CN114948724A - Intelligent ampoule bottle liquid medicine blending robot system and using method thereof - Google Patents
Intelligent ampoule bottle liquid medicine blending robot system and using method thereof Download PDFInfo
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- CN114948724A CN114948724A CN202210459559.5A CN202210459559A CN114948724A CN 114948724 A CN114948724 A CN 114948724A CN 202210459559 A CN202210459559 A CN 202210459559A CN 114948724 A CN114948724 A CN 114948724A
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- liquid
- dissolver
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- 239000003814 drug Substances 0.000 title claims abstract description 208
- 239000007788 liquid Substances 0.000 title claims abstract description 135
- 239000003708 ampul Substances 0.000 title claims abstract description 108
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000002156 mixing Methods 0.000 title abstract description 15
- 238000005086 pumping Methods 0.000 claims abstract description 44
- 239000012452 mother liquor Substances 0.000 claims abstract description 25
- 229940079593 drug Drugs 0.000 claims description 56
- 239000010813 municipal solid waste Substances 0.000 claims description 37
- 230000001360 synchronised effect Effects 0.000 claims description 27
- 230000007246 mechanism Effects 0.000 claims description 20
- 230000001954 sterilising effect Effects 0.000 claims description 19
- 239000000463 material Substances 0.000 claims description 17
- 230000007306 turnover Effects 0.000 claims description 16
- 230000003993 interaction Effects 0.000 claims description 15
- 238000000605 extraction Methods 0.000 claims description 14
- 238000007789 sealing Methods 0.000 claims description 11
- 238000011084 recovery Methods 0.000 claims description 9
- 238000004064 recycling Methods 0.000 claims description 8
- 238000004887 air purification Methods 0.000 claims description 5
- 239000000284 extract Substances 0.000 claims description 5
- 239000000645 desinfectant Substances 0.000 claims description 4
- 239000007921 spray Substances 0.000 claims description 4
- 238000004659 sterilization and disinfection Methods 0.000 claims description 4
- 238000003756 stirring Methods 0.000 claims description 3
- 238000007639 printing Methods 0.000 claims description 2
- 230000000712 assembly Effects 0.000 abstract description 2
- 238000000429 assembly Methods 0.000 abstract description 2
- 239000000243 solution Substances 0.000 description 9
- 239000002699 waste material Substances 0.000 description 4
- 230000000249 desinfective effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000011068 loading method Methods 0.000 description 2
- 239000010413 mother solution Substances 0.000 description 2
- 230000003749 cleanliness Effects 0.000 description 1
- 238000007872 degassing Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 238000001802 infusion Methods 0.000 description 1
- 238000001990 intravenous administration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003462 vein Anatomy 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B7/00—Hand- or power-operated devices for opening closed containers
- B67B7/38—Power-operated cutting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B7/00—Hand- or power-operated devices for opening closed containers
- B67B7/92—Hand- or power-operated devices for opening closed containers by breaking, e.g. for ampoules
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (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 provides an intelligent ampoule liquid medicine blending robot system which comprises a general assembly base, a liquid pumping assembly, a mother liquid bottle frame assembly, a medicine dissolving device conveying assembly, a CCD assembly, a medicine feeding assembly and an automatic conveying device, wherein the liquid pumping assembly is arranged on the general assembly base; automatic conveyor and dissolve medicine ware conveyor assembly respectively with final assembly bottom plate both sides fixed connection, automatic conveyor one end is arranged in to the assembly of adding medicine, the assembly of adding medicine and final assembly base fixed connection, mother liquor bottle frame subassembly is arranged in between final assembly base and the medicine ware conveyor assembly that dissolves, mother liquor bottle clamp subassembly and the medicine ware conveyor buckle fixed connection that dissolves. A plurality of bottle clamping assemblies of the automatic conveying device clamp the ampoule bottles on the medicine feeding assembly, the ampoule bottles are conveyed uninterruptedly, the feeding, the clamping and the conveying are carried out simultaneously, and the conveying quantity and the conveying efficiency of the ampoule bottles are improved. The invention also provides a use method of the intelligent ampoule bottle liquid medicine blending robot, and the robot is suitable for the intelligent ampoule bottle liquid medicine blending robot system.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an intelligent ampoule bottle liquid medicine blending robot system and a using method thereof.
Background
Intravenous infusion is a method of dripping a certain amount of sterilization solution into veins by utilizing the principle of hydrostatic pressure, and is one of important measures for clinical rescue and treatment of patients. At present, most ampoule bottle dispensing robots adopt a single-head dispensing mode, only one bottle can be dispensed after the next bottle is dispensed, the front and back processes cannot be carried out simultaneously, and the waiting time is long. Meanwhile, each execution module performs dispensing operation around the medicine rack and the bottle clamping device, the movement paths are overlapped and long, the speed is low, the consumed time is large, and the efficiency is low. And a plurality of manipulators are used for bottle pulling and bottle clamping, and the liquid medicine blending robot is large in size. An intelligent robot which is small in size and capable of improving working efficiency of liquid medicine allocation is urgently needed.
Disclosure of Invention
The invention provides an intelligent ampoule liquid medicine blending robot system and a using method thereof, aiming at overcoming the technical problems of large volume and low working efficiency of the traditional liquid medicine blending robot.
