CN118304170A - Liquid dispensing device - Google Patents

Abstract

The present disclosure describes a dispensing device including a vial handling mechanism, a fluid bag handling mechanism, and a pipette handling mechanism, the pipette handling mechanism including a pipetting mechanism, the dispensing device having a first pipetting station and a second pipetting station, during dispensing, the vial handling mechanism moving the vial to the first pipetting station to cause the vial to be upright or rotating the vial to cause the axis of the vial to form an oblique angle with the vertical, the fluid bag handling mechanism moving the fluid bag to the second pipetting station to cause the fluid bag to be upright or rotating the fluid bag to cause the fluid bag to be inverted, the pipette handling mechanism controlling the pipette to move between the first pipetting station and the second pipetting station, and rotating the pipette based on the status of the vial or the fluid bag to place the needle into the vial or the fluid bag, the pipetting mechanism controlling the pipette to perform a pipetting operation to cause the pipette to transfer fluid between the vial and the fluid bag. Thus, a liquid dispensing device capable of automatically dispensing liquid is provided.

Description

Liquid dispensing device

Technical Field

The present disclosure relates generally to the field of medical devices, and more particularly to a fluid dispensing device.

Background

Infusion is a medical method commonly used in clinic, by which liquid medicine, nutrient solution and other liquid medicine substances can be infused into a patient to help the patient recover. When a patient needs to receive transfusion, etc., a plurality of different transfusion medicines are often required to be mixed according to the state of illness so as to prepare therapeutic liquid medicine with better curative effect. In clinic, medical personnel and the like can transfer and mix the medicines in different containers such as ampoule bottles or penicillin bottles into a liquid bag so as to obtain the treatment liquid medicine required by patients.

Currently, medical staff and the like often use manual operation to prepare therapeutic liquid medicine required for infusion to a patient. For example, when pipetting between an ampoule and a bag, a manually operated pipette is used to aspirate or infuse a drug solution into the ampoule or the bag.

However, since medical staff in medical institutions are still deficient at present, manual operation is difficult to perform efficient drug solution preparation when a large amount of infusion demands are faced. Therefore, it is desirable to provide a device that can assist medical personnel in dispensing fluids, and in particular to provide a fluid dispensing device that can automate the dispensing of fluids.

Disclosure of Invention

The present disclosure has been made in view of the above-described circumstances, and an object thereof is to provide a liquid dispensing device capable of automatically dispensing liquid.

To this end, the present disclosure provides a liquid dispensing device including a medicine bottle handling mechanism for handling and rotating a medicine bottle, a liquid bag handling mechanism for handling and rotating a liquid bag, and a suction-syringe handling mechanism for handling and rotating a suction-syringe, the suction-syringe handling mechanism including a pipetting mechanism for controlling the suction-syringe to perform pipetting, the liquid dispensing device having a first pipetting station located in a region where movement trajectories of the medicine bottle handling mechanism and the suction-syringe handling mechanism can overlap, and a second pipetting station located in a region where movement trajectories of the liquid bag handling mechanism and the suction-syringe handling mechanism can overlap, the medicine bottle handling mechanism moves the medicine bottle to the first pipetting station to enable the medicine bottle to be arranged in the normal direction or rotate the medicine bottle to enable the axial direction of the medicine bottle to form an inclined angle with the vertical direction, the liquid bag handling mechanism moves the liquid bag to the second pipetting station to enable the liquid bag to be arranged in the normal direction or rotate the liquid bag to enable the liquid bag to be inverted, the suction and injection device handling mechanism controls the suction and injection device to move between the first pipetting station and the second pipetting station and rotates the suction and injection device based on the state of the medicine bottle or the liquid bag to enable a needle tube to be arranged in the medicine bottle or the liquid bag, and the pipetting mechanism controls the suction and injection device to conduct pipetting operation to enable the suction and injection device to conduct pipetting between the medicine bottle and the liquid bag.

In this disclosure, can remove medicine bottle, liquid bag and suction injector to the liquid station respectively through the liquid preparation device in order to carry out the liquid transfer through suction injector between medicine bottle and liquid bag to slope with the medicine bottle in order to simulate artifical liquid transfer operation, absorb the liquid medicine in the medicine bottle as much as possible, reduce the residual liquid medicine in the medicine bottle in order to improve the utilization ratio to the liquid medicine in the medicine bottle, put or invert the liquid bag in addition, carry out corresponding normal position or inversion with suction injector again and cooperate to liquid bag liquid transfer, can more convenient to liquid bag injection liquid medicine or follow liquid bag extraction liquid medicine. According to the present disclosure, liquid preparation can be performed automatically in a full flow.

In addition, in the liquid dispensing device according to the present disclosure, the pipetting operation may include drawing out a liquid medicine and injecting the liquid medicine. Thus, the medicine liquid can be better extracted from the medicine bottle or the liquid bag or injected into the medicine bottle or the liquid bag to complete the liquid preparation operation.

In addition, in the liquid dispensing device according to the present disclosure, optionally, when the drug solution is extracted from the drug vial, the drug vial handling mechanism moves the drug vial to the first pipetting station and rotates the drug vial so that an axial direction of the drug vial forms an inclination angle with a vertical direction, the pipette handling mechanism moves the pipette so that a needle tube of the pipette is placed in the drug vial, and the pipetting mechanism controls the pipette to extract. Under the condition, through rotating the medicine bottle so that the axial direction and the vertical direction of the medicine bottle form an inclined angle and the needle tube of the suction and injection device is placed into the medicine bottle, manual pipetting operation can be simulated, the medicine liquid in the medicine bottle can be extracted as much as possible, the residual medicine liquid in the medicine bottle is reduced, and the utilization rate of the medicine liquid in the medicine bottle is improved.

In addition, in the liquid dispensing device according to the present disclosure, optionally, when the liquid medicine is extracted from the liquid bag, the liquid bag handling mechanism moves the liquid bag to the second pipetting station and rotates the liquid bag to invert the liquid bag, the pipette handling mechanism rotates the pipette to invert the pipette, the pipette handling mechanism moves the pipette to place the needle tube of the pipette into the liquid bag, and the pipetting mechanism controls the pipette to extract. In this case, by inverting the liquid bag and the suction and injection device to draw the liquid medicine from the liquid bag, the problem that the suction and injection device sucks air and cannot draw the liquid medicine can be reduced.

In addition, in the liquid dispensing device according to the present disclosure, optionally, when the medicine bottle or the liquid bag is injected, the medicine bottle handling mechanism moves the medicine bottle to the first pipetting station and positions the medicine bottle in the normal position, the liquid bag handling mechanism moves the liquid bag to the second pipetting station and positions the liquid bag in the normal position, the suction and injection device handling mechanism moves the suction and injection device to the first pipetting station or the second pipetting station, and the pipetting mechanism controls the suction and injection device to inject the medicine bottle or the liquid bag. Thus, the liquid medicine can be conveniently injected into the medicine bottle or the liquid bag for pipetting.

