CN114366661B - Miniature mechanical arm and medicine dissolving machine - Google Patents
Miniature mechanical arm and medicine dissolving machine Download PDFInfo
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- CN114366661B CN114366661B CN202210267267.1A CN202210267267A CN114366661B CN 114366661 B CN114366661 B CN 114366661B CN 202210267267 A CN202210267267 A CN 202210267267A CN 114366661 B CN114366661 B CN 114366661B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
- A61J1/14—Details; Accessories therefor
- A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
- A61J1/2003—Accessories used in combination with means for transfer or mixing of fluids, e.g. for activating fluid flow, separating fluids, filtering fluid or venting
- A61J1/2006—Piercing means
- A61J1/201—Piercing means having one piercing end
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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
Abstract
The invention discloses a micro mechanical arm and a medicine dissolving machine, which belong to the technical field of medical auxiliary equipment and comprise a micro mechanical arm, a needle arrangement device, a disinfection device, a machine shell, a medicine storage box and a medicine charging base. The invention has compact structure, effectively reduces repeated work, can greatly improve the working efficiency of medical personnel, and solves the problems of error and danger easily caused by complicated operation of pumping the medicament in the penicillin bottle in the prior art.
Description
Technical Field
The invention relates to the technical field of medical auxiliary articles, in particular to a miniature mechanical arm and a medicine dissolving machine.
Background
At present, when dispensing through xiLin bottle, mainly adopt artifical mode, generally utilize the cylinder to aspirate the liquid medicine from the infusion bag earlier, insert xiLin bottle with the syringe needle of cylinder and pour into xiLin bottle with the liquid medicine into, artifical handheld xiLin bottle shakes even about to the liquid medicine in the bottle, then inserts the syringe needle in xiLin bottle again, and the xiLin bottle stands upside down, draws out the liquid medicine in xiLin bottle, and the cylinder that the suction was accomplished pours into the liquid medicine in it into the infusion bag, extracts the cylinder, finally accomplishes the transfer of the interior medicament of xiLin bottle and dispenses.
The dispensing method for manually injecting and sucking the medicine in the penicillin bottle by using the handheld syringe, then inserting the syringe into the infusion bag and injecting the medicine into the infusion bag has the advantages of complex operation and long consumed time, particularly in a large number of dispensing occasions, repeated repetitive work is easy to make people tired out, and the mode of sucking and injecting the penicillin bottle by using the handheld syringe has certain danger and is easy to cause injury to medical staff.
In the prior art, a mechanical mode is adopted to replace manpower, so that the working efficiency is improved. Mechanical arm structures such as those disclosed in CN106737844A, CN207155832U and CN107803829B in the prior art are widely used in 3D printing, stacking, writing, soldering circuit boards, laser sintering, etc. If the mechanical arm is directly applied to the dispensing of the penicillin bottle, the objective problems that the cover opening, the upper cover disinfection and the like of the penicillin bottle cannot be realized simultaneously exist.
Therefore, how to provide a micro-mechanical arm and a medicine dissolving machine using the same is a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
Therefore, the invention provides a micro mechanical arm and a medicine dissolving machine, and aims to solve the problems that errors and dangers are easy to occur due to the fact that operation of sucking medicine in a penicillin bottle is complex in the prior art.
In order to achieve the above purpose, the invention provides the following technical scheme:
according to a first aspect of the present invention,
the invention discloses a micro mechanical arm which comprises a lifting column, a connecting sliding block, a first joint arm, a second joint arm and a clamping device, wherein the lifting column is in transmission connection with the connecting sliding block, the connecting sliding block is hinged with one end of the first joint arm, the other end of the first joint arm is hinged with one end of the second joint arm, the other end of the second joint arm is provided with the clamping device, and stepping motors are arranged at the hinged positions of the connecting sliding block, the first joint arm and the second joint arm.
