CN113952870B - Mixing device - Google Patents
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- CN113952870B CN113952870B CN202111575292.8A CN202111575292A CN113952870B CN 113952870 B CN113952870 B CN 113952870B CN 202111575292 A CN202111575292 A CN 202111575292A CN 113952870 B CN113952870 B CN 113952870B
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Abstract
The invention provides a mixing device, which is used for dissolving and shaking up medicines in an automatic medicine dispensing system and comprises a chuck type mechanical arm and a vibrator, wherein the chuck type mechanical arm is used for positioning and clamping a penicillin bottle, the vibrator is used for driving the chuck type mechanical arm to vibrate, medicines in the penicillin bottle clamped by the chuck type mechanical arm and mother liquor are shaken up and mixed so as to dissolve the medicines, the vibrator is provided with a vibration platform, the chuck type mechanical arm comprises a base and a plurality of chucks, the base is arranged on the vibration platform, a plurality of through holes for the penicillin bottle to pass through are formed in the base, and the chucks are arranged on the base corresponding to the through holes; the chuck comprises a gripping member for gripping the penicillin bottle, an extension spring for pre-clamping the gripping member, an execution arm for driving the gripping member to switch positions and a gear transmission group for driving different execution arms to synchronously move; the invention has the advantages of good clamping effect and high shaking stability of the penicillin bottle.
Description
Technical Field
The invention belongs to the technical field of medicine dissolution, and particularly relates to a mixing device for shaking and mixing medicines in a penicillin bottle and mother liquor uniformly so as to realize complete dissolution of the medicines.
Background
At present, the mode of configuring the medicine in the hospital is mainly manually operated by medical staff, and the mode of configuring the medicine manually needs the medical staff to manually operate an injector to suck the medicine, and in the configuration process of the medicine in the penicillin bottle, the mother liquor is generally injected into the penicillin bottle, and then the mother liquor and the powdery medicine in the penicillin bottle are uniformly mixed by shaking for many times, so that the medicine is dissolved, and then the dissolved medicine liquor is sucked out by the injector and injected into a hanging bottle for use or directly injected for injection operation.
The mixing process of the powdery medicine and the mother solution needs medical staff to shake up manually, the working strength of the medical staff is high, and particularly, in a medical station of a large hospital, the medicine preparation of a great number of penicillin bottles is needed every day; in addition, some medicines have certain toxicity and are not less dangerous to the safety of medical staff.
With the development of technology, some shaking devices are also appeared on the market to realize an automatic dispensing process, for example, a liquid medicine input shaking device used in a dispensing system disclosed in chinese patent 201210322691.8, and for example, a dispensing oscillating device used in a dispensing room in a hospital center disclosed in chinese patent 201820811833. X.
When a plurality of xiLin bottles vibrate and shake even simultaneously, in order to make the medicine mix fully completely, need increase vibration amplitude, have among the prior art and shake the risk that even in-process xiLin bottle breaks away from that shakes, consequently, need improve.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a mixing device which has the advantages of good clamping effect and high shaking stability of penicillin bottles.