The invention provides an intelligent ampoule liquid medicine blending robot system which comprises a general assembly base, a liquid pumping assembly, a mother liquid bottle frame assembly, a medicine dissolving device conveying assembly, a CCD assembly, a medicine feeding assembly and an automatic conveying device, wherein the liquid pumping assembly is arranged on the general assembly base; the automatic conveying device and the drug dissolving device conveying component are respectively fixedly connected with two sides of the assembly bottom plate, the drug feeding assembly is arranged at one end of the automatic conveying device and fixedly connected with the assembly base, the mother liquor bottle frame component is arranged between the assembly base and the drug dissolving device conveying component, and the mother liquor bottle clamp component is fixedly connected with the drug dissolving device conveying device in a buckling mode; the CCD assembly and the liquid pumping assembly are respectively arranged between the automatic conveying device and the medicine dissolver conveying assembly, and the CCD assembly and the liquid pumping assembly are respectively fixedly connected with the assembly base.
Preferably, the automatic conveying device comprises a fixed support, a feeding assembly, a bottle pulling mechanism, a bottle ejecting assembly, a cutting assembly and a sterilizing device; the feeding assembly is arranged in an annular guide rail, and the feeding assembly and the bottle ejecting assembly are respectively fixedly connected with the fixed support; the bottle pulling framework, the bottle pushing component, the cutting assembly and the sterilizing device are fixedly connected with the feeding component respectively; the feeding assembly is provided with more than 2 bottle clamps, the bottle clamps are movably connected with the feeding assembly, and the bottle clamps are placed along the annular guide rail; the feeding component, the bottle pulling mechanism, the bottle ejecting component, the cutting assembly and the sterilizing device are respectively provided with a motor.
Preferably, the drug dissolver conveying component comprises a seat plate, a turnover plate, a drug dissolver, a synchronous belt, a drug dissolver clamp and a needle release assembly; the needle removal assembly is fixedly connected with the seat plate, and the turnover plate and the synchronous belt are movably connected with the seat plate respectively; the medicine dissolver clamp is used for clamping the medicine dissolver, and the number and the position of the medicine dissolver clamp correspond to those of the medicine dissolver clamp one by one; the turnover plate, the synchronous belt and the needle release assembly are respectively provided with a motor.
Preferably, the liquid extraction assembly comprises a base assembly, a rotation assembly and a translation assembly; the base assembly is connected with one end of the rotating assembly in a sliding mode through a screw rod, and the other end of the rotating assembly is fixedly connected with the translation assembly; the translation assembly comprises a body, a fixing clamp and a pumping clamp, the fixing clamp is fixedly connected with the body, the pumping clamp is connected with the body in a sliding mode, and the fixing clamp and the pumping clamp are connected in a sliding mode through a screw rod; the rotating assembly and the translation assembly are respectively provided with a motor.
Preferably, the mother liquor bottle frame assembly comprises a vertical plate, a circular guide rail and a swing rod, the circular guide rail is fixedly connected with the vertical plate, the swing rod is movably connected with the vertical plate through a connecting rod, the swing rod is provided with a limiting rod, the limiting rod is arranged in the circular guide rail, and the swing rod stirs the mother liquor bottle through the circular guide rail; and a motor is arranged on one side of the vertical plate corresponding to the position of the swing rod.
Preferably, the CCD assembly includes a CCD camera, a support rod, a rotation shaft and a rotation bracket, the rotation bracket is fixedly connected to the assembly base, one end of the rotation shaft is fixedly connected to the rotation bracket, the other end of the rotation shaft is movably connected to one end of the support rod through a bearing, and the other end of the support rod is fixedly connected to the CCD camera; and one end of the rotating bracket is provided with a motor.
Preferably, the medicine feeding assembly comprises a tray seat and a material tray, the tray seat is fixedly connected with the material tray through screws, the material tray is provided with a spiral groove, and the ampoule bottle to be processed is placed in the groove; the opening of the groove is of a corner structure and is provided with a stop block, and the stop block is movably connected with the material tray through a clamp spring; and a motor is arranged on one side of the tray close to the tray seat.
Preferably, the assembly base is provided with a shell, the liquid pumping assembly, the mother liquid bottle frame assembly, the drug dissolving device conveying assembly, the CCD assembly, the drug feeding assembly and the automatic conveying device are arranged in the shell, one side of the shell is provided with an operating door and a human-computer interaction assembly, the human-computer interaction assembly is fixedly connected with the operating door through screws, and the operating door is movably connected with the shell through a rotating shaft; the shell is provided with an air purification system and a code scanning module and a printing output module; the liquid pumping assembly, the mother liquid bottle frame assembly, the medicine dissolving device conveying assembly, the CCD assembly, the medicine feeding assembly and the automatic conveying device are respectively and electrically connected with the human-computer interaction assembly.
Preferably, the garbage recycling system comprises a garbage can, a garbage output device and a sealing door, the garbage can is arranged at the bottom of the garbage output device, the sealing door is arranged at the top of the garbage output device, the garbage output device is fixedly connected with the automatic conveying device, and the sealing door is slidably connected with the garbage output device.