Furthermore, the clamping device comprises a disinfectant tank, a rotating device and a pneumatic clamping jaw, the disinfectant tank is arranged at the top of the second joint arm and communicated with the pneumatic clamping jaw, the pneumatic clamping jaw is arranged on the rotating device in a sliding mode, and the rotating device is arranged at the bottom of the second joint arm.
Further, slewer includes mount pad, first driving motor, second driving motor, first semicircle guide rail and second semicircle guide rail, the bottom and the mount pad top spiro union of second articulated arm are fixed, positive cross arrangement has first driving motor and second driving motor in the mount pad, first driving motor passes through belt drive with first semicircle guide rail and is connected, second driving motor passes through belt drive with second semicircle guide rail and is connected, first semicircle guide rail and second semicircle guide rail positive cross articulation set up in the mount pad bottom.
Further, the pneumatic clamping jaw comprises a control motor, a cross joint, a guide sliding block, a cylinder and a clamping jaw mechanism, the control motor is fixedly arranged at the center of the mounting seat, an output shaft of the control motor is connected with one end of the cross joint, the guide sliding block is fixedly sleeved on the cross joint and is arranged on the first semicircular guide rail and the second semicircular guide rail in a sliding mode, the other end of the cross joint is connected with the cylinder, and the cylinder is in transmission connection with the clamping jaw mechanism.
Furthermore, the clamping jaw mechanism comprises a spray head, a power roller, claw rods, a connecting rod and a scanner, wherein the two claw rods are symmetrically and hingedly arranged on a cylinder barrel of the air cylinder and are hinged to one end of the connecting rod, the other end of the connecting rod is hinged to a piston rod of the air cylinder, the scanner is arranged on the piston rod of the air cylinder, the spray head is arranged at the end part of each claw rod and communicated with the disinfectant tank, and the power roller driven by the micro motor is further arranged on each claw rod.
Further, the lift post includes base, gib block, post shell and motor lead screw, the link block cover is established on the motor lead screw, link block is connected with motor lead screw thread transmission, the vertical setting of motor lead screw is in the post shell, the vertical gib block that is provided with in the post shell, the slip is provided with link block on the gib block.
According to a second aspect of the present invention,
the invention discloses a medicine dissolving machine, which comprises the micro mechanical arm, a needle arrangement device, a disinfection device, a machine shell, a medicine storage box and a medicine storage base, wherein the medicine storage box is arranged on the side surface of the machine shell, the medicine storage base is arranged at the bottom of the machine shell, the needle arrangement device and the disinfection device are arranged at the top of the machine shell, the micro mechanical arm is arranged in the machine shell, and the micro mechanical arm is close to the medicine storage box.
Further, the powder charge base includes the drawer, removes tray, drive screw, deposits medical kit, pedestal and vibration dish, the spiro union is provided with the base on the pedestal, be provided with the drawer under the base, the side of drawer sets up drive screw, drive screw is connected with removal tray screw thread transmission, be provided with the vibration dish on the removal tray, drive screw installs the side of depositing the medical kit, drive screw, deposit medical kit and drawer all set up on the pedestal.
Further, the vibration dish includes buffer spring, negative pressure suction cup, vibrating motor and guide rail, the fixed guide rail that is provided with on the removal tray, it is provided with negative pressure suction cup to slide on the guide rail, negative pressure suction cup's one end is provided with buffer spring, negative pressure suction cup's the other end is provided with vibrating motor.
Furthermore, the needle arrangement device comprises a solvent box, a driving cylinder and a needle arrangement, the driving cylinder is vertically arranged in the casing, the solvent box is fixedly arranged on a cylinder barrel of the driving cylinder, a piston rod of the driving cylinder is connected with the needle arrangement, and the needle arrangement is communicated with the solvent box.
