of a shaking mechanism of the fully automatic flushing mechanism for intravenous medication of the embodiments;
fig. 10 is a schematic perspective view of a vehicle holder of the fully automatic flushing mechanism for intravenous administration according to the embodiment;
FIG. 11 is a schematic perspective view of a fully automatic brewing mechanism for intravenous medication according to an embodiment;
wherein, 1, a first mechanical arm, 2, a syringe push-pull module, 3, a syringe, 4, a second mechanical arm, 5, a first clamping jaw, 6, a medicine bottle, 7, a preparation cabin, 8, a solvent, 9, a syringe feeding frame, 10, a cap pulling device, 11, a shaking mechanism, 12, a weighing device, 13, an ampoule bottle cutting mechanism, 14, a main medicine dispensing cabin, 15, a medicine taking mechanical arm, 16, a moving platform, 17, a medicine bottle conveying line, 18, a medicine bottle positioning block, 19, a solvent dispensing cabin, 20, a lifting mechanism, 21, a preparation solvent output line, 22, a solvent support, 201, a mounting frame, 202, a second clamping jaw driving element, 203, a second clamping jaw, 204, a push plate, 205, a pull plate, 206, a push-pull platform, 207, a push-pull driving element, 501, a first clamping jaw driving element, 502, a first clamping jaw part, 503, a first clamping jaw, 701, a working platform, 702 and a solvent window, 1001. third clamping jaw driving element 1002, third clamping jaw 1003, vertical frame 1101, shaking table 1102, shaking driving mechanism 1103, bottom plate 1104, fourth clamping jaw 1301, bottle cutting fixing frame 1302, cutting edge 1303, notch 1304, elastic structure 1305, guide rail 2201 and hanging hole.
Detailed Description
For the purpose of enhancing the understanding of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and examples, which are provided for the purpose of illustration only and are not intended to limit the scope of the present invention.
Examples
Referring to fig. 1 to 11, the present embodiment provides a fully automatic flushing and dispensing mechanism for intravenous medication, which includes a first manipulator 1 and a second manipulator 4; a needle cylinder push-pull module 2 is arranged at the moving end of the first manipulator 1; a first clamping jaw 5 is installed at the moving end of the second manipulator 4; the needle cylinder push-pull module 2 is used for clamping the needle cylinder 3 and providing push-pull power for the piston core rod of the needle cylinder 3; the first clamping jaw 5 is used for clamping a medicine bottle 6; the first manipulator 1 is used for moving the needle cylinder push-pull module 2 to be matched with the medicine bottle 6 moved by the second manipulator 4 to perform the action of punching and dispensing medicines.
Referring to fig. 2 again, the syringe push-pull module 2 includes a mounting frame 201 mounted with the first manipulator 1, and a second clamping jaw 203 is fixed at the bottom end of the mounting frame 201; a push-pull device is fixed above the second clamping jaw 203 on the mounting frame 201; the push-pull device comprises a push-pull platform 206 fixed with the mounting frame 201 and a push-pull claw fixed on the push-pull platform 206; the second clamping jaw 203 is used for clamping the cylinder body of the needle cylinder 3; the push-pull claw is used for acting on the tail end of the piston core rod of the needle cylinder 3; specifically, the second jaw 203 is driven by a second jaw driving element 202 (using a jaw cylinder); the push-pull platform 206 is driven by a push-pull drive element 207; for better pushing and pulling the piston core rod, the push-pull claw comprises a push plate 204 and a pull plate 205; the push plate 204 and the pull plate 205 act on the tail end of the piston core rod of the needle cylinder 3 from top to bottom; the push plate 204 completely covers the rear end face of the rear end rod of the piston core rod, so that pushing operation is performed, the pull plate 205 is convenient to install and operate, an arc-shaped notch is formed in the position where the pull plate is matched with the piston core rod, and the pull plate acts on the front side of the rear end plate of the piston core rod to perform pulling operation; the needle cylinder drawing and injecting actions can be realized through the needle cylinder push-pull module 2.
Referring again to fig. 3, the first jaw 5 includes two first jaw portions 502; each first jaw portion 502 is constituted by two first jaw arms; the two first clamping arms are provided with first clamping grooves at positions close to the front. The front ends of the two first clamping arms are also provided with a first clamping head 503; the first jaw 5 further comprises a first jaw drive element 501 for driving the first jaw portion 502; the first clamping groove is used for clamping the bottleneck of the medicine bottle. Here, it should be noted that the solvent 8 is provided with a solvent support 22, as shown in fig. 10, the solvent support 22 can ensure that the head of the solvent is located at a designated position, and the solvent support further has two hanging holes 2201, the two hanging holes can be matched with the first chuck 503 to be grabbed and transferred by the second manipulator 4, and the two hanging holes are specifically arranged to be matched with the two sets of first chucks for use, so as to ensure stable clamping.