The invention also provides a use method of the intelligent ampoule bottle liquid medicine blending robot, which is suitable for the intelligent ampoule bottle liquid medicine blending robot system and comprises the following steps:
s1: the turnover plate is turned over to enable the medicine dissolver to be close to the synchronous belt, and the medicine dissolver clamp fixedly connected with the synchronous belt clamps the medicine dissolver;
s2: a medicine dissolver clamp fixedly connected with the synchronous belt clamps the medicine dissolver to move to a position corresponding to the needle removal assembly, and the needle removal assembly takes down a needle cap of the medicine dissolver;
s3: the synchronous belt moves the medicine dissolver with the needle cap of the medicine dissolver removed to a position corresponding to the liquid pumping assembly, and the liquid pumping assembly clamps the medicine dissolver;
s4: the ampoule bottle to be pulled is placed on the material tray, the medicine dissolving device is placed on the turnover plate, and the mother liquid bottle is placed on the mother liquid bottle frame assembly;
s5: closing the operation door, and setting motor working parameters of the liquid pumping assembly, the mother liquid bottle frame assembly, the drug dissolver conveying assembly, the CCD assembly, the sterilizing device, the drug feeding assembly and the automatic conveying device by using the human-computer interaction assembly;
s6: the automatic conveying device clamps the ampoule bottle to be pulled from the medicine feeding assembly, and moves the ampoule bottle to be pulled to a position corresponding to the sterilizing device;
s7: the disinfection device sprays disinfectant on the bottleneck of the ampoule bottle to be pulled;
s8: moving the sterilized ampoule bottle to be pulled to a position corresponding to the cutting assembly, clamping the ampoule bottle by the cutting assembly, and cutting the bottleneck of the ampoule bottle in a surrounding manner;
s9: moving the cut ampoule bottle to a position corresponding to the bottle pulling mechanism, clamping the ampoule bottle by the bottle pulling mechanism, and pulling off the bottleneck of the ampoule bottle at the cutting position;
s10: the ampoule bottle with the bottle neck broken is moved to a position corresponding to the liquid extraction assembly, the liquid extraction assembly extracts liquid medicine in the ampoule bottle, and the bottle pulling mechanism loosens an empty bottle to enable the empty bottle to enter the garbage recycling device;
s11: the CCD component detects the position of the mouth of the mother liquid bottle, and the liquid pumping assembly injects the liquid medicine in the medicine dissolving device into the mother liquid bottle;
s12: after the dispensing is finished, the operator opens the operating door and takes out the mother liquor bottle with the prepared liquid medicine.
Compared with the prior art, the intelligent ampoule bottle liquid medicine blending robot system and the using method thereof provided by the invention have the following advantages:
1. the utility model provides an ampoule liquid medicine intelligence allotment robot system, sets up medicine feeding assembly and automatic conveyor, and automatic conveyor's a plurality of bottle subassembly clamps get the ampoule on the medicine feeding assembly, and incessant transport, material loading, clamp are got and are carried out simultaneously with carrying, improve ampoule and carry quantity and efficiency.
2. The utility model provides an ampoule liquid medicine intelligence allotment robot system, dissolves medicine ware conveying component and is equipped with a plurality of cylinders, and in a plurality of manipulator clamps got suction ampoule liquid medicine and injected into the mother liquor bottle, each process goes on simultaneously, improves dispensing efficiency.
3. The utility model provides an ampoule liquid medicine intelligence allotment robot system, sets up a plurality of mother liquor bottle frame subassemblies, realizes that many bottles of mother liquor bottle are carried simultaneously, pulls the bottle and presss from both sides the bottle and fuses integratively, compact structure, small.
Drawings
Fig. 1 is a schematic view of an overall structure of an intelligent ampoule bottle liquid medicine preparing robot system according to the present invention;
FIG. 2 is a schematic structural view of an automatic conveying device in an intelligent ampoule bottle drug solution dispensing robot system according to the present invention;
fig. 3 is a schematic structural view of a drug dissolver conveying assembly in an intelligent ampoule bottle drug solution dispensing robot system provided by the invention;
FIG. 4 is a schematic structural diagram of a pumping assembly in an intelligent ampoule bottle drug solution dispensing robot system according to the present invention;
FIG. 5 is a schematic structural view of a translation assembly in an intelligent ampoule bottle drug solution dispensing robot system according to the present invention;
fig. 6 is a schematic structural view of a mother solution bottle rack assembly in the ampoule bottle liquid medicine intelligent allocation robot system provided by the invention;
FIG. 7 is a schematic structural diagram of a CCD assembly in an intelligent ampoule drug solution dispensing robot system according to the present invention;
fig. 8 is a schematic structural view of a medicine feeding assembly in an intelligent ampoule medicine solution preparing robot system provided by the invention;
fig. 9 is a schematic structural diagram of a housing of the ampoule bottle liquid medicine intelligent allocation robot system provided by the invention.
