CN202762372U - Automatic dispensing system - Google Patents
Automatic dispensing system Download PDFInfo
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- CN202762372U CN202762372U CN201220447205.0U CN201220447205U CN202762372U CN 202762372 U CN202762372 U CN 202762372U CN 201220447205 U CN201220447205 U CN 201220447205U CN 202762372 U CN202762372 U CN 202762372U
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- bottle
- dispensing system
- turntable
- automatic dispensing
- hold assembly
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Abstract
The utility model is applicable to the technical field of automatic dispensing methods and devices, and discloses an automatic dispensing system. The automatic dispensing system comprises a bench, and a liquor input shaking device, a mother liquor bottle clamping component, a hose filling and transferring and liquor dispensing device, a multi-shaft robot and a bottle breaking device are arranged on the bench. The liquor input shaking device is used for locating medicine bottles and shaking liquors well, the mother liquor bottle clamping component is used for locating mother liquors, the hose filling and transferring and liquor dispensing device is used for clamping, and transferring hoses and pumping liquors, the multi-shaft robot is used for clamping and moving infusion hose needles and the medicine bottles, and the bottle breaking device is used for breaking off the medicine bottles. By means of the automatic dispensing system, a plurality of groups of liquors can be dispensed rapidly, the dispensing efficiency is improved, the medical personnel labor intensity is reduced greatly, and the guaranteeing of medical personnel health and safety is facilitated.
Description
Technical field
The utility model belongs to automation dosage and equipment technical field, relates in particular to a kind of automatic dispensing system.
Background technology
At present, the mode of compounding pharmaceutical is all hand-manipulated by medical personnel in the hospital.The liquid that for example the preparation has an injection or garter is used, medicine are admitted to injection section after taking out from the pharmacy.The prescription that the medical personnel of injection section open according to the doctor singly carries out craft and makes up a prescription.Medical personnel need the manual operation syringe, by take out push away syringe push rod to finish the suction of liquid.Medical personnel's working strength is high during operation, and the medicine that has has toxicity, and medical personnel's safety is had larger threat.
The utility model content
The purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art, a kind of automatic dispensing system is provided, and it can realize automated dispensing, and medical personnel need not manual preparating liquid, greatly reduce medical personnel's labour intensity, be conducive to ensure that medical personnel's is healthy and safe.
The technical solution of the utility model is:
A kind of automatic dispensing system comprises stand, is provided with on the described stand:
Be used for the location medicine bottle and shake up liquid liquid input oscillating uniform device,
Be used for the location mother liquor the mother liquid multi-cavity bottle hold assembly,
Be used for that folder moves, the flexible pipe filling transfer of transfer flexible pipe and pumping liquid and chemical solution distributing apparatus,
Be used for the syringe needle of clamping and mobile described infusion tube and medicine bottle multi-axis robot,
Disconnected bottle for the medicine bottle that fractures.
Particularly, described liquid input oscillating uniform device comprises and can circumferentially rotate and be used for that medicine bottle is sent to the input rotating disk of desired location and be used for driving the driver part that shakes up that described input rotating disk rocks, described input rotating disk is driven by rotatable parts, be provided with the position, hole for accommodating medicine bottle on the described input rotating disk, also be provided with on the described input rotating disk for the clip parts of described clamping medicine bottle in position, described hole.
Particularly, described clip parts are arranged at place, position, described hole, it comprise that an end is rotationally connected with the claw on the described rotating disk and the other end that is used for driving described claw to the close clip driver part in center, position, described hole, described clip driver part is connected on the described input rotating disk.
Particularly, described claw is provided with more than three or three, and each described claw is take the axis of position, described hole as center of circle Zhou Junbu; Be connected with gear piece on the described claw, be provided with profile of tooth on the described gear piece; Described clip driver part comprises the clip gear and is used for gear or the drive motors of one of them gear piece, described gear be arranged at position, described hole centre and with each described gear piece engagement, described drive motors is connected in described rotating disk.