In order to achieve the aim, the invention provides a mixing device which is used for dissolving and shaking up medicines in an automatic medicine dispensing system and comprises a chuck type mechanical arm and a vibrator, wherein the chuck type mechanical arm is used for positioning and clamping a penicillin bottle, the vibrator is used for driving the chuck type mechanical arm to vibrate, medicines and mother liquor in the penicillin bottle clamped by the chuck type mechanical arm are shaken up and mixed up to dissolve the medicines, the vibrator is provided with a vibration platform, the chuck type mechanical arm comprises a base and a plurality of chucks, the base is arranged on the vibration platform, a plurality of through holes for the penicillin bottle to pass through are formed in the base, and the chucks are arranged on the base corresponding to the through holes; the chuck includes:
two or more than two gripper components for clamping the penicillin bottle;
an extension spring for pre-clamping the gripper member;
an actuating arm for driving the gripper member to perform position switching; and
the gear transmission set is used for driving different execution arms to synchronously move;
the gripper member is provided with a clamping part, a connecting part and an acting part, a rotating shaft is arranged on the gripper member, the rotating shaft is positioned between the clamping part and the connecting part, and the acting part is arranged on the clamping part;
one end of the extension spring is connected with the base, and the other end of the extension spring is connected with the connecting part;
the execution arms correspond to the gripper members one by one and are provided with clamping positions, middle positions and releasing positions, each execution arm comprises a first arm and a second arm which are 7-shaped, the first arms rotate forwards and abut against the clamping parts in the process of switching the execution arms to the clamping positions, the clamping parts are driven to synchronously rotate forwards around the rotating shafts to clamp the penicillin bottles, the second arms rotate reversely and abut against the acting parts in the process of switching the execution arms to the releasing positions, the clamping parts are driven to synchronously rotate reversely around the rotating shafts to release the penicillin bottles, when the execution arms are switched to the middle positions, the first arms are separated from the clamping parts, the second arms are separated from the acting parts, and the gripper members pre-clamp the penicillin bottles by utilizing the extension springs;
the gear transmission set comprises a plurality of transmission gears which are meshed with each other, the execution arm is arranged on different transmission gears and rotates synchronously with the transmission gears, and the execution arm is driven to switch among a clamping position, a middle position and a releasing position by utilizing the synchronous rotation of the different transmission gears so as to execute the clamping, preassembling and releasing operations of the penicillin bottle.
As another embodiment of the present invention, the mixing device further includes a bottom substrate, the vibrator further includes a flexible support assembly, a vibration motor and an output assembly thereof, the vibration motor and the output assembly thereof are disposed on the vibration platform, the vibration motor and the output assembly thereof are used for performing vibration of the vibration platform, the flexible support assembly includes a plurality of spring supports, the vibration platform is disposed on the bottom substrate through the plurality of spring supports, wherein the spring supports include:
the lower positioning connecting cylinder is fixedly arranged on the bottom substrate and is provided with a lower connecting groove with an upward opening;
the upper positioning connecting cylinder is fixedly arranged on the vibration platform and is provided with an upper connecting groove with a downward opening;
the vibrating spring, vibrating spring's one end is located the spread groove, and vibrating spring's the other end is located spread groove down, wherein goes up the location connecting cylinder and does not contact between the location connecting cylinder down.
As another embodiment of the present invention, the flexible stent assembly further comprises a plurality of buffer stents for maintaining vibrational stability, the buffer stents comprising:
a lower positioning bracket fixedly disposed on the base substrate;
the upper positioning bracket is fixedly arranged on the vibration platform;
and the buffer is respectively connected with the upper positioning bracket and the lower positioning bracket.
As another embodiment of the present invention, the base is removably attached to the vibration table.
As another specific embodiment of the invention, the action part is at least provided with a supporting arm protruding outwards and a stopping post arranged on the supporting arm, the supporting arm is fixedly connected with the clamping part, the second arm is provided with an arc-shaped groove recessed inwards, when the second arm rotates reversely, the arc-shaped groove rotates to abut against the stopping post, and the stopping post drives the supporting arm and the clamping part to synchronously rotate reversely so as to release the penicillin bottle.
As another specific embodiment of the invention, a plurality of chucks are distributed in a transverse and longitudinal array, and transmission gears in the gear transmission groups of adjacent chucks are meshed with each other to perform power transmission.
As another embodiment of the invention, the plurality of transmission gears are identical.
As another embodiment of the invention, the chuck comprises three grip members, and the three grip members are distributed in an array by taking the axis of the through hole as the center of a circle.
As another embodiment of the present invention, the chuck type robot further includes a position knob and a driving gear, the driving gear is engaged with at least one transmission gear in the gear transmission set of one of the chucks, and the position knob and the driving gear are fixedly connected to rotate synchronously.