Description of reference numerals: 1. an ampoule bottle liquid medicine intelligent allocation robot system; 2. assembling a bottom plate; 21. a housing 22, an operation door; 23. a human-computer interaction component; 3. a liquid pumping assembly; 31. a base assembly; 32. a rotating assembly; 33. a translation assembly; 331. a body; 332. a fixing clip; 333. pumping and injecting clips; 4. a mother liquor bottle rack assembly; 41. a vertical plate; 42. a circular guide rail; 43. a swing rod; 5. a drug dissolver delivery assembly; 51. a seat plate; 52. a turnover plate; 53. a medicine dissolving device; 54. a synchronous belt; 55. a drug dissolver clamp; 56. a needle release assembly; 6. a CCD assembly; 61. a CCD camera; 62. a support bar; 63. a rotating shaft; 64. rotating the bracket; 7. a medicine feeding assembly; 71. a tray seat; 72. a material tray; 73. a stopper; 8. an automatic conveying device; 81. fixing a bracket; 82. a feeding assembly; 83. a bottle pulling mechanism; 84. a top bottle assembly; 85. a cutting assembly; 9. a waste recovery system; 91. a waste output device; 92. a sealing door; 10. a sterilizing device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Referring to fig. 1 to 9, the present invention provides an intelligent ampoule bottle drug solution dispensing robot system 1, which includes a final assembly base, a liquid pumping assembly 3, a mother solution bottle frame assembly 4, a drug dissolving device conveying assembly 5, a CCD assembly 6, a drug feeding assembly 7 and an automatic conveying device 8; the automatic conveying device 8 and the drug dissolver conveying component 5 are respectively and fixedly connected with two sides of the assembly base plate 2, the drug feeding assembly 7 is arranged at one end of the automatic conveying device 8, the drug feeding assembly 7 is fixedly connected with the assembly base, the mother liquid bottle frame component 4 is arranged between the assembly base and the drug dissolver conveying component 5, and the mother liquid bottle clamp component is fixedly connected with the drug dissolver conveying device in a buckling manner; the CCD assembly 6 and the liquid pumping assembly 3 are respectively arranged between the automatic conveying device 8 and the drug dissolver conveying assembly 5, and the CCD assembly 6 and the liquid pumping assembly 3 are respectively fixedly connected with the assembly base.
It can be understood that automatic conveying device 8 centre gripping the ampoule that the material loading assembly supplied with, automatic conveying device 8 disinfects, cuts and pulls the bottle with the ampoule, 3 centre grippings of drawing liquid assembly dissolve on the medicine ware conveyor components 5 dissolve medicine ware 53, drawing liquid assembly 3 uses dissolve medicine ware 53 extraction ampoule liquid medicine, CCD subassembly 6 detects in the mother bottle bracket component mother bottle position, drawing liquid assembly 3 pours into the liquid medicine into the mother bottle, drawing liquid assembly 3 will dissolve medicine ware 53 and put into rubbish recovery system 9, the ampoule after automatic conveying device 8 will extract the liquid medicine is put into rubbish recovery system 9, the completion of making up a prescription.
It can be understood that automatic conveying device 8 with dissolve medicine ware conveyor components 5 and adopt screw fixed connection respectively assembly bottom plate 2 both sides, go up medicine assembly 7 with the assembly base is screw fixed connection, CCD subassembly 6 with drawing liquid assembly 3 respectively with the assembly base is screw fixed connection.
Specifically, the automatic conveying device 8 comprises a fixed bracket 81, a feeding component 82, a bottle pulling mechanism 83, a bottle ejecting component 84, a cutting assembly 85 and a sterilizing device 10; the feeding assembly 82 is an annular guide rail, and the feeding assembly 82 and the bottle ejecting assembly 84 are respectively and fixedly connected with the fixed support 81; the bottle pulling framework, the bottle pushing component 84, the cutting assembly 85 and the sterilizing device 10 are respectively and fixedly connected with the feeding component 82; the feeding assembly 82 is provided with more than 2 bottle clamps, the bottle clamps are movably connected with the feeding assembly 82, and the bottle clamps are placed along the annular guide rail; the feeding component 82, the bottle pulling mechanism 83, the bottle ejecting component 84, the cutting assembly 85 and the sterilizing device 10 are respectively provided with a motor.
It is understood that there are more than 2 of the bottle pulling structures and more than 2 of the top bottle assemblies 84.
It will be appreciated that the feed assembly 82 holds ampoules which are moved along a circular track past the sterilizing unit 10, the bottle pulling mechanism 83, the top bottle assembly 84 and the cutting assembly 85. For example, the ampoule bottle moves to a position corresponding to the top bottle component 84, the top bottle component 84 adjusts the height of the ampoule bottle to a set position, so as to be convenient for disinfecting, cutting, pulling and drawing the ampoule bottle, the ampoule bottle moves to a position corresponding to the disinfecting device 10, the disinfecting device 10 sprays disinfectant on the ampoule bottle, the disinfected ampoule bottle moves to a position corresponding to the cutting assembly 85, the cutting assembly 85 performs circular cutting on the bottleneck position of the ampoule bottle, the ampoule bottle after circular cutting moves to a position corresponding to the pulling mechanism 83, the pulling mechanism 83 strikes the cap of the ampoule bottle, the ampoule bottle after striking the cap is moved to a position corresponding to the drawing assembly 3, the drawing assembly 3 draws ampoule bottle liquid medicine, after the liquid drawing is completed, the feeding component 82 moves to a position corresponding to the garbage recovery system 9, the feeding component 82 loosens the clamped ampoule bottle, dropping the ampoule into the waste recovery system 9.
It can be understood that the feeding component 82, the bottle pulling mechanism 83, the bottle ejecting component 84, the cutting assembly 85 and the sterilizing device 10 are respectively provided with a servo motor, and the automatic conveying device 8 is controlled to work by the servo motors.
Specifically, the drug dissolver delivery assembly 5 comprises a seat plate 51, an overturning plate 52, a drug dissolver 53, a synchronous belt 54, a drug dissolver clamp 55 and a needle removal assembly 56; more than 4 medicine dissolver clamps 55 are arranged, the medicine dissolver clamps 55 are respectively and fixedly connected with the synchronous belt 54 and the turnover plate 52, the needle removal assembly 56 is fixedly connected with the seat plate 51, and the turnover plate 52 and the synchronous belt 54 are respectively and movably connected with the seat plate 51; the medicine dissolver clamp 55 is used for clamping the medicine dissolver 53, and the number and the position of the medicine dissolver 53 correspond to those of the medicine dissolver clamp 55 one by one; the turnover plate 52, the synchronous belt 54 and the needle release assembly 56 are respectively provided with a motor.