Particularly, the filling transfer of described flexible pipe and chemical solution distributing apparatus comprise pedestal and be used for the separatory parts of extruding infusion tube, also comprises turntable, transporting arms and be used for the syringe needle hold assembly of the described infusion tube of clamping; Described turntable is rotationally connected with described pedestal, described separatory parts are fixed on the described turntable, described transporting arms is provided with two, and described two transporting arms are rotationally connected with respectively the both sides of described turntable, and the front end setting of described transporting arms is provided with described syringe needle hold assembly; Be provided with on the described pedestal be used to the turntable driver part that drives described turntable, be provided with the transporting arms driver part that rotates relative to described turntable be used to driving described transporting arms on the described turntable, be provided with on the described transporting arms be used to the clamping driver part that drives the relatively described transporting arms upset of described syringe needle hold assembly.
Particularly, described transporting arms comprises the first cursor slide and the second cursor slide, is slidingly connected between the first cursor slide and the second cursor slide, is provided for driving the slide unit that relative described the first cursor slide of described the second cursor slide slides between described the first cursor slide and described the second cursor slide.
Particularly, the bottle head-clamp that described disconnected bottle comprises pedestal, side stand, be used for the body hold assembly of holding ampoule bottle body and can be clamped on the ampoule bottle head is held parts, described body hold assembly is rotationally connected with on the described pedestal, described bottle head-clamp is held parts and is rotationally connected with on the described side stand, be provided with the body driver part that rotates be used to driving described body hold assembly on the described pedestal, be provided with on the described side stand be used to the disconnected bottle actuator that drives the head-clamp gripping member translation of described bottle or upset.
Particularly, described multi-axis robot comprises the holder that is fixed in fixing described stand, be rotatably connected to the turntable that can circumferentially rotate on the described holder, but slidely connect the sliding bar of longitudinal sliding motion on the described turntable, be connected with the electronic clamping device for the clamping syringe needle on the described sliding bar.
Particularly, described mother liquid multi-cavity bottle hold assembly comprises the clamp assemblies that can be clamped on the mother liquid multi-cavity bottle bottleneck, and described clamp assemblies one side is provided for the support components support with support mother liquid multi-cavity bottle body, and described support components support is arranged at a side of described clamp assemblies.
Particularly, described stand is provided with the first guide rail, the second guide rail, and described liquid input oscillating uniform device slides and is arranged on described the first guide rail, and described mother liquid multi-cavity bottle hold assembly slides and is arranged on described the second guide rail.
A kind of automatic dispensing system that the utility model provides, the preparations that it can finish many group liquids have fast improved the efficient of making up a prescription, and greatly reduce medical personnel's labour intensity, are conducive to ensure that medical personnel's is healthy and safe.
Description of drawings
Fig. 1 is the stereogram of the automatic dispensing system that provides of the utility model embodiment;
Fig. 2 is the stereogram of the automatic dispensing system that provides of the utility model embodiment;
Fig. 3 is the stereogram of the automatic dispensing system that provides of the utility model embodiment;
Fig. 4 is the stereogram of the liquid input oscillating uniform device that is used for dispensing system that provides of the utility model embodiment;
Fig. 5 is that the liquid that is used for dispensing system that the utility model embodiment provides is inputted the stereogram that oscillating uniform device is removed cover plate;
Fig. 6 is another stereogram of the liquid input oscillating uniform device that is used for dispensing system that provides of the utility model embodiment;
Fig. 7 is the stereogram for clip parts in the liquid input oscillating uniform device of dispensing system that the utility model embodiment provides;
Fig. 8 is another stereogram for clip parts in the liquid input oscillating uniform device of dispensing system that the utility model embodiment provides;
Fig. 9 is the sectional axonometric drawing for clip parts in the liquid input oscillating uniform device of dispensing system that the utility model embodiment provides;
Figure 10 is the infusion tube filling transfer that is used for dispensing system that provides of the utility model embodiment and the stereogram of chemical solution distributing apparatus;
Figure 11 is the stereogram after the infusion tube filling transfer that is used for dispensing system that provides of the utility model embodiment and chemical solution distributing apparatus launch;
Figure 12 is the infusion tube filling transfer that is used for dispensing system that provides of the utility model embodiment and another stereogram of chemical solution distributing apparatus;
Figure 13 is the schematic perspective view of the disconnected bottle that is used for the breaking off ampoule bottle that provides of the utility model embodiment;
Figure 14 is another schematic perspective view of the disconnected bottle that is used for the breaking off ampoule bottle that provides of the utility model embodiment;
Figure 15 is the disconnected bottle pedestal that is used for the breaking off ampoule bottle that provides of the utility model embodiment and the schematic perspective view of body hold assembly;
Figure 16 is the local enlarged diagram in A place among Figure 13;
Figure 17 is the stereogram of the mother liquid multi-cavity bottle clamping device that is used for dispensing system that provides of the utility model embodiment;
Figure 18 is the mother liquid multi-cavity bottle clamping device that is used for dispensing system that provides of the utility model embodiment and the stereogram of mother liquid multi-cavity bottle;
Figure 19 is the mother liquid multi-cavity bottle clamping device that is used for dispensing system that provides of the utility model embodiment and another stereogram of mother liquid multi-cavity bottle.