In addition, in the liquid dispensing device according to the present disclosure, optionally, the medicine bottle handling mechanism includes a movable first movable seat and a medicine bottle holding portion rotatably provided to the first movable seat and releasably holding the medicine bottle, and the syringe handling mechanism includes a movable third movable seat and a syringe holding portion rotatably provided to the third movable seat and releasably holding the syringe. Therefore, the medicine bottle and the suction injector can be conveniently transported.

In addition, in the liquid dispensing device according to the present disclosure, optionally, the liquid sucking and injecting device includes a syringe having a receiving chamber, a core rod movably disposed in an inner cavity of the syringe, and a needle tube communicating with the receiving chamber, the core rod has a rod body, a piston disposed at one end of the rod body and disposed in the syringe, and a holding portion disposed at the other end of the rod body, the liquid sucking and injecting device includes a receiving portion having a first groove matching an outer contour of the holding portion, and an elastic member disposed in the first groove, and when the holding portion is disposed in the first groove, a lower surface of the elastic member abuts against an upper surface of the holding portion disposed in the first groove. In this case, when the pipetting mechanism moves along the longitudinal direction of the stem and cooperates with the grip portion to control the movement of the stem, the elastic member is in contact with the upper surface of the grip portion, so that the injection accuracy can be advantageously improved during automatic pipetting, particularly when the stem is moved in a direction toward the needle tube.

In addition, in the liquid dispensing device according to the present disclosure, the suction and injection device holding portion may include a first holding portion and a second holding portion that can move toward or away from the first holding portion, the first holding portion and the second holding portion cooperate to form a holding space that matches the syringe, when the suction and injection device is picked up, the suction and injection device holding portion moves toward the suction and injection device so that the suction and injection device enters the holding space and the holding portion engages with the first groove of the pipetting mechanism, and the first holding portion and the second holding portion move toward each other and hold the syringe so that the first holding portion and the second holding portion abut against the syringe from two directions, respectively. Therefore, the stability of the suction and injection device clamping part for clamping the suction and injection device can be improved, and the injection precision is further improved.

In addition, in the liquid dispensing device according to the present disclosure, optionally, the liquid bag handling mechanism includes a movable second moving seat, a supporting seat rotatably provided on the second moving seat about a rotation axis, a suction cup provided on the supporting seat, and a liquid bag holding portion releasably holding the liquid bag and provided on the supporting seat, and when dispensing liquid, the liquid bag handling mechanism holds the liquid bag and moves to the second liquid transfer station, and makes the liquid bag form a predetermined angle with the rotation axis, and the suction cup adsorbs the liquid bag when the liquid bag forms a predetermined angle with the rotation axis. Under this kind of circumstances, can improve the stability of liquid bag when rotatory through the absorption of sucking disc to can be convenient for with inhale annotate the cooperation and shift the liquid medicine, and can make liquid bag and rotation axis be predetermined angle through rotatory bearing, can be convenient for the bearing drive liquid bag rotation to different angles, and then can be convenient for obtain the liquid medicine in the liquid bag.

In addition, in the liquid dispensing device according to the present disclosure, the suction and injection device handling mechanism may have a soft floating function that can be opened and closed, and when dispensing liquid, the suction and injection device handling mechanism opens the soft floating function after placing the needle tip of the suction and injection device into the medicine bottle. Under the condition, even if the needle tip is in contact with the inner wall of the bottle in the process of moving the needle tip of the suction injector from the bottle mouth to the bottle bottom of the medicine bottle, the needle tip can be slightly inclined under the action of the inner wall of the bottle through the soft floating function so as to enable the needle tip to continuously slide to the bottle bottom along the inner wall, thereby inhibiting the occurrence of the unexpected situation that the needle tip pierces the bottle wall and the like, improving the safety of the whole liquid preparation process, and further enabling the needle tip to be close to the bottom of the inner wall of the bottle so as to improve the utilization rate of liquid medicine of the medicine bottle.

According to the liquid preparation device disclosed by the invention, liquid preparation can be automatically carried out in a full flow.

Drawings

The present disclosure will now be explained in further detail by way of example only with reference to the accompanying drawings, in which:

fig. 1 is an overall schematic diagram showing a liquid dispensing device according to an example of the present disclosure.

Fig. 2 is a schematic diagram showing a medicine bottle handling mechanism according to an example of the present disclosure.

Fig. 3 is a schematic diagram showing a liquid bag transporting mechanism according to an example of the present disclosure.

Fig. 4 is an overall schematic diagram showing an inhaler handling mechanism according to an example of the present disclosure.

Fig. 5 is a partial schematic diagram illustrating an pipette handling mechanism according to an example of the present disclosure.

Fig. 6 is a schematic diagram illustrating an inhaler according to an example of the present disclosure.

Fig. 7 is a schematic view showing that the holding portion according to the example of the present disclosure is engaged with the accommodating portion.

Fig. 8A is a schematic diagram illustrating vial placement into vial pipetting in accordance with examples of the present disclosure; fig. 8B is a schematic diagram illustrating vial tilting hour hand tube placement vial pipetting in accordance with examples of the present disclosure.

FIG. 9A is a schematic diagram illustrating a liquid bag according to an example of the present disclosure in a normal position; fig. 9B is a schematic diagram illustrating the placement of a needle cannula into a fluid bag for pipetting when the fluid bag is inverted in accordance with examples of the present disclosure.

FIG. 10A is a schematic diagram illustrating a needle cannula according to an example of the present disclosure as it is just placed into a vial; FIG. 10B is a schematic diagram illustrating the contact wall after placement of a needle cannula into a vial in accordance with examples of the present disclosure;

fig. 10C is a schematic view showing a state where the needle tip of the needle tube according to the example of the present disclosure slides down to the bottom of the medicine bottle along the inner wall of the medicine bottle.

Fig. 11 is a flowchart showing a pipetting step using the pipetting device according to the examples of the present disclosure.

Reference numerals illustrate:

1 … dispensing device, 2 … vial, 21 … vial, 3 … bag, 31 … port, 4 … pipette, 41 … syringe, 410 … flange, 42 … core, 43 … needle, 430 … needle tip, 44 … plunger, 45 … grip, 46 … stick, 10 … vial handling mechanism, 110 … first movement seat, 120 … vial grip, 130 … mount, 20 … bag handling mechanism, 210 … second movement seat, 220 … bag grip, 230 … support seat, 240 … suction cup, 30 pipette handling mechanism, 310 … third movement seat, 320 … pipette grip, 321 … first grip, 322 … second grip, 321a 2 first upper arm, 321b … first lower arm, 322a … second upper arm, 322b 2 second lower arm, 330 … pipetting mechanism, … first recess 332, 340 a … first clamping seat, … first clamping member, … second … station …, … second clamping member, … station … first and … station receiving part, … station … first and second clamping member.

Detailed Description

The liquid dispensing apparatus to which the present disclosure relates will be understood more readily by reference to the following detailed description of certain embodiments and the embodiments included therein, and to the figures and their previous and following description.