The invention has the following advantages:
the invention clamps the penicillin bottle by the micro mechanical arm and can identify the penicillin bottle so as to classify and gather the penicillin bottle, meanwhile, the micro mechanical arm is additionally provided with a rotating device and a pneumatic clamping jaw on the basis of the original first joint arm and the original second joint arm, can meet the requirements of clamping and placing medicine bottles correctly in a narrow space of a medicine dissolving machine, thereby obviously improving the flexibility of the mechanical arm, and in addition, combining with a medicine dissolving machine matched with the micro mechanical arm for use, the steps of uncapping, sterilizing, mixing liquid, sterilizing, dissolving and mixing the penicillin bottle can be completed, thereby the original hand-held syringe can be manually injected into the medicament in the penicillin bottle, then the dispensing mode of inverting the penicillin bottle to dissolve the penicillin bottle is completely replaced by automatic mechanical equipment, therefore, the problem that errors and dangers are easy to occur due to the fact that the operation of injecting the medicament into the penicillin bottle is complex in the prior art is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
FIG. 1 is a perspective view of a micro robotic arm drug dissolution machine according to the present invention;
FIG. 2 is a perspective view of a drug dissolving machine provided by the present invention;
FIG. 3 is a perspective view of a charging base of the drug dissolving machine provided by the invention;
FIG. 4 is a perspective view of a gripper mechanism of a micro-robot according to the present invention;
FIG. 5 is a perspective view of a micro-robot arm gyroscope according to the present invention;
FIG. 6 is a perspective view of a pneumatic gripper of a micro-robot according to the present invention;
fig. 7 is a perspective view of a clamping device of a micro-robot according to the present invention;
fig. 8 is a perspective view of a lift post of a micro robot provided in the present invention;
FIG. 9 is a perspective view of a vibration tray of the drug dissolving machine provided by the present invention;
FIG. 10 is a perspective view of a needle-discharging device of the drug dissolving machine provided by the present invention;
in the figure: 1 lifting a column; 11 a base; 12 a guide strip; 13 column shell; 14 motor lead screw; 2, connecting a sliding block; 3 a first articulated arm; 4a second articulated arm; 5, a clamping device; 51 a disinfectant tank; 52 a swivel device; 521 mounting seats; 522 a first drive motor; 523 second driving motor; 524 a first semicircular guide rail; 525 a second semicircular guide rail; 53 pneumatic jaws; 531 controlling the motor; 532 ten bytes; 533 a guide slide block; 534 air cylinders; 535 a jaw mechanism; 5351 a spray head; 5352 powered rollers; 5353 claw pole; 5354 a connecting rod; 5355 a scanner; 6, a pin arrangement device; 61 a solvent box; 62 driving the air cylinder; 63 rows of needles; 7 a sterilizing device; 8, a machine shell; 9, a medicine storage box; 10 a charge base; 101 a drawer; 102 moving the tray; 103 driving lead screw; 104 storing a medicine box; 105 a base body; 106 vibrating the disc; 1061 a buffer spring; 1062, a negative pressure suction cup; 1063 a vibration motor; 1064 guide rails.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to solve the relevant technical problem that exists among the prior art, this application provides a miniature mechanical arm and medicine dissolving machine for realize dissolving of xiLin bottle powder medicament for the repeatability is dispensed medicine and is replaced by automatic manipulator and machine, not only can improve nurse's work efficiency greatly, but also can reduce the error rate. Specifically, the present application provides the following examples.
Example 1
The embodiment 1 of the invention discloses a micro mechanical arm, which comprises a lifting column 1, a connecting sliding block 2, a first joint arm 3, a second joint arm 4 and a clamping device 5, wherein the lifting column 1 is in transmission connection with the connecting sliding block 2, the connecting sliding block 2 can move up and down along the lifting column 1, and simultaneously, the connecting sliding block 2 is hinged with one end of the first joint arm 3, the other end of the first joint arm 3 is hinged with one end of the second joint arm 4, and the first joint arm 3 and the second joint arm 4 are positioned at the same horizontal height, so that the first joint arm 3 and the second joint arm 4 are driven to realize synchronous motion. The other end of the second joint arm 4 is provided with a clamping device 5, the clamping device 5 is used for clamping a penicillin bottle, and the position angle for clamping the penicillin bottle is adjusted, so that the penicillin bottle is correctly placed in the drug dissolving machine. The connecting sliding block 2, the first joint arm 3 and the second joint arm 4 are hinged to each other, stepping motors are arranged at the hinged parts, and are controlled by a control system mainly comprising a single chip microcomputer or a programmable logic controller, so that the specified clamping action is completed in the limited space of the medicine dissolving machine.