Referring to fig. 4 again, the punching mechanism further includes a punching chamber 7; a workbench 701 is arranged in the punching and distributing cabin 7; the first manipulator 1 and the second manipulator 4 are both mounted on a table 701.
Referring to fig. 4 again, a syringe feeding rack 9 is further disposed in the punching and dispensing cabin 7, and a plurality of syringes are placed on the syringe feeding rack 9 and used for supplying syringes to the first manipulator 1.
Referring to fig. 4 and 5 again, a cap pulling device 10 is further disposed in the punching and blending cabin 7, and the cap pulling device 10 includes a third clamping jaw 1002; the third clamping jaw 1002 is used for clamping a needle cap of a needle cylinder and assisting the first manipulator 4 in uncapping the needle cylinder; specifically, the cap removing device 10 further includes a third jaw driving element 1001 (a jaw air cylinder may be used) for driving the third jaw 1002; the third jaw drive element 1001 is mounted on a stand 1003; the design avoids the problem of secondary pollution caused by the fact that the needle of the needle cylinder is exposed in the air for a long time; by the design, the needle cap can be pulled out only when the needle cylinder is used.
Referring to fig. 4 and 9 again, a shaking mechanism 11 is further disposed in the blending cabin 7, and the shaking mechanism 11 includes a shaking table 1101 and a shaking driving mechanism 1102 for driving the shaking table 1101; a bottom plate 1103 is arranged on the shaking table, and a fourth clamping jaw 1104 is arranged on the bottom plate; the second manipulator 4 is further configured to place the poorly soluble drug vial into which a portion of the solvent liquid is injected on the bottom plate 1103 of the shaking table of the shaking mechanism 11, and clamp and fix the vial by the fourth clamping jaw 1104, and then drive the shaking driving mechanism 1102 to drive the shaking table 1101 to shake the drug vial 6, so as to promote dissolution of the poorly soluble drug.
Referring to fig. 4 and fig. 6 to 8, an ampoule bottle cutting mechanism 13 is further disposed in the blending cabin 7, the ampoule bottle cutting mechanism 13 includes a cut 1303, an inlet of the cut 1303 is larger than an outlet of the cut 1303, and the cut 1303 is composed of an upper cutting edge 1302 and a lower cutting edge 1302; the two cutting edges 1302 are mounted on the bottle cutting fixing frame 1301; the second robot arm 4 is also used to grab the ampoule, send the neck of the ampoule into the installation notch 1303, move the ampoule from a large inlet to a small outlet, and cut and open the ampoule through the notch 1303. The cutting edge 1302 and the bottle cutting fixing frame 1301 are installed through an elastic guide structure; the bottle cutting fixing frame 1301 is provided with a guide rail 1305 and an elastic structure 1304; the elastic guide structure is used for avoiding the rigid contact between the cutting edge 1302 and the ampoule bottle and preventing the ampoule bottle from being damaged due to uneven stress.
Referring to fig. 4 again, a weighing device 12 is further disposed in the blending cabin 7 for assisting in blending the same bottle of medicine in different times; the design is that for a bottle of medicine, the medicine is injected into a plurality of bags of menstruum according to the quantity of the medicine, and the weighing device 12 can assist and accurately control the suction quantity of the needle cylinder.
Referring again to fig. 11, the flushing mechanism includes a main drug dispensing capsule 14; a medicine taking manipulator 15 is arranged in front of the main medicine dispensing cabin 14; the medicine bottle taking manipulator 15 is arranged on the moving end of the moving platform 16; the punching and distributing mechanism further comprises a medicine bottle conveying line 17; one end of the medicine bottle conveying line 17 is matched with the medicine taking manipulator 15 of the main medicine dispensing cabin 14, and the other end of the medicine bottle conveying line is matched with the second manipulator 4; a medicine bottle positioning block 18 is arranged on the medicine bottle conveying line 17; the moving platform 16 is used for driving the medicine bottle taking manipulator 15 to move up, down, left and right in front of the main medicine dispensing cabin 14 to take the medicine bottles 6, and conveying the medicine bottles 6 to the medicine bottle positioning blocks 18 on the medicine bottle conveying line 17; the medicine bottle conveying line 17 is used for receiving and positioning the medicine bottles 6 through the medicine bottle positioning blocks 18; the second robot 4 is also used to grasp the medicine bottle 6 from the medicine bottle positioning block 18 of the medicine bottle conveying line 17.
Referring to fig. 11 again, the preparing mechanism further includes a solvent dispensing compartment 19; the solvent regulating cabin 19 is provided with a plurality of bin positions, and a solvent 8 is vertically stacked in each bin position; each bin is provided with a lifting mechanism 20; the lifting mechanism 20 is used for lifting the solvent 8 corresponding to the bin to make the solvent 8 in the bin at a set supply height, and the second manipulator 4 is also used for grabbing the solvent 8 from the solvent blending cabin. The right side of the flushing bin 7 is also provided with a solvent grabbing window 702 for the second manipulator 4 to pass through.