As another specific embodiment of the present invention, the collet-type robot further includes a switching knob and two anti-reverse locks for maintaining an angular posture of the driving gear, the two anti-reverse locks being respectively used for forward locking the driving gear and reverse locking the driving gear, the switching knob being used for switching positions of the two anti-reverse locks and being disposed on the base, the anti-reverse locks including:
the fixed block is arranged on the base;
one end of the anti-reverse baffle is rotatably connected to the base, and the other end of the anti-reverse baffle is provided with helical teeth which can be meshed with the driving gear;
one end of the return spring is connected to the fixed block, and the other end of the return spring is connected to the middle part of the anti-reverse baffle;
the switching knob is abutted against the anti-reverse baffle plate by rotating the switching knob, so that the helical teeth are separated from the driving gear; and the switching knob is separated from the anti-reverse baffle, and the helical teeth can be meshed with the driving gear by utilizing the return spring.
The invention has the following beneficial effects:
the penicillin bottle clamp has the advantages that batch penicillin bottles are effectively clamped through the chuck type mechanical arm, the penicillin bottle clamp has a good penicillin bottle clamping effect, the vibrator is used for vibrating, medicines in the penicillin bottles and mother liquor are promoted to shake uniformly to be mixed, so that the medicines are fully dissolved, the medicine dissolving uniformity and the shaking uniformity stability in the penicillin bottles are high, the medicine dispensing efficiency is improved, and the labor intensity of medical staff is greatly reduced.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of an automated dispensing system according to embodiment 1 of the present invention;
FIG. 2 is a schematic view showing the structure of a spring holder in embodiment 1 of the present invention;
FIG. 3 is a schematic structural view of a buffer bracket in embodiment 1 of the present invention;
fig. 4 is a schematic structural view of a chuck type robot according to embodiment 1 of the present invention;
FIG. 5 is a schematic view showing the arrangement of a plurality of chucks according to example 1 of the present invention;
FIG. 6 is a schematic view of a single gripping head gripping a vial according to example 1 of the present invention;
FIG. 7 is a schematic view of a single collet-relaxed penicillin bottle of example 1 of the present invention;
FIG. 8 is a schematic structural view of a grip member in embodiment 1 of the invention;
fig. 9 is a schematic structural view of an actuator arm in embodiment 1 of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
Example 1
The invention provides a mixing device, which is used for dissolving and shaking up medicines in an automatic dispensing system, as shown in figure 1, the automatic dispensing system further comprises a three-axis motion device for clamping and moving a hose needle for distributing mother liquor, a peristaltic pump device for pumping the mother liquor and an operation screen device, and the three-axis motion device, the peristaltic pump device, the operation screen device and the like are not described in the embodiment.
Mixing arrangement includes base 100, vibrator 200 and chuck formula manipulator 300, and base 100 uses as the base, and chuck formula manipulator 300 is used for fixing a position and centre gripping to xiLin bottle, and vibrator 200 is used for driving chuck formula manipulator 300 vibration, thereby will be shaken the even mixture of medicine and mother liquor in the xiLin bottle that is held by chuck formula manipulator 300 and realize dissolving of medicine.
As shown in fig. 1-3, the vibrator 200 includes a vibration platform 210, a vibration motor and its output assembly 220, and a flexible bracket assembly 230.
The vibration table 210 serves to support the chuck type robot 300 and transmit vibration to the chuck type robot 300; the vibration platform 210 is disposed on the bottom base 100 through the flexible support assembly 230, wherein the flexible support assembly 230 includes four spring supports 231 and four buffer supports 232.