According to an embodiment of the invention, the clamping device 5 comprises a disinfectant tank 51, a rotating device 52 and a pneumatic clamping jaw 53, the disinfectant tank 51 is arranged at the top of the second joint arm 4, disinfectant is filled in the disinfectant tank 51, and the disinfectant tank 51 is communicated with the pneumatic clamping jaw 53, so that after the pneumatic clamping jaw 53 clamps a penicillin bottle for the first time and enters the movable tray 102, the pneumatic clamping jaw 53 changes the position to remove the bottle cap from the vertical direction, and then the disinfectant can be released to the bottle mouth for the first time disinfection, so as to prevent bacteria and viruses from invading into the medicine. The pneumatic clamping jaw 53 is arranged on the rotating device 52 in a sliding mode, the rotating device 52 is arranged at the bottom of the second joint arm 4, and the rotating device 52 enables the pneumatic clamping jaw 53 to freely change the clamping position in a hemispherical space, so that the penicillin bottle can be clamped conveniently.
According to an embodiment of the present disclosure, the swiveling device 52 includes a mounting base 521, a first driving motor 522, a second driving motor 523, a first semicircular guide rail 524, and a second semicircular guide rail 525, the bottom of the second joint arm 4 is screwed and fixed to the top of the mounting base 521, as shown in fig. 6, the first driving motor 522 and the second driving motor 523 are arranged in the mounting base 521 in a forward crossing manner, and both the first driving motor 522 and the second driving motor 523 are synchronous motors controllable by a single chip microcomputer, and the rotation angle can be adjusted at will. First driving motor 522 passes through belt drive with first semicircle guide rail 524 and is connected, second driving motor 523 passes through belt drive with second semicircle guide rail 525 and is connected, first semicircle guide rail 524 and the setting of second semicircle guide rail 525 positive cross-over are in the mount pad 521 bottom, just change first semicircle guide rail 524 and the second semicircle guide rail 525 beat angle through first driving motor 522 and second driving motor 523 from this, and further, because pneumatic clamping jaw 53 slides simultaneously and sets up on the crossing position of first semicircle guide rail 524 and second semicircle guide rail 525, therefore, in fact, pneumatic clamping jaw 53 just can move to the optional position of the half sphere that first semicircle guide rail 524 and second semicircle guide rail 525 were located. In addition, the embodiment can also adopt other transmission modes such as chain transmission, gear transmission and the like, and similar technical effects can be realized by the transmission modes.
According to a specific embodiment of the present disclosure, the pneumatic clamping jaw 53 includes a control motor 531, a cross-bar 532, a guiding slider 533, a cylinder 534, and a clamping jaw mechanism 535, the control motor 531 is fixedly disposed at the center of the mounting base 521, and the control motor 531 also uses a controllable synchronous motor to drive the clamping jaw mechanism 535 to rotate. The output shaft of the control motor 531 is connected with one end of a cross joint 532, a guide slide block 533 is fixedly sleeved on the cross joint 532, and the cross joint 532 realizes a part for realizing variable-angle power transmission and is used for changing the position of the transmission axis direction. The guide sliding blocks 533 are arranged on the first semicircular guide rail 524 and the second semicircular guide rail 525 in a sliding mode simultaneously, the other end of the cross joint 532 is connected with the air cylinder 534, and the air cylinder 534 is in transmission connection with the clamping jaw mechanism 535.