In the following description, the same members are denoted by the same reference numerals, and overlapping description thereof is omitted. In addition, the drawings are schematic, and the ratio of the sizes of the components to each other, the shapes of the components, and the like may be different from actual ones.

While particular examples of the present disclosure have been shown and described, it will be obvious to those skilled in the art that, based upon the teachings of this disclosure, changes and modifications may be made without departing from this disclosure and its broader aspects and, therefore, the appended claims are to encompass within their scope all such changes and modifications as are within the true spirit and scope of this disclosure. Those skilled in the art will appreciate that, in general, terms used in this disclosure are generally intended to be "open" terms (e.g., the term "comprising" should be interpreted as "including but not limited to," the term "having" should be interpreted as "having at least").

The present disclosure relates to a liquid dispensing device that dispenses a drug contained in a drug vial and a solution contained in a liquid bag through a syringe. In the present disclosure, the liquid dispensing device may also be referred to as a liquid dispensing system, a dispensing machine, a dispensing robot, a dispensing apparatus, an automated dispensing device, a liquid medicine mixing device, or the like. Through the liquid preparation device of this disclosure, can carry annotate aspirator, medicine bottle and liquid bag and through annotating the solution that holds in the medicine bottle and the solution that holds in the liquid bag with inhaling the aspirator and prepare.

In this embodiment, the vial according to the present disclosure may be an ampoule, a penicillin bottle, or other type of vial storing a medical fluid. The present disclosure relates to fluid bags and may refer to infusion bags, for example, fluid bags may be infusion bags used for intravenous infusion in the medical industry, for intravenous delivery of nutritional liquids, medications to patients by temporary storage, mixing of nutritional liquids, therapeutic medications.

In this embodiment, the present disclosure relates to an inhaler that may be used for mixed dispensing of infusate. The suction injector can suck and inject the transfusion medicine. The present disclosure relates to an aspirator, which may also be referred to as a syringe.

Hereinafter, the liquid dispensing device according to the present disclosure will be described in detail with reference to the accompanying drawings.

In the present embodiment, the liquid dispensing device is capable of transporting the suction syringe, the medicine bottle, and the liquid bag and transferring liquid between the medicine bottle and the liquid bag by the suction syringe.

Hereinafter, the liquid dispensing device according to the present disclosure will be described in detail with reference to the accompanying drawings.

Fig. 1 is an overall schematic diagram showing a liquid dispensing device 1 according to an example of the present disclosure.

In some examples, referring to fig. 1, the dispensing device 1 may include a vial handling mechanism 10, a fluid bag handling mechanism 20, and an pipettor handling mechanism 30. In some examples, the vial handling mechanism 10 may be used to handle and rotate the vial 2, the fluid bag handling mechanism 20 may be used to handle and rotate the fluid bag 3, and the pipettor handling mechanism 30 may be used to handle and rotate the pipettor 4. In some examples, the vial handling mechanism 10, the fluid bag handling mechanism 20, and the pipettor handling mechanism 30 may be movable.

In some examples, the dispensing device 1 may have a pipetting station. Specifically, the dispensing device 1 may have a first pipetting station a and a second pipetting station b, the first pipetting station a may be located in a region where the movement tracks of the medicine bottle carrying mechanism 10 and the pipette carrying mechanism 30 are overlapped, and the second pipetting station b may be located in a region where the movement tracks of the bag carrying mechanism 20 and the pipette carrying mechanism 30 are overlapped (see fig. 1). It should be understood that the ranges of the first pipetting station a and the second pipetting station b shown in fig. 1 are only exemplary illustrations and should not be construed as limiting the specific ranges of the first pipetting station a and the second pipetting station b.

Fig. 2 is a schematic diagram showing the medicine bottle handling mechanism 10 according to the example of the present disclosure.

In some examples, referring to fig. 2, the vial handling mechanism 10 may include a vial clamping portion 120 for clamping the vial 2. In some examples, the vial clamping portion 120 may releasably clamp the vial 2.

In some examples, the vial handling mechanism 10 may include a first mobile station 110 and a mounting plate 130 (see fig. 2). Wherein, the mounting plate 130 may be disposed on the first moving seat 110. The vial clamping section 120 may be provided to the mounting plate 130. The medicine bottle holding portion 120 is movable on the mounting plate 130 to hold the medicine bottle 2.

In some examples, the first motion seat 110 may be a robotic arm (see fig. 2). The first moving seat 110 may be configured to be movable. For example, in the example shown in fig. 2, the first moving seat 110 may move in the D1 direction, the D2 direction, the D3 direction, the D4 direction, the D5 direction, or the D6 direction. Therefore, the first moving seat 110 can drive the medicine bottle clamping portion 120 to clamp the medicine bottle 2 to be carried to a predetermined position, and further can facilitate the transfer of the medicine bottle 2.

In some examples, the mounting plate 130 may be planar (see fig. 2). The mounting plate 130 may be disposed at an end of the first moving seat 110. In some examples, an end of the first moving seat 110 may spin about a rotation axis L1 (see fig. 2). In other words, the mounting plate 130 may be provided on the first moving seat 110 in a manner to rotate about the rotation axis L1. In some examples, the mounting plate 130 may be disposed on the first moving seat 110 in a manner orthogonal to the rotation axis L1. In this case, the first moving base 110 drives the mounting plate 130 to rotate the medicine bottle holding portion 120, so that the medicine bottle 2 can be rotated and the medicine bottle 2 can be rotated to an appropriate angle.

Fig. 3 is a schematic diagram showing the fluid bag handling mechanism 20 according to the example of the present disclosure.

In some examples, referring to fig. 3, the fluid bag handling mechanism 20 may include a fluid bag gripping portion 220 for gripping the fluid bag 3, and the fluid bag gripping portion 220 may releasably grip the fluid bag 3. In some examples, referring to fig. 3, the fluid bag handling mechanism 20 may include a second movable mount 210, a support mount 230 rotatably disposed on the second movable mount 210, and a suction cup 240 disposed on the support mount 230. In some examples, the pouch clamp 220 may be disposed on the support base 230.

In some examples, the second motion base 210 may be a movable robotic arm. For example, in the example shown in fig. 3, the second moving seat 210 may move in an E1 direction, an E2 direction, an E3 direction, an E4 direction, an E5 direction, or an E6 direction. Thereby, the second movable base 210 can drive the liquid bag holding portion 220 to hold the liquid bag 3 and convey it to a predetermined position.

In some examples, the second motion base 210 and the support base 230 may be rotatably coupled. The support block 230 is rotatable about the rotation axis L2 (see fig. 3) with respect to the second movable block 210. In some examples, the second motion block 210 may drive the support block 230 to rotate. In this case, the second moving base 210 drives the support base 230 to rotate the pouch clamping portion 220, thereby rotating the medicine bottle 2 and rotating the medicine bottle 2 to an appropriate angle.

In some examples, the bearing 230 may be flat. The support block 230 may be disposed on the second movable block 210 such that the larger end surface is orthogonal to the rotation axis L2. The pouch grip 220 and the suction cup 240 may be disposed at an end surface of the support base 230 opposite to the second moving base 210. This allows reasonable layout of the arrangement of the liquid bag holding portion 220, the second holding portion 322, and the suction cup 240 on the support base 230.