The vibration platform 210 is provided with a rectangular bottom wall 211, and four spring brackets 231 are distributed at four corners of the bottom wall 211 in a rectangular shape, as shown in fig. 2, the bottom wall 211 and the vibration platform 210 may be fixedly connected or may be in a floating connection, which is not limited in this embodiment; the spring supporter 231 includes a lower positioning coupling cylinder 2311, an upper positioning coupling cylinder 2312, and a vibration spring 2313;
a lower positioning connecting cylinder 2311 is vertically and fixedly arranged on the bottom base 100, wherein the lower positioning connecting cylinder 2311 is provided with a lower connecting groove with an upward opening;
the upper positioning connecting cylinder 2312 is vertically and fixedly arranged on the vibration platform 210, wherein the upper positioning connecting cylinder 2312 is provided with an upper connecting groove with a downward opening;
one end of the vibration spring 2313 is located in the upper connection groove, the other end of the vibration spring 2313 is located in the lower connection groove, wherein the upper positioning connection cylinder 2312 is not in contact with the lower positioning connection cylinder 2311, and the vibration platform 210 can vibrate while being supported on the bottom base 100 by means of the vibration spring 2313.
Further, in order to prevent the vibration spring 2313 from rolling over, a supporting link 2314 may be further provided, one end of the supporting link 2314 is connected to the lower positioning connecting cylinder 2311, and the other end of the supporting link 2314 is connected to the upper positioning connecting cylinder 2312, wherein the supporting link may, for example, generate a small-range shake, for example, a hole-shaft clearance fit between the supporting link and the lower positioning connecting cylinder 2311 or the upper positioning connecting cylinder 2312, so as to realize a three-dimensional vibration of the vibration platform 210; of course, the supporting link may also be a fixed link, that is, the supporting link is fixedly matched with the lower positioning connecting cylinder 2311 and the upper positioning connecting cylinder 2312, and then the three-dimensional vibration of the vibration platform 210 is realized through other movable matching, for example, the vibration platform 210 includes the upper vibration platform 210 and the lower vibration platform 210 which are movably matched, and the details are not repeated herein.
The four buffering brackets 232 are located on two sides of the bottom wall 211 in a group two by two, and in other examples, the four buffering brackets 232 may be adaptively adjusted according to the structural design thereof, and the buffering brackets 232 are used for maintaining vibration stability, and particularly may prevent irregular vibration at the initial stage of vibration opening, as shown in fig. 3, the buffering brackets 232 include a lower positioning bracket 2321, an upper positioning bracket 2322 and a buffer 2323;
the lower positioning bracket 2321 is fixedly disposed on the bottom base 100, the upper positioning bracket 2322 is fixedly disposed on the vibration platform 210, the buffer 2323 is respectively connected to the upper positioning bracket 2322 and the lower positioning bracket 2321, and the buffer 2323 is, for example, a mechanical spring buffer.
Through spring bracket 231 and buffer support 232 in this embodiment, can effectively realize the stability of vibration platform 210 vibration, be favorable to shaking even process.
The vibration motor and its output component 220 are disposed on the vibration platform 210, and the vibration of the vibration platform 210 is realized by starting the vibration motor, and the vibration motor and its output component 220 are, for example, a cam-type vibration mechanism, which is not limited in the embodiment, and other mechanisms for realizing vibration are also possible.
As shown in fig. 4-9, the chuck type manipulator 300 includes a base 310 and a plurality of chucks 320, the base 310 is disposed on the vibration platform 210, a plurality of through holes 311 for the vials to pass through are disposed on the base 310, the chucks are disposed on the base 310 corresponding to the through holes 311, for the structural neatness, an upper cover 330 is further provided to be matched with the base 310, the base 310 and the upper cover 330 are connected to each other and are in a rectangular box shape, and further the plurality of chucks 320 are hidden, as shown in fig. 4-5, specifically, the base 310 is detachably connected to the vibration platform 210, so that the overall disassembly and assembly of the chuck type manipulator 300 are realized, and the loading operation is facilitated.