According to a specific embodiment disclosed by the invention, the clamping jaw mechanism 535 comprises a spray head 5351, a power roller 5352, two claw rods 5353, a connecting rod 5354 and a scanner 5355, wherein two claw rods 5353 are symmetrically hinged on a cylinder barrel of the air cylinder 534, any one claw rod 5353 is hinged with one end of the connecting rod 5354, the other end of the connecting rod 5354 is hinged with a piston rod of the air cylinder 534, and the piston rod of the air cylinder 534 makes a piston motion in the cylinder barrel, so that the two symmetrically arranged claw rods 5353 can be driven to make an opening and closing motion through the connecting rod 5354 to clamp a penicillin bottle from inside. The piston rod of the cylinder 534 is provided with a scanner 5355, and the bottle wall of the penicillin bottle is pasted with a bar code or a two-dimensional code for marking the information of the medicine in the penicillin bottle. The claw bar 5353 is also provided with a power roller 5352 driven by a micro motor. The power gyro wheel 5352 drives xiLin bottle roll at the in-process that claw pole 5353 snatched xiLin bottle, simultaneously, scans the bar code through scanner 5355, from this discernment bar code information to through the information that reads, to the xiLin bottle medicine classification of different grade type put, play from this and omit artifical discernment, improve classification efficiency's effect. The end of the claw rod 5353 is provided with a spray nozzle 5351, the spray nozzle 5351 is communicated with a disinfectant tank 51, and a disinfectant is output through a small electric pump, so that after the claw rod 5353 clamps a penicillin bottle cap, the spray nozzle 5351 can spray the disinfectant to the bottle mouth of the penicillin bottle, the penicillin bottle is preliminarily disinfected, and then the medicines in the penicillin bottle are prevented from being polluted by bacteria and viruses after the penicillin bottle is opened.
It should be noted that, for simplicity, the structures of the pipeline, the control valve, the syringe pump, etc. between the spray head 5351 and the disinfectant tank 51 are not shown in the drawings, but those skilled in the art can know that the structures and functions thereof are corresponding to each other to achieve the above functions, and therefore, the details are not described in the patent document.
According to a specific embodiment disclosed by the invention, the lifting column 1 comprises a base 11, a guide bar 12, a column shell 13 and a motor lead screw 14, a connecting slide block 2 is sleeved on the motor lead screw 14, the connecting slide block 2 is in threaded transmission connection with the motor lead screw 14, the motor lead screw 14 is vertically arranged in the column shell 13, the guide bar 12 is vertically arranged in the column shell 13, and the connecting slide block 2 is slidably arranged on the guide bar 12. When the motor screw 14 rotates, the connecting slide block 2 can move along the direction of the guide bar 12, thereby achieving the technical effect that the connecting slide block 2 moves up and down.
The application process of embodiment 1 of the invention is as follows:
firstly, all the penicillin bottles are placed in a medicine dissolving machine, the first joint arm 3 and the second joint arm 4 drive the pneumatic clamping jaws 53 to move to the position of each penicillin bottle for grabbing, then the connecting sliding block 2 is lifted, meanwhile, the power roller 5352 drives the penicillin bottles to roll, the scanner 5355 reads information of bar codes of the penicillin bottles while the bottle bodies roll, the penicillin bottles are classified, the similar penicillin bottles are placed together at the position of the negative pressure sucking disc 1062, the negative pressure sucking disc 1062 is pumped by the air pump, the penicillin bottle bodies are fixed, after each penicillin bottle is fixed, the clamping jaw mechanism 535 can change the posture along the situation, the bottle caps are taken down from the vertical direction through the rotary device 52, meanwhile, the spray head 5351 sprays disinfectant to sterilize, and harmful bacteria and viruses are prevented from entering medicines.