The specific embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the utility model, and be not used in restriction the utility model.
The dosage of a kind of automatic dispensing system that the utility model embodiment provides, such as Fig. 1～shown in Figure 3, described automatic dispensing system comprises:
Be used for the location medicine bottle and shake up liquid liquid input oscillating uniform device 2,
Be used for the location mother liquid multi-cavity bottle mother liquid multi-cavity bottle hold assembly 5,
Be used for that folder moves, the flexible pipe filling transfer of transfer flexible pipe and pumping liquid and chemical solution distributing apparatus 3,
Be used for clamping and mobile described flexible pipe syringe needle and medicine bottle multi-axis robot 1,
Disconnected bottle 4 for the medicine bottle that fractures;
Described dosage may further comprise the steps:
Such as Fig. 1～shown in Figure 3, medicine bottle is positioned on the described liquid input oscillating uniform device 2 and medicine bottle is delivered to the position of appointment, mother liquid multi-cavity bottle is positioned on the described mother liquid multi-cavity bottle hold assembly 5, infusion tube is positioned on flexible pipe filling transfer and the chemical solution distributing apparatus 3; Flexible pipe filling transfer and chemical solution distributing apparatus 3 also can insert the syringe needle of infusion tube one end in the mother liquid multi-cavity bottle, and the syringe needle of the other end can be moved to multi-axis robot 1 the place ahead.
Such as Fig. 1～shown in Figure 3, treat that liquid input oscillating uniform device 2 is delivered to medicine bottle after the place, multi-axis robot 1 the place ahead, described multi-axis robot 1 moves to medicine bottle on the described disconnected bottle 4, by described disconnected bottle 4 medicine bottle is fractureed; If medicine bottle is ampoule bottle, syringe needle is stretched in the ampoule bottle, and the ampoule bottle inner liquid medicine is delivered in mother liquid multi-cavity bottle or other medicine bottle; If medicine bottle is powder bottle, can powder bottle be moved on the liquid input oscillating uniform device 2 by multi-axis robot 1, by multi-axis robot 1 syringe needle is inserted in the powder bottle again, by flexible pipe filling transfer and chemical solution distributing apparatus 3 liquid in the mother liquid multi-cavity bottle is delivered in the powder bottle.
Described multi-axis robot 1 moves to medicine bottle on the described liquid input oscillating uniform device,
The syringe needle at infusion tube two ends is inserted medicine bottle for the filling transfer of described flexible pipe and chemical solution distributing apparatus 2 or/and mother liquid multi-cavity bottle, and the pumping liquid, realizes quantitatively making up a prescription;
Described liquid input oscillating uniform device 2 shakes up the liquid on it;
And as required, by the filling transfer of multi-axis robot 1 or flexible pipe and chemical solution distributing apparatus 3 syringe needle of infusion tube is reorientated, the liquid after will shaking up again is delivered in the required medicine bottle.
By such design, can finish fast the preparations of many group liquids, and medical personnel need not manual preparating liquid, automaticity is high, greatly reduces medical personnel's labour intensity, is conducive to ensure that medical personnel's is healthy and safe.
Such as Fig. 1～shown in Figure 3, the utility model embodiment also provides a kind of automatic dispensing system, comprises stand 10, is provided with on the described stand 10:
Be used for the location medicine bottle and shake up liquid liquid input oscillating uniform device 2,
Be used for the location mother liquor mother liquid multi-cavity bottle hold assembly 5,
Be used for that folder moves, the flexible pipe filling transfer of transfer flexible pipe and pumping liquid and chemical solution distributing apparatus 3,
Be used for the syringe needle of clamping and mobile described infusion tube and medicine bottle multi-axis robot 1,
Disconnected bottle 4 for the medicine bottle that fractures.