Referring to fig. 11 again, the dispensing mechanism further includes a dispensing solvent output line 21; the second manipulator 4 is further configured to place the solvent subjected to the dispensing on the dispensing solvent output line 21, and output the solvent subjected to the dispensing through the dispensing solvent output line 21.
The full-automatic flushing mechanism for intravenous administration of the embodiment determines required medicine information and solvent information according to a prescription when in use; the main drug dispensing cabin receives a command of outputting drugs, the drug taking mechanical arm moves to a storage grid of the main drug dispensing cabin corresponding to the drugs by using the moving platform, after receiving the drug, the drug taking mechanical arm moves to the upper part of the drug bottle conveying line by using the moving platform, at the moment, the drug bottle positioning block is positioned right below the output end of the drug taking mechanical arm, the drug bottle is placed on the drug bottle positioning block by the drug taking mechanical arm and conveyed to the second mechanical arm along with the drug bottle conveying line, the operation is carried out simultaneously, the second mechanical arm penetrates through the solvent grabbing window, after grabbing the solvent corresponding to the bin position, the solvent is placed on the workbench, meanwhile, the first mechanical arm also grabs the needle cylinder at the needle cylinder feeding frame and moves to the cap pulling device for removing the needle cap; then, the first manipulator drives the needle cylinder to move to the solvent, the needle cylinder is inserted from the head of the solvent through the needle cylinder push-pull module, and part of the solvent liquid is sucked; then, a second mechanical hand grasps the medicine bottle required by the medicine bottle positioning block, and then the first mechanical hand is matched with the second mechanical hand to enable the needle cylinder to be pricked into the medicine bottle and inject solvent liquid, and then the needle cylinder is pulled out, and the second mechanical hand shakes the medicine bottle to help the medicine to be uniformly mixed; and then the first manipulator and the second manipulator are matched again to extract the solution in the medicine bottle, the solution is injected into the solvent, and the second manipulator transfers the solvent after being flushed to the solvent flushing output line for output transfer.
According to the full-automatic flushing mechanism for intravenous administration, the easily soluble medicine can be shaken by the second mechanical arm, and the difficultly soluble medicine is transferred to the shaking mechanism by the second mechanical arm to be dissolved in an auxiliary manner.
The full-automatic mechanism of preparing for intravenous route medicine of this embodiment still need open the operation to the ampoule through ampoule bottle cutting mechanism when reusing the medicine of ampoule.
In the fully automatic dispensing mechanism for intravenous administration of this embodiment, after the solvent on the topmost side of the corresponding bin is captured, the lifting mechanism of the bin is lifted again, so that the solvent on the topmost side is continuously moved to the supply height.
The full-automatic mechanism of joining in marriage of dashing for intravenous route medicine of this embodiment snatchs the cylinder through a manipulator to can carry out the suction operation, another manipulator grabs the medicine bottle, makes in the cylinder extracts partial menstruum and injects the medicine bottle into, after withdrawing the cylinder again, the process of injecting the menstruum can whole automatic operation, replaces artifical manual operation, dashes to join in marriage efficiently, satisfies the demand to the automation of matching is dashed to the intravenous route medicine.
The above embodiments should not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent transformations fall within the protection scope of the present invention.
Claims (10)
1. A full-automatic mechanism of preparing that dashes for intravenous route is used for its characterized in that: the manipulator comprises a first manipulator and a second manipulator; a needle cylinder push-pull module is arranged at the moving end of the first manipulator; a moving end of the second manipulator is provided with a first clamping jaw; the needle cylinder push-pull module is used for clamping the needle cylinder and providing push-pull power for a piston core rod of the needle cylinder; the first clamping jaw is used for clamping the medicine bottle; the first manipulator is used for moving the needle cylinder push-pull module to be matched with the medicine bottle moved by the second manipulator to perform the action of punching and preparing the medicine.
2. The fully automatic reconstitution mechanism for intravenous administration of claim 1, wherein: the needle cylinder push-pull module comprises a mounting frame mounted with the first manipulator, and a second clamping jaw is fixed at the bottom end of the mounting frame; a push-pull device is fixed above the second clamping jaw by the mounting frame; the push-pull device comprises a push-pull platform fixed with the mounting rack and a push-pull claw fixed on the push-pull platform; the second clamping jaw is used for clamping the syringe body of the syringe; the push-pull claw is used for acting on the tail end of the piston core rod of the needle cylinder.
3. The fully automatic reconstitution mechanism for intravenous administration of claim 1 or 2, wherein: the first jaw comprises two first jaw portions; each first clamping claw part is composed of two first clamping arms; the two first clamping arms are provided with first clamping grooves at positions close to the front.