When dispensing liquid, the liquid bag transporting mechanism 20 can clamp the liquid bag 3 and move to the second pipetting station b, and make the liquid bag 3 form a predetermined angle with the rotating shaft L2, and the sucker 240 can adsorb the liquid bag 3 when the liquid bag 3 forms a predetermined angle with the rotating shaft. In this case, the stability of the liquid bag 3 during rotation can be improved by the suction cup 240, so that the liquid bag 3 can be conveniently matched with the suction injector 4 to transfer the liquid medicine, the liquid bag 3 can be enabled to be at a preset angle with the rotation shaft by rotating the supporting seat 230, the supporting seat 230 can be conveniently used for driving the liquid bag 3 to rotate to different angles, and then the liquid medicine in the liquid bag 3 can be conveniently obtained.

In some examples, the suction cup 240 may have a vacuum pump built in to enable the suction cup 240 to more stably suck the liquid bag 3, so that the liquid bag 3 can be more stably turned over, and at the same time, sagging and folding of the liquid bag 3 after turning over can be prevented. In some examples, the number of suction cups 240 may be multiple, such as 2,3, or 4. In the embodiment shown in fig. 3, the number of suction cups 240 is 2, and the suction cups 240 may be arranged along the length of the fluid bag 3. In this case, the suction cup 240 can be more firmly attached to the liquid bag 3.

Fig. 4 is an overall schematic diagram showing the suction and injection device handling mechanism 30 according to the example of the present disclosure. Fig. 5 is a partial schematic diagram illustrating an pipette handling mechanism 30 according to an example of the present disclosure. Fig. 6 is a schematic diagram showing the inhaler 4 according to the example of the present disclosure.

In some examples, referring to fig. 4, the pipettor handling mechanism 30 may include a third movable mount 310 and an pipettor clamp 320 (see fig. 4). The third movable mount 310 may be configured to be movable, and the syringe holding portion 320 may be used to hold the syringe 4. In some examples, the pipettor clamp 320 may be disposed on the third travel base 310. In some examples, the inhaler gripping portion 320 may releasably grip the inhaler 4.

In some examples, the third motion seat 310 may be a movable robotic arm. For example, in the example shown in fig. 4, the third moving seat 310 may move in the F1 direction, the F2 direction, the F3 direction, the F4 direction, the F5 direction, or the F6 direction. Thereby, the third movable base 310 can drive the medicine bottle holding portion 120 to hold the medicine bottle 2 and convey it to a predetermined position.

In some examples, referring to fig. 4, the pipette handling mechanism 30 may further include a carrier 340, the carrier 340 may be rotatably coupled to the third movable mount 310. In some examples, the carrier 340 may spin about the rotation axis L3 relative to the third motion stage 310 (see fig. 4). In some examples, the pipette holder 320 and pipetting mechanism 330 may be disposed on a carrier 340 (see fig. 4). In this case, the carrier 340 may be driven to move or rotate by the third moving base 310 to move or rotate the suction and injection device holding portion 320, so that the position or orientation of the suction and injection device 4 held by the suction and injection device holding portion 320 can be adjusted, and the suction and injection device 4 can be moved to a predetermined position, thereby facilitating the transfer of the suction and injection device 4.

In some examples, the carrier 340 may be rotatably coupled with the third movable mount 310 by a rotation shaft. The axial direction of the rotation shaft L3 may be orthogonal to the longitudinal direction of the syringe 4 held by the syringe holding section 320.

In some examples, referring to fig. 6, the syringe 4 may include a syringe 41 having a receiving chamber, a core 42 movably disposed within the interior of the syringe 41, and a needle tube 43 in communication with the receiving chamber. In some examples, the stem 42 may have a stem 46, a piston 44 disposed at one end of the stem 46 and within the syringe 41, and a grip 45 at the other end of the stem 46, the grip 45 may be an outwardly extending flange 410 structure at the other end of the stem 46. In some examples, the end of syringe 41 opposite needle 43 may have flange 410, flange 410 may be an outwardly extending portion of the outer wall of syringe 41, and flange 410 may also be referred to as a finger grip or a thumb.

In some examples, referring to fig. 4, the pipette handling mechanism 30 may include a pipetting mechanism 330. When the pipettor 4 is gripped by the pipettor grip 320, the grip 45 of the pipettor 4 may be positioned within the pipetting mechanism 330 and the pipetting mechanism 330 may be used to push the core bar 42 to aspirate and inject the pipettor 4 for automated dispensing. In some examples, the pipetting mechanism 330 may be disposed on the pipettor handling mechanism 30 and perform pipetting by controlling the pipettor 4 to aspirate or push a medical fluid.

In some examples, the aspirator clip 320 can include a first clip portion 321, and a second clip portion 322 that can move toward or away from the first clip portion 321 (see fig. 5). In some examples, the first grip 321 and the second grip 322 may cooperate to form a gripping space that mates with the syringe 41. The clamping space of the suction and injection device 4 refers to a region between the first clamping portion 321 and the second clamping portion 322. When picking up the syringe 4, the carrier 340 may be driven to move toward the syringe 4 to bring the syringe 4 into the holding space, the first holding portion 321 and the second holding portion 322 move toward each other (see fig. 5, the first holding portion 321 moves toward the F3 direction, and the second holding portion 322 moves toward the F4 direction) and hold the syringe 41 in such a manner that the first holding portion 321 and the second holding portion 322 abut against the syringe 41 from two directions, respectively (see fig. 4). In this case, the suction and injection device 4 can be automatically held by the suction and injection device holding portion 320, and at the same time, the stability of holding the suction and injection device 4 by the suction and injection device holding portion 320 can be improved, thereby further contributing to improvement of the accuracy of injection and suction.

In some examples, the carrying platform 340 may have a sliding rail orthogonal to the length direction of the suction injector 4, and the first clamping portion 321 and the second clamping portion 322 may be disposed on the carrying platform 340 by a sliding groove matching the sliding rail. Thereby, the first clamping portion 321 and the second clamping portion 322 can be moved in the longitudinal direction orthogonal to the syringe 4 to clamp the syringe 4.

In some examples, injection tube 41 may have a lower half that is relatively close to needle cannula 43, and an upper half that is relatively far from needle cannula 43. In some examples, the first clamping portion 321 and the second clamping portion 322 may be a double-layered structure. Specifically, the first clamping portion 321 may have a first upper arm 321a and a first lower arm 321b, and the second clamping portion 322 may have a second upper arm 322a and a second lower arm 322b (see fig. 5). The first upper arm 321a cooperates with the second upper arm 322a to clamp the upper half of the syringe 41, and the first lower arm 321b cooperates with the second lower arm 322b to clamp the lower half of the syringe 41. In this case, by simultaneously clamping the upper half and the lower half of the syringe 41, the stability of the suction and injection device 4 clamped by the suction and injection device clamping portion 320 can be improved.