In the application process, first medicine bottle is positioned on the described liquid input oscillating uniform device 2 and medicine bottle is delivered to the position of appointment, and mother liquid multi-cavity bottle is positioned on the described mother liquid multi-cavity bottle hold assembly 5, infusion tube is positioned on flexible pipe filling transfer and the chemical solution distributing apparatus 3;
Described multi-axis robot 1 moves to medicine bottle on the described disconnected bottle 4, and described disconnected bottle 4 fractures medicine bottle;
Described multi-axis robot 1 moves to medicine bottle on the described liquid input oscillating uniform device 2,
The syringe needle at infusion tube two ends is inserted medicine bottle for the filling transfer of described flexible pipe and chemical solution distributing apparatus 3 or/and mother liquor, and the pumping liquid, realizes quantitatively making up a prescription;
Described liquid input oscillating uniform device 2 shakes up the liquid on it;
And as required, by the filling transfer of multi-axis robot 1 or flexible pipe and chemical solution distributing apparatus 3 syringe needle of infusion tube is reorientated, the liquid after will shaking up again is delivered in the mother liquid multi-cavity bottle.
By such design, can finish fast the preparations of many group liquids, and medical personnel need not manual preparating liquid, greatly reduce medical personnel's labour intensity, be conducive to ensure that medical personnel's is healthy and safe.
Such as Fig. 4～shown in Figure 6, above-mentioned liquid input oscillating uniform device comprises and can circumferentially rotate and be used for that medicine bottle is sent to the input rotating disk 21 of desired location and be used for driving the driver part that shakes up that described input rotating disk 21 rocks, described input rotating disk 21 is driven by rotatable parts, be provided with the position, hole 211 for accommodating medicine bottle on the described input rotating disk 21, also be provided with on the described input rotating disk 21 for the clip parts of described clamping medicine bottle in position, described hole 211.Input rotating disk 21 is delivered to medicine bottle by rotating in a circumferential direction the position of appointment, so that insert in the medicine bottle by the device gripping medicine bottle such as manipulator or with syringe needle; And input rotating disk 21 is in circumferential rotation process, shake up driver part and can drive input rotating disk 21 reciprocal inclination, medicine bottle on the input rotating disk 21 can be moved with circumferential corrugated movement locus, realization shakes up the function of liquid, what shake up is effective, simultaneously, reduced medical personnel's labour intensity, medical personnel can be freed from simple repeated labor, be conducive to improve its operating efficiency, and be beneficial to and realize the automation make up a prescription, be conducive to ensure that medical personnel's is healthy and safe.Certainly.Liquid input oscillating uniform device 2 also can adopt split type design, will input and shake up separately and process.The structure that liquid input oscillating uniform device 2 can also adopt straight line input, vibration to shake up also belongs to protection domain of the present utility model.
Particularly, as shown in Figure 4 to 7, described input rotating disk 21 is in the form of annular discs, along the circumferential direction is provided with position, a plurality of described hole 211 on it, and input rotating disk 21 can once hold a plurality of medicine bottles, is beneficial to and improves the efficient of making up a prescription, and medicine bottle can be powder bottle or ampoule bottle etc.Be provided with cover plate 215 on the input rotating disk 21.
Particularly, such as Fig. 4～shown in Figure 9, described clip parts are arranged at 211 places, position, described hole, it comprises that an end is rotationally connected with the claw 231 on the described input rotating disk 21 and is used for driving the other end of described claw 231 to the close clip driver part in 211 centers, position, described hole, described clip driver part is connected on the described input rotating disk 21, and described claw 231 is provided with at least two.With clamping medicine bottle reliably, prevent that medicine bottle from getting loose.Certainly, the clip parts also can adopt the suitable construction such as elastic clip.