It will be appreciated that the inversion plate 52 inverts to place the drug dissolver 53 on the drug dissolver clamp 55 fixedly attached to the timing belt 54. The synchronous belt 54 drives the medicine dissolver 53 to move horizontally in an annular mode, and the medicine dissolver 53 is connected with the needle removing assembly 56 and the liquid pumping assembly 3. For example, the drug dissolver 53 moves to a position corresponding to the needle removal assembly 56, the needle removal assembly 56 clamps and removes a needle cap of the drug dissolver 53, the drug dissolver 53 with the needle cap removed moves to a position corresponding to the liquid extraction assembly 3, and the drug dissolver 53 is clamped by the liquid extraction assembly 3 for liquid extraction.
It can be understood that the synchronous belt 54 and the turning plate 52 are both fixed to the drug dissolver clamp 55 by screws, the needle removing assembly 56 is fixedly connected to the seat plate 51 by screws, the turning plate 52 is movably connected to the seat plate 51 by a movable shaft, and the synchronous belt 54 is movably connected to the seat plate 51 by a bearing. The turnover plate 52, the synchronous belt 54 and the needle release assembly 56 are respectively provided with a servo motor, and the drug dissolver conveying assembly 5 is controlled by the servo motors to work.
Specifically, the pumping assembly 3 comprises a base member 31, a rotating member 32 and a translating member 33; the base component 31 is connected with one end of the rotating component 32 in a sliding way through a screw rod, and the other end of the rotating component 32 is fixedly connected with the translation component 33; the translation assembly 33 comprises a body 331, a fixing clamp 332 and an extraction and injection clamp 333, wherein the fixing clamp 332 is fixedly connected with the body 331, the extraction and injection clamp 333 is slidably connected with the body 331, and the fixing rack is slidably connected with the extraction and injection clamp 333 through a screw rod; the rotating assembly 32 and the translating assembly 33 are provided with motors, respectively.
It can be understood that drawing liquid assembly 3 is equipped with more than 2, base subassembly 31 will through the screw rod rotatory subassembly 32 moves extremely dissolve medicine ware 53 and correspond the position, the centre gripping of translation subassembly 33 dissolve medicine ware 53, rotatory subassembly 32 will through the rotation translation subassembly 33 moves to ampoule and corresponds the position, it extracts ampoule liquid medicine to dissolve medicine ware 53, rotatory subassembly 32 will through the rotation translation subassembly 33 is transferred to mother liquor bottle position, it pours into the liquid medicine into to the mother liquor bottle to dissolve medicine ware 53, rotatory subassembly 32 will through the rotation translation subassembly 33 moves extremely rubbish recovery system 9 corresponds the position, translation subassembly 33 loosens the centre gripping dissolve medicine ware 53, makes it falls into to dissolve medicine ware 53 in rubbish recovery system 9.
It is understood that the rotating component 32 and the translating component 33 are respectively provided with a servo motor, and the operation of the pumping assembly 3 is controlled by the servo motor.
Specifically, the mother liquor bottle frame assembly 4 comprises a vertical plate 41, a circular guide rail 42 and a swing rod 43, the circular guide rail 42 is fixedly connected with the vertical plate 41, the swing rod 43 is movably connected with the vertical plate 41 through a connecting rod, the swing rod 43 is provided with a limiting rod, the limiting rod is arranged in the circular guide rail 42, and the swing rod 43 stirs the mother liquor bottle through the circular guide rail 42; a motor is arranged on one side of the vertical plate 41 corresponding to the position of the swing rod 43.
It can be understood that more than 2 mother liquor bottles are arranged on each vertical plate 41, the swing rod 43 makes a circular movement along the circular guide rail 42 through the limiting rod, so that the swing rod 43 shifts the mother liquor bottles to move the mother liquor bottles to the positions to be injected with the liquor.
It can be understood that the circular guide rail 42 is fixedly connected with the upright plate 41 by a screw, a servo motor is arranged on one side of the upright plate 41 corresponding to the position of the swing rod 43, and the servo motor controls the mother liquid bottle frame assembly 4 to work, so that the swing rod 43 shifts the mother liquid bottle to the position to be injected with the liquid medicine.
Specifically, the CCD assembly 6 includes a CCD camera 61, a support rod 62, a rotation shaft 63 and a rotation bracket 64, the rotation bracket 64 is fixedly connected with the assembly base, one end of the rotation shaft 63 is fixedly connected with the rotation bracket 64, the other end of the rotation shaft 63 is movably connected with one end of the support rod 62 through a bearing, and the other end of the support rod 62 is fixedly connected with the CCD camera 61; one end of the rotating bracket 64 is provided with a motor.
It can be understood that the support rod 62 rotates the CCD camera 61 to a position corresponding to the mother liquid bottle through the rotation shaft 63, and the CCD camera 61 detects the position of the mother liquid bottle to be injected with the liquid medicine through the image recognition system and feeds back the detection information to the liquid pumping assembly 3.