Fig. 7 is a schematic view showing that the holding portion 45 according to the example of the present disclosure is engaged with the accommodating portion 332.

In some examples, referring to fig. 5 and 7, the pipetting mechanism 330 may include a receptacle 332 having a recess. In the present disclosure, the groove of the receiving portion 332 is referred to as a first groove 331 for more clear description. In some examples, first groove 331 may match the outer contour of grip 45. When the pipettor 4 is picked up by the pipettor handling mechanism 30, the grip 45 of the pipettor 4 may be located within the first recess 331. In this case, the plunger 42 can be moved in the longitudinal direction of the syringe 41 by moving the drive receiving portion 332 in the longitudinal direction of the plunger 42 to perform inhalation.

In some examples, matching the outer profile of the first groove 331 with the outer profile of the grip 45 may mean that the shape of the first groove 331 substantially matches the outer profile of the grip 45, and that the grip 45 can be completely snapped into the first groove 331. For example, the outer contour of the grip portion 45 may be substantially T-shaped, and the first groove 331 may be substantially T-shaped. In this case, when the pipetting mechanism 330 is driven to move toward the pipette 4 to engage the grip portion 45 with the first groove 331 matching the outer contour of the grip portion 45, the stability of engagement can be improved, and the pipetting error can be reduced.

In some examples, the opening of the first recess 331 toward the suction injector 4 may be splayed outward (see fig. 5). In this case, the suction and injection device 4 can be facilitated to enter the accommodating portion 332 in the F2 direction.

In some examples, the third movable seat 310 may have a sliding rail consistent with the length direction of the core bar 42, and the receiving portion 332 may be provided on the third movable seat 310 through a sliding groove matched with the sliding rail. Thereby, the accommodating portion 332 can be moved in the longitudinal direction of the core bar 42.

In some examples, first recess 331 may have a resilient member 333 (see fig. 7) therein. When the grip 45 of the inhaler 4 does not enter the first recess 331, the elastic member 333 is in a natural state and the convex surface of the elastic member 333 may face downward. When the grip portion 45 of the inhaler 4 enters the first recess 331, the elastic member 333 abuts against the upper surface of the grip portion 45, and the elastic member 333 is in a compressed state due to the force of the grip portion 45 (see fig. 7). In order to allow the syringe 4 to smoothly enter the first recess 331, it is generally necessary to set the size of the first recess 331 to be slightly larger than the grip portion 45, and at this time, there is a certain gap between the upper surface of the grip portion 45 and the inside of the first recess 331, which may affect the accuracy of the injection amount of the liquid medicine during the injection, in this case, by providing the elastic member 333 in the first recess 331, when the accommodating portion 332 moves along the longitudinal direction of the stem 42 and cooperates with the grip portion 45 to control the movement of the stem 42 to perform the injection, particularly, in the process of moving the stem 42 in the direction approaching the needle tube 43, since the elastic member 333 abuts against the upper surface of the grip portion 45 and the elastic member 333 is in the compressed state by the force of the grip portion 45, the elastic member 333 generates only a negligible minimal deformation, and thus the accuracy of the injection amount due to the gap between the upper surface of the grip portion 45 and the first recess 331 can be reduced, and the accuracy of the injection and suction of the automatic injection can be improved.

In some examples, the resilient member 333 may be a resilient pad. In this case, it can be convenient to provide elastic force to the grip 45. In some examples, the resilient pad may be in the form of a sheet. When the grip 45 of the inhaler 4 does not enter the first recess 331, the convex surface of the resilient pad may face downward. In this case, the suction and injection device 4 can be facilitated to enter the accommodating portion 332 in the F2 direction.

In some examples, the direction of the elastic force when the elastic member 333 abuts against the grip portion 45 may coincide with the length direction of the stem 42 (see fig. 7). In this case, the elastic member 333 can generate an elastic force in the extending direction (for example, the F6 direction shown in fig. 7) along the stem 42 toward the needle tube 43 on the grip portion 45, and the upper surface of the grip portion 45 can be bonded to the elastic member 333 while the lower surface of the grip portion 45 is bonded to the inner wall of the first recess 331, so that the stability of picking up the pipette 4 by the pipette handling mechanism 30 can be improved, and the accuracy of injection and suction at the time of automatic injection can be further improved.

In some examples, the pipette handling mechanism 30 may further include a catch 341 with a groove (see fig. 5). In the present disclosure, the groove of the catching portion 341 is referred to as a third groove for more clear description. The clamping portion 341 may be disposed on the third moving seat 310. In some examples, the second groove 342 may match the outer contour of the flange 410 of the syringe 4, and the second groove 342 may be opposite the position of the flange 410, with the flange 410 at least partially within the second groove 342 when the syringe 4 is held in the syringe holder 320. In this case, by fixing the flange 410 of the syringe 41 while holding the syringe 4, it is possible to advantageously improve the stability of the syringe carrier mechanism 30 for picking up the syringe 4; when the pipette mechanism 330 pushes and pulls the stem 42, the syringe 41 can be fixed by the holding portion 341 so that the stem 42 can move in the accommodating chamber of the syringe 41.

In some examples, the pipettor handling mechanism 30 may rotate the pipettor 4 to place the pipettor 4 in an upright or inverted state. In some examples, the aspirator 4 being in a positive position means that the needle tip 430 of the aspirator 4 is facing downward and the axial direction of the aspirator 4 is parallel to the vertical direction; the upside-down state of the aspirator 4 means that the needle point 430 of the aspirator 4 is upward, and the axial direction of the aspirator 4 is parallel to the vertical direction. In other examples, the suction device 4 may be in a normal state or an inverted state, which merely indicates that the needle point 430 of the suction device 4 faces downward or upward, and it is not necessarily limited whether the axial direction of the suction device 4 is parallel to the vertical direction.

Fig. 8A is a schematic diagram showing the placement of the vial 2 with the vial tube 43 into the vial 2 for pipetting in accordance with examples of the present disclosure; fig. 8B is a schematic view showing the placement of the needle tube 43 into the vial 2 for pipetting when the vial 2 according to the example of the present disclosure is tilted.

In some examples, referring to fig. 8A and 8B, vial 2 may have a mouth 21 and needle tube 43 of aspirator 4 may be placed into mouth 21 of vial 2 for pipetting.

In some examples, the vial handling mechanism 10 may move the vial 2 to the first pipetting station a, the pipettor handling mechanism 30 may move the pipettor 4 to the first pipetting station a and control the pipettor 4 to be adjacent to the vial 2 such that the needle tube 43 of the pipettor 4 is placed into the mouth 21 of the vial 2 and the pipettor 4 is controlled by the pipetting mechanism 330 to pipetting the vial 2.

In some examples, referring to fig. 8A and 8B, the medicine bottle handling mechanism 10 may rotate the medicine bottle 2 before moving the medicine bottle 2 to the first pipetting station a or after moving the medicine bottle 2 to the first pipetting station a or during moving the medicine bottle 2 to the first pipetting station a, so that the medicine bottle 2 is set up or the medicine bottle 2 is rotated to form an inclination angle with the axial direction of the medicine bottle 2 to the vertical direction.