Example 2
The embodiment 2 of the invention provides a medicine dissolving machine, which comprises the micro mechanical arm, a needle arrangement device 6, a disinfection device 7, a machine shell 8, a medicine storage box 9 and a medicine charging base 10, wherein the medicine storage box 9 is arranged on the side surface of the machine shell 8, a slide way is obliquely arranged on the medicine storage box 9, and a plurality of different types of penicillin bottles are stored in the slide way to be clamped by a clamping jaw mechanism 535. The bottom of the machine shell 8 is provided with a medicine charging base 10, the medicine charging base 10 can be used for storing bottle caps and driving the placed penicillin bottles to move, and therefore solvents are injected into the bottles through the needle arranging device 6. The top of the machine shell 8 is provided with a needle arranging device 6 and a disinfecting device 7, and the disinfecting device 7 can further disinfect after the vial cap is opened.
It should be noted that the disinfection device 7 in the embodiment of the present application adopts a spray disinfection manner, and can perform spray disinfection after solvent injection in a vial, and the disinfectant can adopt alcohol or other disinfectant. The sterilizing device 7 is controlled by the controller or the singlechip and is started in time according to actual needs.
According to an embodiment of the present disclosure, the powder charging base 10 includes a drawer 101, a movable tray 102, a transmission screw 103, a powder storage box 104, a base 105, and a vibration plate 106, wherein the base 11 is screwed on the base 105, the drawer 101 is disposed under the base 11, and when the bottle cap is removed by the pneumatic clamping jaw 53, the pneumatic clamping jaw is directly put into the drawer 101, so as to recycle waste. The side of the drawer 101 is provided with the transmission screw 103, the transmission screw 103 is in threaded transmission connection with the movable tray 102, when the transmission screw 103 rotates, the movable tray 102 can move outwards, and as penicillin bottles are classified and placed by the micro mechanical arm, different solvents can be injected into the penicillin bottles in the movable tray 102 through the row needles 63 when the movable tray 102 moves to a specified position, so that the working efficiency is improved. And a vibrating disk 106 is arranged on the movable tray 102, and the dissolving and mixing between the medicine and the solvent can be accelerated by vibrating the disk 106. The drive screw 103 is provided with a medicine storage box 104, and the drive screw 103, the medicine storage box 104 and the drawer 101 are all arranged on the base 105. The medicine storage box 104 is used for storing the treated penicillin bottles.
According to a specific embodiment of the present disclosure, the vibration tray 106 includes a buffer spring 1061, a negative pressure suction cup 1062, a vibration motor 1063, and a guide rail 1064, the guide rail 1064 is fixedly disposed on the movable tray 102, the negative pressure suction cup 1062 is slidably disposed on the guide rail 1064, one end of the negative pressure suction cup 1062 is provided with the buffer spring 1061, and the other end of the negative pressure suction cup 1062 is provided with the vibration motor 1063. The negative pressure sucking disc 1062 is provided with a groove with a fixed position, the penicillin bottle is placed into the groove through a micro mechanical arm, the negative pressure sucking disc 1062 is communicated with an air pump (not shown in the figure), suction is formed by extracting air from the negative pressure sucking disc 1062 to fix the penicillin bottle, and when the vibration motor 1063 is started, the negative pressure sucking disc 1062 shakes at a high speed, so that the dissolution of medicines can be accelerated.
According to a specific embodiment disclosed by the invention, the needle arrangement device 6 comprises a solvent box 61, a driving cylinder 62 and a needle arrangement 63, the driving cylinder 62 is vertically arranged in the machine case 8, the solvent box 61 is fixedly arranged on a cylinder barrel of the driving cylinder 62, different solvents are stored in the solvent box 61, as the penicillin bottle is placed, a piston rod of the driving cylinder 62 is connected with the needle arrangement 63, the needle arrangement 63 is driven to move up and down by the driving cylinder 62, and the needle arrangement 63 is communicated with the solvent box 61, so that the corresponding solvent can be injected into the penicillin bottle at one time, and the dissolution and mixing of the medicines are completed. Meanwhile, as known in the prior art, the penicillin bottle is in a negative pressure or slightly negative pressure state, the needle arrangement 63 is inserted downwards into the penicillin bottle, and the solvent enters the penicillin bottle under the action of gravity and negative pressure. Certainly, a peristaltic pump or an injection pump can be arranged on the needle discharging device 6, and the starting of the injection is realized under the control of a single chip microcomputer or a controller. The working principle of the injection pump and the like belongs to the prior art, and the detailed description is omitted.