The collet 320 in this embodiment includes three gripper members 340, extension springs 350 and actuating arms 360 corresponding to the gripper members 340 one to one, and a gear transmission set 370 corresponding to the actuating arms 360;
the three grip members 340 are distributed in an array with the axis of the through hole 311 as a circle center, and the three grip members 340 cooperate to clamp or release the vial, as shown in fig. 8, the grip member 340 has a clamping portion 341, a connecting portion 342, and an acting portion 343, a rotation shaft 344 is provided on the grip member 340, the rotation shaft 344 is located between the clamping portion 341 and the connecting portion 342, and the acting portion 343 is provided on the clamping portion 341.
Wherein the pivoting shaft 344 may also be provided on the base 310, and correspondingly, the coupling hole 345 to which the pivoting shaft 344 is coupled is provided at a corresponding position of the grip member 340.
Further, the rotation shaft 344 is close to the connection portion 342, so that a more significant lever effect is achieved, that is, the rotation of the connection portion 342 in a smaller range drives the rotation of the clamping portion 341 in a larger range.
The extension spring 350 is used for pre-clamping the gripper member 340 to pre-clamp the vial, wherein 5-7, one end of the extension spring 350 is connected to the base 310, and the other end of the extension spring 350 is connected to the connecting portion 342;
the actuating arm 360 is used to drive the position switching of the grip member 340, and as shown in fig. 9, the actuating arm 360 includes a first arm 361 and a second arm 362 having a "7" shape;
specifically, the actuating arm 360 has a clamping position, an intermediate position and a releasing position, as shown in fig. 6, when the actuating arm 360 is switched to the clamping position, the first arm 361 rotates forward and abuts against the clamping portion 341, the clamping portion 341 is driven to rotate forward synchronously around the rotating shaft 344 to clamp the vial, when the actuating arm 360 is switched to the releasing position, as shown in fig. 7, the second arm 362 rotates reversely and abuts against the acting portion 343, the clamping portion 341 is driven to rotate reversely synchronously around the rotating shaft 344 to release the vial, when the actuating arm 360 is switched to the intermediate position, the first arm 361 is separated from the clamping portion 341 and the second arm 362 is separated from the acting portion 343, at this time, the vial can push open the grasping member 340 to implement the loading operation, and the grasping member 340 pre-clamps the vial by using the tension spring 350;
accordingly, in order to facilitate pre-clamping of the vial, an arc-shaped guide surface structure 346 is provided on the clamping portion 341.
In this embodiment, the action portion 343 is provided with a supporting arm 3431 protruding outward and a stopping post 3432 disposed on the supporting arm 3431, the supporting arm 3431 is fixedly connected to the clamping portion 341, the second arm 362 is provided with an arc-shaped groove 3621 recessed inward, when the second arm 362 rotates reversely, the arc-shaped groove 3621 rotates to abut against the stopping post 3432, and the stopping post 3432 drives the supporting arm 3431 and the clamping portion 341 to rotate reversely synchronously to release the vial, as shown in fig. 7.
The gear transmission set 370 is used for driving different execution arms 360 to perform synchronous motion, the gear transmission set 370 comprises a plurality of transmission gears 371 which are meshed with each other, the plurality of transmission gears 371 are all the same, and specifically, specifications such as types, tooth numbers and the like of the plurality of transmission gears 371 are completely the same so as to facilitate synchronous transmission; the actuating arm 360 is disposed on the transmission gear 371 and rotates synchronously with the transmission gear 371, and the actuating arm 360 is driven to switch among a clamping position, a middle position and a releasing position by the synchronous rotation of different transmission gears 371, so as to perform clamping, preassembling and releasing operations of the vial.
The plurality of chucks 320 in this embodiment are distributed in a transverse and longitudinal array, sixteen chucks 320 are distributed in a 4X4 array as shown in fig. 4-5, and the transmission gears 371 in the gear transmission sets 370 in adjacent chucks 320 are meshed with each other for power transmission, as shown in fig. 5, wherein the number of teeth of the transmission gear 371 used for matching can be adaptively adjusted between different gear transmission sets 370 according to the position change thereof, and the meshing position of the transmission gears 371 in different gear transmission sets 370 is not limited herein.