In some examples, as shown in fig. 8A, when it is desired to inject a medicine into the medicine bottle 2, the medicine bottle 2 may be moved before or after the first pipetting station a or the medicine bottle 2 may be set up during the movement to the first pipetting station a, and after the medicine bottle 2 is set up, the pipette handling mechanism 30 moves the pipette 4 to the first pipetting station a and rotates the pipette 4 based on the state of the medicine bottle 2 so that the pipette 4 is set up to set the needle tube 43 into the medicine bottle 2, and then the pipette handling mechanism 330 controls the pipette 4 to inject the medicine into the medicine bottle 2. Thereby, the injection of the drug solution into the drug vial 2 can be performed conveniently.

In some examples, positioning the vial 2 upright may refer to having the mouth 21 of the vial 2 facing upward and having the axis of the vial 2 parallel to the vertical. In some examples, placing the vial 2 upright may also simply mean having the mouth 21 of the vial 2 facing upward.

In some examples, as shown in fig. 8B, when it is required to extract the liquid medicine from the medicine bottle 2, the medicine bottle 2 may be rotated to form an inclination angle with the vertical direction in the axial direction of the medicine bottle 2 before moving to the first pipetting station a or after moving to the first pipetting station a or during moving to the first pipetting station a. After the medicine bottle 2 is tilted, the pipette handling mechanism 30 moves the pipette 4 to the first pipetting station a, rotates the pipette 4 based on the state of the medicine bottle 2 to set the pipette 4 in the normal position to set the needle tube 43 into the medicine bottle 2, and then controls the pipette 4 to withdraw the medicine liquid from the medicine bottle 2 by the pipetting mechanism 330. As shown in fig. 8B, the needle point 430 of the inhaler 4 may be positioned near the bottom of the medicine bottle 2 in the inclined state, and when the medicine in the medicine bottle 2 is extracted, the medicine can be extracted to the maximum extent. In this case, by rotating the medicine bottle 2 so that the axial direction of the medicine bottle 2 forms an inclination angle with the vertical direction and inserting the needle tube 43 of the suction syringe 4 into the medicine bottle 2, it is possible to simulate an artificial pipetting operation, and as much as possible, the medicine liquid in the medicine bottle 2 can be extracted, and the residual medicine liquid in the medicine bottle 2 can be reduced, thereby improving the utilization ratio of the medicine liquid in the medicine bottle 2.

In some examples, the inclination angle formed by the rotation of the medicine bottle 2 by the medicine bottle carrying mechanism 10 can be adjusted adaptively according to the axial length of the medicine bottle 2 to be pipetted, the size of the bottle mouth 21 and the thickness of the bottle wall, so that more medicine can be extracted to the greatest extent after the needle tube 43 of the suction injector 4 enters the medicine bottle 2.

Fig. 9A is a schematic diagram showing the liquid bag 3 according to the example of the present disclosure in a normal position; fig. 9B is a schematic view showing the placement of the needle tube 43 into the liquid bag 3 for pipetting when the liquid bag 3 is inverted according to the example of the present disclosure.

In some examples, referring to fig. 9A and 9B, the fluid bag 3 may have a mouth 31 and the needle tube 43 of the pipette 4 may be placed into the mouth 31 of the fluid bag 3 for pipetting. In some examples, the port 31 may have a cap for closing the port 31, and the cap may be made of soft elastic and puncturable rubber, and may automatically block the puncture port after puncturing is completed to prevent leakage of the medical fluid. Thus, leakage of the chemical liquid in the liquid bag can be prevented as much as possible by the bag cap.

In some examples, the fluid bag handling mechanism 20 may move the fluid bag 3 to the second pipetting station b, and the pipettor handling mechanism 30 may move the pipettor 4 to the second pipetting station b and control the pipettor 4 to approach the fluid bag 3 such that the needle tube 43 of the pipettor 4 is placed into the pocket 31 of the fluid bag 3 and the pipettor 4 is controlled by the pipetting mechanism 330 to pipetting the fluid bag 3.

In some examples, referring to fig. 9A and 9B, the fluid bag handling mechanism 20 may rotate the fluid bag 3 before moving the fluid bag 3 to the second pipetting station B or after moving to the second pipetting station B or during moving to the second pipetting station B to place the fluid bag 3 in the normal position or rotate the fluid bag 3 to invert the fluid bag 3.

In some examples, as shown in fig. 9A, when it is desired to inject a liquid medicine into the liquid bag 3, the liquid bag 3 may be moved to before the second pipetting station b or after the second pipetting station b or during the movement to the second pipetting station b, the liquid bag 3 may be set up, and after the liquid bag 3 is set up, the pipette handling mechanism 30 moves the pipette 4 to the second pipetting station b, and rotates the pipette 4 based on the state of the liquid bag 3 so that the pipette 4 is set up to set the needle tube 43 into the liquid bag 3, and then the pipette 4 is controlled to perform the liquid medicine injection into the liquid bag 3 by the pipetting mechanism 330. Thereby, the injection of the chemical solution into the liquid bag 3 can be performed conveniently.

In some examples, as shown in fig. 9B, when it is desired to draw the liquid medicine from the liquid bag 3, in order to prevent the suction of air or the shortage of liquid medicine caused by the evacuation of the suction syringe 4, the liquid bag 3 may be moved before or after the second pipetting station B or during the movement to the second pipetting station B, the liquid bag 3 may be rotated to invert the liquid bag 3. After the inversion of the liquid bag 3, the pipette handling mechanism 30 moves the pipette 4 to the second pipetting station b, and rotates the pipette 4 based on the state of the liquid bag 3 to invert the pipette 4 to place the needle tube 43 into the liquid bag 3, and then the pipetting mechanism 330 controls the pipette 4 to perform drawing of the liquid medicine. In this case, by inverting the liquid bag 3 and the suction and injection device 4 to draw the liquid medicine from the liquid bag 3, the problem that the suction and injection device 4 sucks air and cannot draw the liquid medicine can be reduced.

In some examples, positioning the fluid bag 3 in a right position may refer to having the opening of the fluid bag 3 facing upwards. In some examples, positioning the fluid bag 3 in a straight position may refer to having the opening of the fluid bag 3 facing upwards and having the axis of the fluid bag 3 parallel to the vertical. In some examples, inverting the fluid bag 3 may refer to rotating the fluid bag 3 such that the opening of the fluid bag 3 is facing downward. In some examples, inverting may refer to rotating the fluid bag 3 such that the opening of the fluid bag 3 is downward and such that the axis of the fluid bag 3 is parallel to the vertical.

In some examples, the act of rotating the pipettor 4 to place the needle cannula 43 into the medicine bottle 2 or the liquid bag 3 based on the state of the medicine bottle 2 or the liquid bag 3 may be accomplished before or during the movement of the pipettor 4 to the first pipetting station a or the second pipetting station b by the pipettor handling mechanism 30.