The application process of embodiment 2 of the invention is as follows:
the embodiment 2 of the invention provides a medicine dissolving machine, which is used specifically, firstly, a plurality of different types of penicillin bottles are placed into a medicine storage box 9, then the penicillin bottles are placed into a movable tray 102 one by one through a micro mechanical arm, meanwhile, the penicillin bottles are classified and gathered, after the penicillin bottles are placed, the bottle mouths of the penicillin bottles are preliminarily sterilized, on the basis, when the movable tray 102 moves to the position of a pin 63, different solvents are injected into the penicillin bottles, a sterilizing device 7 is used for spraying sterilizing liquid to the penicillin bottles, secondary sterilization is carried out, bacterial viruses are prevented from entering medicines along with the pin, finally, vibration is carried out through a vibration motor 1063, the medicine dissolving and mixing are accelerated, and finally, after the penicillin bottles are completely dissolved and mixed, the penicillin bottles are directly used or loaded into a medicine storage box 104.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (8)
1. The micro mechanical arm is characterized by comprising a lifting column (1), a connecting sliding block (2), a first joint arm (3), a second joint arm (4) and a clamping device (5), wherein the lifting column (1) is in transmission connection with the connecting sliding block (2), the connecting sliding block (2) is hinged to one end of the first joint arm (3), the other end of the first joint arm (3) is hinged to one end of the second joint arm (4), the clamping device (5) is installed at the other end of the second joint arm (4), and stepping motors are arranged at the hinged positions of the connecting sliding block (2), the first joint arm (3) and the second joint arm (4);
the clamping device (5) comprises a disinfectant tank (51), a rotating device (52) and a pneumatic clamping jaw (53), the disinfectant tank (51) is arranged at the top of the second articulated arm (4), the disinfectant tank (51) is communicated with the pneumatic clamping jaw (53), the pneumatic clamping jaw (53) is arranged on the rotating device (52) in a sliding mode, and the rotating device (52) is arranged at the bottom of the second articulated arm (4);
the slewing device (52) comprises a mounting base (521), a first driving motor (522), a second driving motor (523), a first semicircular guide rail (524) and a second semicircular guide rail (525), the bottom of the second joint arm (4) is fixed to the top of the mounting base (521) in a screwing mode, the first driving motor (522) and the second driving motor (523) are arranged in the mounting base (521) in a positive-direction crossed mode, the first driving motor (522) is connected with the first semicircular guide rail (524) through belt transmission, the second driving motor (523) is connected with the second semicircular guide rail (525) through belt transmission, and the first semicircular guide rail (524) and the second semicircular guide rail (525) are arranged at the bottom of the mounting base (521) in a positive-direction crossed and hinged mode.
2. The micro-robot arm as claimed in claim 1, wherein the pneumatic clamping jaw (53) comprises a control motor (531), a cross joint (532), a guide slider (533), a cylinder (534) and a clamping jaw mechanism (535), the control motor (531) is fixedly arranged at the center of the mounting seat (521), an output shaft of the control motor (531) is connected with one end of the cross joint (532), the guide slider (533) is fixedly arranged on the cross joint (532), the guide slider (533) is simultaneously slidably arranged on the first semicircular guide rail (524) and the second semicircular guide rail (525), the other end of the cross joint (532) is connected with the cylinder (534), and the cylinder (534) is in transmission connection with the clamping jaw mechanism (535).