4. The fully automatic reconstitution mechanism for intravenous administration of claim 1, wherein: the punching and matching mechanism also comprises a punching and matching cabin; a workbench is arranged in the punching and distributing cabin; the first mechanical arm and the second mechanical arm are both arranged on the workbench.
5. The fully automatic reconstitution mechanism for intravenous administration of claim 4, wherein: still be provided with the cylinder feed frame in the punching and distributing cabin, a plurality of cylinders have been placed on the cylinder feed frame for supply the cylinder for first manipulator.
6. The fully automatic reconstitution mechanism for intravenous administration of claim 4, wherein: a cap pulling device is further arranged in the punching and matching cabin and comprises a third clamping jaw; the third clamping jaw is used for clamping a needle cap of the needle cylinder and assisting the first mechanical arm in uncapping the needle cylinder.
7. The fully automatic reconstitution mechanism for intravenous administration according to any of claims 4-6, wherein: an ampoule bottle cutting mechanism is further arranged in the punching and matching cabin and comprises a notch, the inlet of the notch is large, the outlet of the notch is small, and the notch consists of an upper cutting edge and a lower cutting edge; the two cutting edges are arranged on the bottle cutting fixing frame; the second manipulator is also used for grabbing the ampoule bottle, sending the bottleneck of the ampoule bottle to the mounting notch, moving the ampoule bottle from a large inlet to a small outlet, and cutting and opening the ampoule bottle through the notch.
8. The fully automatic reconstitution mechanism for intravenous administration according to any of claims 4-6, wherein: the flushing and distributing mechanism comprises a main medicine regulating cabin; a medicine taking manipulator is arranged in front of the main medicine dispensing cabin; the medicine bottle taking manipulator is arranged on the moving end of the moving platform; the punching and distributing mechanism also comprises a medicine bottle conveying line; one end of the medicine bottle conveying line is matched with the medicine bottle taking manipulator of the main medicine dispensing cabin, and the other end of the medicine bottle conveying line is matched with the second manipulator; a medicine bottle positioning block is arranged on the medicine bottle conveying line; the mobile platform is used for driving the medicine taking mechanical arm to move up, down, left and right in front of the main medicine dispensing cabin to take medicine bottles and convey the medicine bottles to the medicine bottle positioning blocks on the medicine bottle conveying line; the medicine bottle conveying line is used for receiving and positioning the medicine bottles through the medicine bottle positioning blocks; the second manipulator is also used for grabbing the medicine bottles from the medicine bottle positioning blocks of the medicine bottle conveying line.
9. The fully automatic reconstitution mechanism for intravenous administration of claim 8, wherein: the flushing mechanism also comprises a solvent regulating cabin; the solvent regulating cabin is provided with a plurality of bin positions, and a solvent is vertically stacked in each bin position; each bin is provided with a lifting mechanism; the lifting mechanism is used for lifting the solvent corresponding to the bin position, so that the solvent of the bin position is at a set supply height, and the second manipulator is also used for grabbing the solvent from the solvent blending cabin.
10. The fully automatic reconstitution mechanism for intravenous administration of claim 9, wherein: the flushing mechanism also comprises a flushing solvent output line; the second manipulator is also used for placing the solvent after being flushed on the solvent flushing output line and outputting the solvent after being flushed through the solvent flushing output line.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110952152.1A CN113786337A (en) | 2021-08-19 | 2021-08-19 | Full-automatic flushing mechanism for intravenous administration |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110952152.1A CN113786337A (en) | 2021-08-19 | 2021-08-19 | Full-automatic flushing mechanism for intravenous administration |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114452212A (en) * | 2021-12-21 | 2022-05-10 | 深圳市澳奇医疗机器人有限公司 | Multifunctional weighing medicine blending manipulator |
| CN115887153A (en) * | 2022-12-20 | 2023-04-04 | 四川大学华西医院 | Intelligent nurse operation panel that dispenses |
| WO2024007920A1 (en) * | 2022-07-07 | 2024-01-11 | 深圳晶泰科技有限公司 | Automatic filtering device and automatic filtering system |
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| CN114452212A (en) * | 2021-12-21 | 2022-05-10 | 深圳市澳奇医疗机器人有限公司 | Multifunctional weighing medicine blending manipulator |
| WO2024007920A1 (en) * | 2022-07-07 | 2024-01-11 | 深圳晶泰科技有限公司 | Automatic filtering device and automatic filtering system |
| CN115887153A (en) * | 2022-12-20 | 2023-04-04 | 四川大学华西医院 | Intelligent nurse operation panel that dispenses |
| CN115887153B (en) * | 2022-12-20 | 2024-02-06 | 四川大学华西医院 | Intelligent nurse dispenses operation panel |
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