In some examples, the pipetting operations may include drawing a medical fluid and injecting the medical fluid. This can better extract the drug solution from the drug bottle 2 or the liquid bag 3 or inject the drug solution into the drug bottle 2 or the liquid bag 3, thereby completing the dispensing operation.

In summary, in dispensing, the medicine bottle handling mechanism 10 may move the medicine bottle 2 to the first pipetting station a to place the medicine bottle 2 upright or rotate the medicine bottle 2 to form an inclination angle with the vertical direction in the axial direction of the medicine bottle 2, the bag handling mechanism 20 may move the liquid bag 3 to the second pipetting station b to place the liquid bag 3 upright or rotate the liquid bag 3 to invert the liquid bag 3, the pipette handling mechanism 30 may control the pipette 4 to move between the first pipetting station a and the second pipetting station b, and the pipette handling mechanism 30 may rotate the pipette 4 to place the needle tube 43 into the liquid bag 3 based on the state of the liquid bag 3 in the second pipetting station b, and the pipetting mechanism 330 may control the pipette 4 to perform a pipetting operation to transfer the pipette 4 between the medicine bottle 2 and the liquid bag 3.

In the embodiment, the medicine bottle 2, the liquid bag 3 and the suction and injection device 4 can be respectively moved to the pipetting station by the liquid dispensing device 1, and the medicine bottle 2, the liquid bag 3 and the suction and injection device 4 are rotated to the proper directions to respectively pump or inject the medicine liquid into the medicine bottle 2 or the liquid bag 3 by the suction and injection device 4 so as to realize the pipetting operation, thereby being capable of more conveniently performing full-flow automatic liquid dispensing.

Fig. 10A is a schematic view showing a needle tube 43 according to an example of the present disclosure just before placement into a medicine bottle 2; fig. 10B is a schematic view showing the contact wall after the needle tube 43 according to the example of the present disclosure is placed in the medicine bottle 2; fig. 10C is a schematic view showing the needle tip 430 of the needle tube 43 according to the example of the present disclosure sliding down the inner wall of the medicine bottle 2 to the bottom of the medicine bottle 2.

In some examples, the injector handling mechanism 30 may have a soft floating function that can be opened and closed, and when the soft floating function is opened, the connection between the third movable base 310 and the carrying platform 340 may exhibit a certain soft characteristic, and may be subjected to an external force to perform a following motion within a certain range. When dispensing liquid, the soft floating function can be started after the needle point 430 of the suction and injection device 4 is placed into the medicine bottle 2 by the suction and injection device carrying mechanism 30, and then the needle point 430 is continuously moved to the bottom of the medicine bottle 2 according to a preset program. In this case, even if the needle tip 430 is in contact with the inner wall of the bottle during the movement of the needle tip 430 of the inhaler 4 from the mouth 21 of the medicine bottle 2 to the bottom of the bottle, the needle tube 43 is slightly inclined by the soft floating function to allow the needle tip 430 to continue sliding along the inner wall to the bottom of the bottle, thereby preventing the needle tip 430 from piercing the bottle wall or the like, improving the safety of the overall liquid preparation process, and further allowing the needle tip 430 to approach the bottom of the inner wall of the bottle to improve the utilization ratio of the medicine liquid in the medicine bottle 2.

In some examples, the soft floating function may refer to the fact that the inhaler 4 controlled by the carrier 340 exhibits better flexibility between the third movable base 310 and the carrier 340 when physically interacting with the vial 2 or the drug bag, so as to reduce damage to the vial 2, the drug bag, the inhaler 4, and even the inhaler handling mechanism 30 due to excessive impact forces.

In some examples, referring to fig. 10A, 10B and 10C, after the syringe handling mechanism 30 has placed the needle tip 430 of the syringe 4 into the vial 2 as shown in fig. 10A, the soft float function of the syringe handling mechanism 30 may be activated at this time, and the syringe handling mechanism 30 may then continue to control the downward movement of the syringe 4. As shown in fig. 10B, when the needle tip 430 of the syringe 4 touches the inner wall of the medicine bottle 2, the soft floating function of the syringe handling mechanism 30 is turned on, and the syringe handling mechanism 30 controls the syringe 4 to tilt to some extent due to the effect of the reaction force and to continue to slide down along the inner wall of the medicine bottle 2 until the bottom of the medicine bottle 2 (as shown in fig. 10C). Thus, the probability of the needle tip 430 piercing the bottle wall can be reduced, the safety of the overall liquid preparation flow can be improved, and the needle tip 430 can be further brought close to the bottom of the inner wall of the bottle so that the suction and injection device 4 can extract as much of the liquid medicine in the medicine bottle 2 as possible, thereby improving the utilization rate of the liquid medicine in the medicine bottle 2.

In some examples, the soft float function of the syringe handling mechanism 30 may be activated after the needle tip 430 of the syringe 4 pierces the fluid bag 3 during dispensing. This can improve the safety of the overall liquid preparation flow, while suppressing the occurrence of an unexpected situation such as the piercing of the liquid bag 3 by the needle tip 430.

Fig. 11 is a flowchart showing a pipetting step using the liquid dispensing device 1 according to the example of the present disclosure.

In some examples, the step of pipetting with the pipetting device 1 may include the vial 2 being moved to the first pipetting station a by the vial handling mechanism 10 to either right up the vial 2 or rotate the vial 2 to tilt the axis of the vial 2 from the vertical (step S100); the liquid bag carrying mechanism 20 moves the liquid bag 3 to the second pipetting station b to put the liquid bag 3 upright or rotates the liquid bag 3 to invert the liquid bag 3 (step S200); the pipette handling mechanism 30 controls the pipette 4 to move between the first pipetting station a and the second pipetting station b (step S300); when the pipette 4 is moved to the first pipetting station a or the second pipetting station b, the pipette handling mechanism 30 rotates the pipette 4 to place the needle tube 43 into the medicine bottle 2 or the liquid bag 3 according to the state of the medicine bottle 2 or the liquid bag 3 (step S400); the pipetting mechanism 330 controls the pipette 4 to perform a pipetting operation (step S500) (see fig. 11).

In the present disclosure, the step of pipetting with the pipetting device 1 may also be referred to as "method of pipetting with the pipetting device 1" or "pipetting method".

In step S100, when it is necessary to inject the drug solution into the drug vial 2, the drug vial 2 may be subjected to a normal process, and in general, when it is necessary to inject the drug solution into the drug vial 2, the drug solution extracted from the other drug vial 2 or the drug solution bag 3 by the inhaler 4 is mixed with the drug solution or the powder of the current drug vial 2 to obtain a new mixed drug. When the medicine liquid is required to be extracted from the medicine bottle 2, the medicine bottle 2 can be rotated to form an inclined angle with the axial direction and the vertical direction of the medicine bottle 2, and then the needle tube 43 is placed at the bottom of the medicine bottle 2, so that the artificial pipetting operation can be simulated, the medicine liquid in the medicine bottle 2 can be extracted as much as possible, the residual medicine liquid in the medicine bottle 2 is reduced, and the utilization rate of the medicine liquid in the medicine bottle 2 is improved.