It can be understood that runing rest 64 with the final assembly base is screw fixed connection, rotation axis 63 one end with runing rest 64 is screw fixed connection, the bracing piece 62 other end with CCD camera 61 is screw fixed connection, runing rest 64 one end is equipped with servo motor, and servo motor control bracing piece 62 rotates. CCD (Charge coupled device).
Specifically, the medicine feeding assembly 7 comprises a tray seat 71 and a material tray 72, the tray seat 71 is fixedly connected with the material tray 72 through screws, the material tray 72 is provided with a spiral groove, and an ampoule bottle to be processed is placed in the groove; the opening of the groove is of a corner structure and is provided with a stop block 73, and the stop block 73 is movably connected with the tray 72 by a clamp spring; a motor is arranged on one side of the tray 72 close to the tray seat 71.
It can be understood that the motor with charging tray 72 adopts screw fixed connection, and the motor is vibrating motor, through the vibration with orderly transport to the exit of ampoule, the exit is equipped with dog 73, avoids the ampoule to remove to appear dropping out in the exit go up medicine assembly 7. After the ampoule bottle is clamped by the automatic conveying device 8, the clamped ampoule bottle is pushed open to stop opening, and the medicine feeding process is completed.
Specifically, the assembly base is provided with a shell 2, the liquid pumping assembly 3, the mother liquid bottle frame assembly 4, the drug dissolving device conveying assembly 5, the CCD assembly 6, the drug feeding assembly 7 and the automatic conveying device 8 are arranged in the shell 2, one side of the shell 2 is provided with an operation door 22 and a human-computer interaction assembly 23, the human-computer interaction assembly 23 is fixedly connected with the operation door 22 through screws, and the operation door 22 is movably connected with the shell 2 through a rotating shaft 63; the liquid pumping assembly 3, the mother liquid bottle frame assembly 4, the drug dissolver conveying assembly 5, the CCD assembly 6, the drug feeding assembly 7 and the automatic conveying device 8 are respectively electrically connected with the human-computer interaction assembly 23.
It can be understood that casing 2 with the final assembly base adopts screw fixed connection, operating door 22 is closed back casing 2 with the final assembly base forms airtight space, human-computer interaction subassembly 23 is the touch display screen, human-computer interaction subassembly 23 is equipped with the controller, and the controller is equipped with operating parameter, controller electric connection respectively draw liquid assembly 3 mother liquor bottle frame subassembly 4 dissolve medicine ware conveying component 5 CCD subassembly 6 degassing unit 10 go up medicine assembly 7 with automatic conveying device 8.
Specifically, the housing 2 is provided with an air purification system, and the housing 2 is provided with a code scanning module and a printout module.
It can be understood that casing 2 is equipped with hundred grades of air purification systems, and air purification system purifies and disinfects the air of 2 inner chambers of casing, makes it reach hundred grades of cleanliness factor, for dispensing provide dustless sterile environment, prevents the liquid medicine pollution, guarantees dispense and medical personnel's safety, sweeps a yard module and printout module, input and output medicine information that can be swift.
Specifically, the garbage recycling system 9 includes a garbage can, a garbage output device 91 and a sealing door 92, the garbage can is disposed at the bottom of the garbage output device 91, the sealing door 92 is disposed at the top of the garbage output device 91, the garbage output device 91 is fixedly connected to the automatic conveying device 8, and the sealing door 92 is slidably connected to the garbage output device 91.
It can be understood that the garbage recycling system 9 is provided with more than 2 for classifying, recycling and storing the waste, the needle cap and the medicine dissolving device 53 are correspondingly used more than 1 the garbage recycling system 9, and the ampoule bottle is correspondingly used more than 1 garbage recycling system 9. When emptying the garbage can, the sealing door 92 and the garbage output device 91 are closed in a sliding manner, so that the shell 2 and the final assembly base are kept in a closed space.
The invention also provides a use method of the intelligent ampoule bottle liquid medicine blending robot, which is suitable for the intelligent ampoule bottle liquid medicine blending robot system 1 and comprises the following steps:
s1: the overturning plate 52 overturns to enable the medicine dissolver 53 to be close to the synchronous belt 54, and the medicine dissolver clamp 55 fixedly connected with the synchronous belt 54 clamps the medicine dissolver 53;
s2: a medicine dissolver clamp 55 fixedly connected with a synchronous belt 54 clamps the medicine dissolver 53 and moves to a position corresponding to the needle removal assembly 56, and the needle removal assembly 56 takes down the needle cap of the medicine dissolver 53;
s3: the synchronous belt 54 moves the medicine dissolver 53 with the needle cap of the medicine dissolver 53 removed to a position corresponding to the liquid pumping assembly 3, and the liquid pumping assembly 3 clamps the medicine dissolver 53;
s4: the ampoule bottle to be pulled is placed on the material tray 72, the medicine dissolving device 53 is placed on the turnover plate 52, and the mother liquor bottle is placed on the mother liquor bottle frame component 4;
s5: the operation door 22 is closed, and the man-machine interaction component 23 is used for setting the motor working parameters of the liquid pumping assembly 3, the mother liquid bottle frame component 4, the drug dissolver conveying component 5, the CCD component 6, the sterilizing device 10, the drug feeding assembly 7 and the automatic conveying device 8;
s6: the automatic conveying device 8 clamps the ampoule bottle to be pulled from the medicine feeding assembly 7, and the automatic conveying device 8 moves the ampoule bottle to be pulled to a position corresponding to the sterilizing device 10;