3. The micro mechanical arm according to claim 2, wherein the gripper mechanism (535) comprises a spray head (5351), a power roller (5352), two gripper bars (5353), a connecting rod (5354) and a scanner (5355), two gripper bars (5353) are symmetrically hinged on a cylinder barrel of the cylinder (534), any one of the gripper bars (5353) is hinged with one end of the connecting rod (5354), the other end of the connecting rod (5354) is hinged with a piston rod of the cylinder (534), the scanner (5355) is arranged on a piston rod of the cylinder (534), the spray head (5351) is arranged at the end of the gripper bar (5353), the spray head (5351) is communicated with the disinfectant tank (51), and the power roller (5352) driven by the micro motor is arranged on the gripper bar (5353).
4. The micro mechanical arm according to claim 1, wherein the lifting column (1) comprises a base (11), a guide bar (12), a column housing (13) and a motor lead screw (14), the connecting slider (2) is sleeved on the motor lead screw (14), the connecting slider (2) is in threaded transmission connection with the motor lead screw (14), the motor lead screw (14) is vertically arranged in the column housing (13), the guide bar (12) is vertically arranged in the column housing (13), and the connecting slider (2) is slidably arranged on the guide bar (12).
5. A medicine dissolving machine is characterized by comprising the micro mechanical arm according to any one of claims 1 to 4, and further comprising a needle arrangement device (6), a disinfection device (7), a casing (8), a medicine storage box (9) and a medicine storage base (10), wherein the medicine storage box (9) is arranged on the side face of the casing (8), the medicine storage base (10) is installed at the bottom of the casing (8), the needle arrangement device (6) and the disinfection device (7) are arranged at the top of the casing (8), the micro mechanical arm is arranged in the casing (8), and the micro mechanical arm is close to the medicine storage box (9).
6. The drug dissolving machine according to claim 5, wherein the drug loading base (10) comprises a drawer (101), a movable tray (102), a transmission screw (103), a drug storage box (104), a base body (105) and a vibration plate (106), the base body (105) is provided with the base (11) in a threaded manner, the drawer (101) is arranged under the base (11), the transmission screw (103) is arranged on the side surface of the drawer (101), the transmission screw (103) is in threaded transmission connection with the movable tray (102), the vibration plate (106) is arranged on the movable tray (102), the transmission screw (103) is arranged on the side surface of the drug storage box (104), and the transmission screw (103), the drug storage box (104) and the drawer (101) are all arranged on the base body (105).
7. The drug dissolving machine according to claim 6, wherein the vibrating tray (106) comprises a buffer spring (1061), a negative pressure suction cup (1062), a vibrating motor (1063) and a guide rail (1064), the guide rail (1064) is fixedly arranged on the movable tray (102), the negative pressure suction cup (1062) is slidably arranged on the guide rail (1064), the buffer spring (1061) is arranged at one end of the negative pressure suction cup (1062), and the vibrating motor (1063) is arranged at the other end of the negative pressure suction cup (1062).
8. The drug dissolving machine according to claim 5, wherein the needle arrangement device (6) comprises a solvent box (61), a driving cylinder (62) and a needle arrangement (63), the driving cylinder (62) is vertically arranged in the machine case (8), the solvent box (61) is fixedly arranged on a cylinder barrel of the driving cylinder (62), a piston rod of the driving cylinder (62) is connected with the needle arrangement (63), and the needle arrangement (63) is communicated with the solvent box (61).
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| CN202210267267.1A CN114366661B (en) | 2022-03-18 | 2022-03-18 | Miniature mechanical arm and medicine dissolving machine |
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| CN202210267267.1A CN114366661B (en) | 2022-03-18 | 2022-03-18 | Miniature mechanical arm and medicine dissolving machine |
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| CN114366661A CN114366661A (en) | 2022-04-19 |
| CN114366661B true CN114366661B (en) | 2022-06-17 |
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| CN114366661A (en) | 2022-04-19 |
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