In step S200, when it is necessary to inject the chemical liquid into the liquid bag 3, the liquid bag 3 may be subjected to the normal process. When it is necessary to draw out the liquid medicine from the liquid bag 3, the liquid bag 3 may be rotated to invert the liquid bag 3, and then the needle tube 43 may be inserted into the liquid bag 3 from the bottom up, whereby the problem that the suction syringe 4 sucks air and cannot draw out the liquid medicine can be reduced.

In step S400, when the pipette handling mechanism 30 moves the pipette 4 to the second pipetting station b, the pipette handling mechanism 30 may rotate the pipette 4 based on the state of the liquid bag 3 to place the needle tube 43 into the liquid bag 3. For example, when the liquid bag 3 is in the upright position, the suction-syringe carrying mechanism 30 can upright position the suction syringe 4 so that the needle tube 43 can be placed into the liquid bag 3 from the mouth 31 of the liquid bag 3; when the liquid bag 3 is in an inverted state, the suction and injection device carrying mechanism 30 can invert the suction and injection device 4 to be matched with the liquid bag 3, and simultaneously can put the needle tube 43 into the liquid bag 3 from the bag opening 31 of the liquid bag 3 for liquid transferring.

In summary, through the liquid dispensing device 1 according to the present disclosure, the medicine bottle 2, the liquid bag 3 and the suction and injection device 4 can be moved to the pipetting station, and the medicine bottle 2, the liquid bag 3 and the suction and injection device 4 are rotated to the appropriate directions to extract or inject the medicine liquid from the medicine bottle 2 or the liquid bag 3 through the suction and injection device 4, respectively, so as to realize the pipetting operation, thereby the full-process automatic liquid dispensing can be more conveniently performed.

While the disclosure has been described in detail in connection with the drawings and examples, it is to be understood that the foregoing description is not intended to limit the disclosure in any way. Modifications and variations of the present disclosure may be made as desired by those skilled in the art without departing from the true spirit and scope of the disclosure, and such modifications and variations fall within the scope of the disclosure.

Claims (10)

1. The liquid dispensing device is characterized by comprising a medicine bottle conveying mechanism for conveying and rotating medicine bottles, a liquid bag conveying mechanism for conveying and rotating a liquid bag and a liquid suction and injection device conveying mechanism for conveying and rotating a liquid suction and injection device, wherein the liquid suction and injection device conveying mechanism comprises a liquid moving mechanism for controlling the liquid suction and injection device to perform liquid moving operation, the liquid dispensing device is provided with a first liquid moving station and a second liquid moving station, the first liquid moving station is positioned in a region where the moving track of the medicine bottle conveying mechanism and the moving track of the liquid suction and injection device conveying mechanism can be overlapped, the second liquid moving station is positioned in a region where the moving track of the liquid bag conveying mechanism and the liquid suction and injection device conveying mechanism can be overlapped, during liquid dispensing, the medicine bottle conveying mechanism moves the medicine bottle to the first liquid moving station to enable the medicine bottle to form an inclined angle with the vertical direction, the liquid bag conveying mechanism moves the liquid suction bag to the second liquid moving station to enable the liquid suction bag to be arranged to the liquid suction bag conveying mechanism to be reversely arranged, and the liquid suction bag conveying mechanism is arranged between the liquid suction bag conveying mechanism and the liquid suction and injection device is controlled to be reversely arranged, and the liquid suction bag conveying mechanism is arranged between the liquid suction bag conveying mechanism and the liquid suction bag conveying mechanism.

2. The fluid dispensing device of claim 1 wherein the pipetting operation comprises drawing a fluid and injecting a fluid.

3. The liquid dispensing device of claim 1, wherein when liquid medicine is drawn from the medicine bottle, the medicine bottle handling mechanism moves the medicine bottle to the first pipetting station and rotates the medicine bottle so that an axial direction of the medicine bottle forms an inclination angle with a vertical direction, the pipette handling mechanism moves the pipette so that a needle tube of the pipette is placed in the medicine bottle, and the pipetting mechanism controls the pipette to draw.

4. The liquid dispensing device of claim 1, wherein when liquid medicine is drawn from the liquid bag, the liquid bag handling mechanism moves the liquid bag to the second pipetting station and rotates the liquid bag to invert the liquid bag, the pipettor handling mechanism rotates the pipettor to invert the pipettor, the pipettor handling mechanism moves the pipettor to place a syringe of the pipettor into the liquid bag, and the pipetting mechanism controls the pipettor to draw.

5. The dispensing device of claim 1, wherein upon injection into the vial or the bag, the vial handling mechanism moves the vial to the first pipetting station and positions the vial in the normal position, the bag handling mechanism moves the bag to the second pipetting station and positions the bag in the normal position, the pipette handling mechanism moves the pipette to the first pipetting station or the second pipetting station, and the pipetting mechanism controls the pipette to inject into the vial or the bag.

6. The liquid dispensing device of claim 1, wherein the vial handling mechanism comprises a first movable base and a vial gripping section rotatably disposed on the first movable base and releasably gripping the vial, and wherein the syringe handling mechanism comprises a third movable base and a syringe gripping section rotatably disposed on the third movable base and releasably gripping the syringe.

7. The liquid dispensing device of claim 6, wherein the syringe comprises a syringe having a receiving chamber, a stem movably disposed in an inner cavity of the syringe, and a needle tube communicating with the receiving chamber, the stem having a rod body, a piston disposed at one end of the rod body and disposed in the syringe, and a grip portion disposed at the other end of the rod body, the liquid-moving mechanism comprises a receiving portion having a first groove matching an outer contour of the grip portion, and an elastic member disposed in the first groove, a lower surface of the elastic member being abutted against an upper surface of the grip portion disposed in the first groove when the grip portion is disposed in the first groove.

8. The liquid dispensing device according to claim 7, wherein the suction and injection device holding portion includes a first holding portion and a second holding portion movable toward and away from the first holding portion, the first holding portion and the second holding portion cooperate to form a holding space that matches the syringe, when the suction and injection device is picked up, the suction and injection device holding portion moves toward the suction and injection device to bring the suction and injection device into the holding space and engage the holding portion with the first groove of the pipetting mechanism, and the first holding portion and the second holding portion move toward and hold the syringe with the first holding portion and the second holding portion abutting the syringe from two directions, respectively.

9. The liquid dispensing device according to claim 1, wherein the liquid bag handling mechanism includes a movable second movable base, a support base rotatably provided on the second movable base about a rotation axis, a suction cup provided on the support base, and a liquid bag holding portion releasably holding the liquid bag and provided on the support base, and when dispensing liquid, the liquid bag handling mechanism holds the liquid bag to move to the second liquid transfer station and makes the liquid bag at a predetermined angle to the rotation axis, and the suction cup adsorbs the liquid bag when the liquid bag makes a predetermined angle to the rotation axis.

10. The liquid dispensing device of claim 1, wherein said pipette handling mechanism has an openable and closable soft float function, and wherein said pipette handling mechanism opens said soft float function after placing a needle tip of said pipette into said vial during dispensing.