s7: the disinfection device 10 sprays disinfectant on the bottleneck of the ampoule bottle to be pulled;
s8: moving the sterilized ampoule bottle to be pulled to a position corresponding to the cutting assembly 85, clamping the ampoule bottle by the cutting assembly 85, and cutting the bottleneck of the ampoule bottle in a surrounding manner;
s9: the cut ampoule bottle is moved to a position corresponding to the bottle pulling mechanism 83, the ampoule bottle is clamped by the bottle pulling mechanism 83, and the bottle neck of the ampoule bottle is pulled off at the cutting position;
s10: the ampoule bottle with the bottle neck broken is moved to a position corresponding to the liquid extraction assembly 3, the liquid extraction assembly 3 extracts liquid medicine in the ampoule bottle, and the bottle pulling mechanism 83 loosens an empty bottle to enable the empty bottle to enter the garbage recovery device;
s11: the CCD assembly 6 detects the position of the mouth of the mother liquor, and the liquid pumping assembly 3 injects the liquid medicine in the medicine dissolver 53 into the mother liquor bottle;
s12: after dispensing, the operator opens the operation door 22 and takes out the mother liquid bottle with the dispensed liquid medicine.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides an ampoule liquid medicine intelligence allotment robot system which characterized in that: the device comprises a general assembly base, a liquid pumping assembly, a mother liquid bottle frame assembly, a medicine dissolver conveying assembly, a CCD assembly, a medicine feeding assembly and an automatic conveying device;
the automatic conveying device and the drug dissolving device conveying component are respectively fixedly connected with two sides of the assembly bottom plate, the drug feeding assembly is arranged at one end of the automatic conveying device and fixedly connected with the assembly base, the mother liquor bottle frame component is arranged between the assembly base and the drug dissolving device conveying component, and the mother liquor bottle clamp component is fixedly connected with the drug dissolving device conveying device in a buckling mode;
the CCD assembly and the liquid pumping assembly are respectively arranged between the automatic conveying device and the medicine dissolver conveying assembly, and the CCD assembly and the liquid pumping assembly are respectively fixedly connected with the assembly base.
2. The intelligent ampoule bottle liquid medicine dispensing robot system according to claim 1, characterized in that: the automatic conveying device comprises a fixed support, a feeding assembly, a bottle pulling mechanism, a bottle ejecting assembly, a cutting assembly and a sterilizing device;
the feeding assembly is arranged in a ring-shaped guide rail, and the feeding assembly and the bottle ejecting assembly are respectively fixedly connected with the fixed support;
the bottle pulling framework, the bottle pushing component, the cutting assembly and the sterilizing device are fixedly connected with the feeding component respectively;
the feeding assembly is provided with more than 2 bottle clamps, the bottle clamps are movably connected with the feeding assembly, and the bottle clamps are placed along the annular guide rail;
the feeding component, the bottle pulling mechanism, the bottle ejecting component, the cutting assembly and the sterilizing device are respectively provided with a motor.
3. The intelligent ampoule bottle liquid medicine dispensing robot system according to claim 1, characterized in that: the drug dissolver conveying component comprises a seat plate, a turnover plate, a drug dissolver, a synchronous belt, a drug dissolver clamp and a needle release assembly;
the needle removal assembly is fixedly connected with the seat plate, and the turnover plate and the synchronous belt are movably connected with the seat plate respectively;
the medicine dissolver clamp is used for clamping the medicine dissolver, and the number and the position of the medicine dissolver clamp correspond to those of the medicine dissolver clamp one by one;
the turnover plate, the synchronous belt and the needle release assembly are respectively provided with a motor.
4. The intelligent ampoule bottle liquid medicine dispensing robot system according to claim 1, characterized in that: the liquid pumping assembly comprises a base assembly, a rotating assembly and a translation assembly;
the base assembly is connected with one end of the rotating assembly in a sliding mode through a screw rod, and the other end of the rotating assembly is fixedly connected with the translation assembly;
the translation assembly comprises a body, a fixing clamp and a pumping clamp, the fixing clamp is fixedly connected with the body, the pumping clamp is connected with the body in a sliding mode, and the fixing clamp and the pumping clamp are connected in a sliding mode through a screw rod;
the rotating assembly and the translation assembly are respectively provided with a motor.
5. The intelligent ampoule bottle liquid medicine dispensing robot system according to claim 1, characterized in that: the mother liquid bottle frame assembly comprises a vertical plate, a circular guide rail and a swing rod, the circular guide rail is fixedly connected with the vertical plate, the swing rod is movably connected with the vertical plate through a connecting rod, the swing rod is provided with a limiting rod, the limiting rod is arranged in the circular guide rail, and the swing rod stirs a mother liquid bottle through the circular guide rail;
and a motor is arranged on one side of the vertical plate corresponding to the position of the swing rod.
6. The intelligent ampoule bottle liquid medicine dispensing robot system according to claim 1, characterized in that: the CCD assembly comprises a CCD camera, a supporting rod, a rotating shaft and a rotating support, the rotating support is fixedly connected with the assembly base, one end of the rotating shaft is fixedly connected with the rotating support, the other end of the rotating shaft is movably connected with one end of the supporting rod through a bearing, and the other end of the supporting rod is fixedly connected with the CCD camera;
and one end of the rotating bracket is provided with a motor.