In the preferred embodiment of the present invention, a manual control device 400 is further provided to facilitate batch loading of penicillin bottles, and as shown in fig. 6 to 7, the manual control device 400 includes a position knob 410, a driving gear 420, a switching knob 430, and two anti-reverse locks 440 for maintaining the angular posture of the driving gear 420;
the driving gear 420 is engaged with one of the transmission gears 371 in the gear transmission set 370 of one of the chucks 320, and the position knob 410 is fixedly connected to the driving gear 420 to rotate synchronously.
The two anti-reverse locks 440 are respectively used for the forward locking driving gear 420 and the reverse locking driving gear 420, the switching knob 430 is used for switching the positions of the two anti-reverse locks 440 and is disposed on the base 310, and the anti-reverse lock 440 includes a fixed block 441, an anti-reverse flapper 442, and a return spring 443;
as shown in fig. 5, the fixed block 441 is disposed on the base 310, one end of the anti-reverse blocking plate 442 is rotatably connected to the base 310, and the other end of the anti-reverse blocking plate 442 is provided with a helical tooth 444, and the helical tooth 444 can be engaged with the driving gear 420; one end of the return spring 443 is connected to the fixed block 441, and the other end of the return spring 443 is connected to the middle of the anti-reverse baffle 442;
by rotating the switching knob 430, the switching knob 430 is abutted against the anti-reverse baffle 442, and the helical teeth 444 are separated from the driving gear 420; and, to disengage the toggle knob 430 from the anti-reverse flapper 442, the helical teeth 444 can engage the pinion gear 420 using a return spring 443, as shown in FIGS. 5-6.
The mixing arrangement that provides in this embodiment can carry out the batch of xiLin bottle and go up the medicine, and it is efficient to go up the medicine, carries out effective centre gripping to the xiLin bottle in batches through chuck formula manipulator 300, utilizes vibrator 200 to vibrate, thereby promotes the medicine in the xiLin bottle and the mother liquor to shake even the mixture and realize the abundant of medicine and dissolve.
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 (10)
1. A mixing device is used for dissolving and shaking up drugs in an automatic medicine dispensing system and is characterized by comprising a chuck type mechanical arm and a vibrator, wherein the chuck type mechanical arm is used for positioning and clamping a penicillin bottle, the vibrator is used for driving the chuck type mechanical arm to vibrate, and the drugs and mother liquor in the penicillin bottle clamped by the chuck type mechanical arm are shaken up and mixed to realize the dissolution of the drugs; the chuck includes:
two or more than two gripper components for clamping the penicillin bottle;
an extension spring for pre-clamping the gripper member;
the execution arm is used for driving the gripper member to switch positions; and
the gear transmission set is used for driving different execution arms to synchronously move;
the hand grip member is provided with a clamping part, a connecting part and an acting part, a rotating shaft is arranged on the hand grip member, the rotating shaft is positioned between the clamping part and the connecting part, and the acting part is arranged on the clamping part;
one end of the extension spring is connected with the base, and the other end of the extension spring is connected with the connecting part;
the actuating arms are in one-to-one correspondence with the gripper members and have a clamping position, a neutral position and a release position, the actuating arm comprises a first arm and a second arm in a shape of '7', during switching of the actuating arm to the clamping position, the first arm positively rotates and abuts against the clamping part to drive the clamping part to synchronously positively rotate around the rotating shaft so as to clamp the penicillin bottle, when the execution arm is switched to the release position, the second arm rotates reversely and abuts against the action part to drive the clamping part to synchronously rotate reversely around the rotating shaft so as to release the penicillin bottle, when the execution arm is switched to the middle position, the first arm is separated from the clamping part, the second arm is separated from the action part, and the gripper component pre-clamps the penicillin bottle by utilizing the extension spring;
the gear transmission set comprises a plurality of transmission gears which are meshed with each other, the execution arm is arranged on different transmission gears and rotates synchronously with the transmission gears, and the execution arm is driven to switch among a clamping position, a middle position and a releasing position by utilizing the synchronous rotation of the different transmission gears so as to execute the clamping, preassembling and releasing operations of the penicillin bottle.