7. The intelligent ampoule bottle liquid medicine dispensing robot system according to claim 1, characterized in that: the medicine feeding assembly comprises a tray seat and a material tray, the tray seat is fixedly connected with the material tray through screws, the material tray is provided with a spiral groove, and an ampoule bottle to be processed is placed in the groove;
the opening of the groove is of a corner structure and is provided with a stop block, and the stop block is movably connected with the material tray through a clamp spring;
and a motor is arranged on one side of the tray close to the tray seat.
8. The intelligent ampoule bottle liquid medicine dispensing robot system according to claim 1, characterized in that: the general assembly base is provided with a shell, the liquid pumping assembly, the mother liquid bottle frame assembly, the drug dissolver conveying assembly, the CCD assembly, the drug feeding assembly and the automatic conveying device are arranged in the shell, one side of the shell is provided with an operating door and a human-computer interaction assembly, the human-computer interaction assembly is fixedly connected with the operating door through screws, and the operating door is movably connected with the shell through a rotating shaft;
the shell is provided with an air purification system and a code scanning module and a printing output module;
the liquid pumping assembly, the mother liquid bottle frame assembly, the medicine dissolving device conveying assembly, the CCD assembly, the medicine feeding assembly and the automatic conveying device are respectively and electrically connected with the human-computer interaction assembly.
9. The intelligent ampoule bottle liquid medicine dispensing robot system according to claim 1, characterized in that: the garbage recycling system comprises a garbage can, a garbage output device and a sealing door, the garbage can is arranged at the bottom of the garbage output device, the sealing door is arranged at the top of the garbage output device, the garbage output device is fixedly connected with the automatic conveying device, and the sealing door is slidably connected with the garbage output device.
10. A use method of an ampoule bottle liquid medicine intelligent allocation robot is characterized in that: the intelligent ampoule medicine liquid dispensing robot system according to any one of claims 1 to 9, comprising the steps of:
s1: the turnover plate is turned over to enable the medicine dissolver to be close to the synchronous belt, and the medicine dissolver clamp fixedly connected with the synchronous belt clamps the medicine dissolver;
s2: a medicine dissolver clamp fixedly connected with the synchronous belt clamps the medicine dissolver to move to a position corresponding to the needle removal assembly, and the needle removal assembly takes down a needle cap of the medicine dissolver;
s3: the synchronous belt moves the medicine dissolver with the needle cap of the medicine dissolver removed to a position corresponding to the liquid pumping assembly, and the liquid pumping assembly clamps the medicine dissolver;
s4: the ampoule bottle to be pulled is placed on the material tray, the medicine dissolving device is placed on the turnover plate, and the mother liquid bottle is placed on the mother liquid bottle frame assembly;
s5: closing the operation door, and setting motor working parameters of the liquid pumping assembly, the mother liquid bottle frame assembly, the drug dissolver conveying assembly, the CCD assembly, the sterilizing device, the drug feeding assembly and the automatic conveying device by using the human-computer interaction assembly;
s6: the automatic conveying device clamps the ampoule bottle to be pulled from the medicine feeding assembly, and moves the ampoule bottle to be pulled to a position corresponding to the sterilizing device;
s7: the disinfection device sprays disinfectant on the bottleneck of the ampoule bottle to be pulled;
s8: moving the sterilized ampoule bottle to be pulled to a position corresponding to the cutting assembly, clamping the ampoule bottle by the cutting assembly, and cutting the bottleneck of the ampoule bottle in a surrounding manner;
s9: moving the cut ampoule bottle to a position corresponding to the bottle pulling mechanism, clamping the ampoule bottle by the bottle pulling mechanism, and pulling off the bottleneck of the ampoule bottle at the cutting position;
s10: the ampoule bottle with the bottle neck broken is moved to a position corresponding to the liquid extraction assembly, the liquid extraction assembly extracts liquid medicine in the ampoule bottle, and the bottle pulling mechanism loosens the empty bottle to enable the empty bottle to enter the garbage recovery device;
s11: the CCD component detects the position of the mouth of the mother liquid bottle, and the liquid pumping assembly injects the liquid medicine in the medicine dissolving device into the mother liquid bottle;
s12: after the dispensing is finished, the operator opens the operating door and takes out the mother liquid bottle with the prepared liquid medicine.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210459559.5A CN114948724A (en) | 2022-04-28 | 2022-04-28 | Intelligent ampoule bottle liquid medicine blending robot system and using method thereof |
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| CN202210459559.5A CN114948724A (en) | 2022-04-28 | 2022-04-28 | Intelligent ampoule bottle liquid medicine blending robot system and using method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115154305A (en) * | 2022-09-05 | 2022-10-11 | 烟台凯博机械自动化设备有限公司 | Automatic liquid pumping device and method for injector |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115154305A (en) * | 2022-09-05 | 2022-10-11 | 烟台凯博机械自动化设备有限公司 | Automatic liquid pumping device and method for injector |
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Effective date of registration: 20231226 Address after: 528222 Factory Building 2, No. 54 Industrial Avenue, Danzao Town, Nanhai District, Foshan City, Guangdong Province (Residence Declaration) Applicant after: Guangdong Sanggu Medical Robot Co.,Ltd. Address before: B226, B228, Building B, Huafeng Zhigu Fuhai Science and Technology Industrial Park, Hongpai Industrial Park, Xinhe Community, Fuhai Street, Shenzhen City, Guangdong Province, 518000 Applicant before: SHENZHEN SANGGU MEDICAL ROBOT Co.,Ltd. |
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