2. The blending apparatus of claim 1, wherein the blending apparatus further comprises a bottom substrate, the vibrator further comprises a flexible leg assembly and a vibration motor and an output assembly thereof, the vibration motor and the output assembly thereof being disposed on the vibration platform, the vibration motor and the output assembly thereof being configured to vibrate the vibration platform, the flexible leg assembly comprising a plurality of spring legs, the vibration platform being disposed on the bottom substrate via the plurality of spring legs, wherein the spring legs comprise:
a lower positioning connecting cylinder fixedly arranged on the bottom substrate, wherein the lower positioning connecting cylinder is provided with a lower connecting groove with an upward opening;
the upper positioning connecting cylinder is fixedly arranged on the vibration platform and is provided with an upper connecting groove with a downward opening;
and one end of the vibration spring is positioned in the upper connecting groove, the other end of the vibration spring is positioned in the lower connecting groove, and the upper positioning connecting cylinder is not in contact with the lower positioning connecting cylinder.
3. The blending apparatus of claim 2, wherein the flexible rack assembly further comprises a plurality of buffer racks for maintaining vibrational stability, the buffer racks comprising:
a lower positioning bracket fixedly disposed on the base substrate;
the upper positioning bracket is fixedly arranged on the vibration platform;
and the buffer is respectively connected with the upper positioning bracket and the lower positioning bracket.
4. The mixing device of claim 1, wherein said base is removably attached to said vibratory platform.
5. The mixing device according to claim 1, wherein the acting portion is provided with at least an outwardly protruding support arm and a stop post disposed on the support arm, the support arm is fixedly connected to the holding portion, the second arm is provided with an inwardly recessed arc-shaped groove, when the second arm rotates in the reverse direction, the arc-shaped groove rotates to abut against the stop post, and the stop post drives the support arm and the holding portion to synchronously rotate in the reverse direction to release the vial.
6. The mixing device of claim 1, wherein a plurality of said cartridges are arranged in a transverse and longitudinal array, and said drive gears in said gear train of adjacent said cartridges are intermeshed for power transmission.
7. The mixing device of claim 6, wherein a plurality of said drive gears are identical.
8. The mixing device of claim 1, wherein said collet includes three of said finger members arranged in an array centered on an axis of said through bore.
9. The mixing device of claim 1, wherein said collet robot further comprises a position knob and a drive gear, said drive gear being engaged with at least one of said drive gears in said gear train of one of said collets, said position knob being fixedly coupled to said drive gear for synchronous rotation.
10. The mixing device of claim 9, wherein the chuck-type manipulator further comprises a switching knob and two anti-reverse locks for maintaining an angular posture of the driving gear, the two anti-reverse locks for positively locking the driving gear and reversely locking the driving gear, respectively, the switching knob for switching positions of the two anti-reverse locks, which is provided on the base, the anti-reverse locks comprising:
the fixed block is arranged on the base;
one end of the anti-reverse baffle is rotatably connected to the base, and the other end of the anti-reverse baffle is provided with inclined teeth which can be meshed with the driving gear;
one end of the return spring is connected to the fixed block, and the other end of the return spring is connected to the middle part of the anti-reverse baffle;
the switching knob is abutted against the anti-reverse baffle by rotating the switching knob, so that the helical teeth are separated from the driving gear; and separating the switching knob from the anti-reverse baffle, and engaging the helical teeth with the driving gear by using the return spring.
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