Particularly, such as Fig. 4～shown in Figure 9, described claw 231 is provided with more than three or three, and each described claw 231 is take the axis of position, described hole 211 as center of circle Zhou Junbu; Be connected with gear piece 232 on the described claw 231, be provided with profile of tooth on the described gear piece 232; Described clip driver part comprises clip gear 233 and is used for gear or the drive motors 234 of one of them gear piece 232, described gear be arranged at position, described hole 211 centre and with each described gear piece 232 engagement, described drive motors 234 is connected in described rotating disk.When rotating by, drive motors 234, each claw 231 can close synchronously tight or unclamp, with clamping reliably or unclamp medicine bottle.
Particularly, such as Fig. 4～shown in Figure 9, wherein be connected with driving gear member 235 on the gear piece 232, be fixedly connected with worm screw 236 in the rotating shaft of described drive motors 234, described worm screw 236 and described driving gear member 235 engagements; Transmission process is steady, and has auto-lock function.Certainly, also can adopt the structure drivens such as gear, all belong to protection domain of the present utility model.The stage casing of described driving gear member 235 is rotationally connected with described gear piece 232 by rotating shaft 239; Offer groove 2321 on the described gear piece 232, one end of described driving gear member 235 is fixedly installed the rod member 237 that is inserted in the described groove 2321, described groove 2321 is interior to arrange the both sides that 238, two described elastic components 238 of two elastic components are divided into described rod member 237; Described groove 2321 is arcuation and arranges take described rotating shaft 239 as the center of circle.Like this, can prevent between claw 231 and the medicine bottle that active force is excessive and damage medicine bottle.After claw 231 fits in medicine bottle.If drive motors 234 is rotated further, then rod member 237 compressible elastomeric spares 238 with impact-absorbing, avoid medicine bottle to damage.Elastic component 238 can be spring etc.
Particularly, such as Fig. 4～shown in Figure 9, described rotatable parts comprise turning cylinder 241, and the upper end of described turning cylinder 241 is fixedly connected on described input rotating disk 21, and described turning cylinder 241 is connected with the rotating drive part 243 that rotates in a circumferential direction be used to driving described turning cylinder 241.Rotating drive part 243 can be motor or rotary cylinder etc.
Particularly, such as Fig. 4～shown in Figure 9, described rotating drive part 243 is arranged at a side of described turning cylinder 241, and described rotating drive part 243 is motor, is connected compact conformation and transmission efficiency height between described rotating drive part 243 and the described turning cylinder 241 by rotating driving-belt 242.
Particularly, such as Fig. 4～shown in Figure 9, described rotatable parts comprise rotating shaft 241, described turning cylinder 241 is fixedly connected on described input rotating disk 21, the outside of described turning cylinder 241 is arranged with sleeve 244, described turning cylinder 241 rotates and is inserted in described sleeve 244, is provided with conducting slip ring between described turning cylinder 241 and the described sleeve 244.Conducting slip ring belongs to and electrically contacts the application category that is slidingly connected, it claims again collector ring or claims rotary joint, rotary electric interface, slip ring, collecting ring, backflow ring, coil, commutator, adapter, is to realize two accurate power transmitting devices that relatively rotate image, data-signal and the transmission of power of mechanism.Be particularly suitable for being applied to unconfined continuous rotation, need again from the fixed position to the place of position of rotation delivering power or data simultaneously.Like this, turning cylinder 241 can rotate in a circumferential direction by relative sleeve 244 with input rotating disk 21, and power cable drives conducting slip ring and is connected on the electric component of inputting on the rotating disk 21.
Particularly, such as Fig. 4～shown in Figure 9, the bearing pin of the outside of described sleeve 244 by horizontally set swings and is connected on the support, and by drive sleeve 244 reciprocally swingings, just can shake up liquid in the medicine bottle on the input rotating disk 21, integrated level is high.
Particularly, such as Fig. 4～shown in Figure 9, describedly shake up the eccentric drive parts that driver part comprises eccentric wheel 251, connecting rod 252 and is used for driving described eccentric wheel 251 rotations, an end of described connecting rod 252 is rotationally connected with described sleeve 244, and the other end is rotationally connected with described eccentric wheel 251.During eccentric wheel 251 rotation, can and make input rotating disk 21 reciprocally swingings by connecting rod 252 band moving sleeve 244 reciprocating rotations, meanwhile, input is rotated and can be rotated in a circumferential direction by relative sleeve 244 under the effect of rotatable parts, shakes up effective.
Particularly, such as Fig. 4～shown in Figure 9, described eccentric drive parts comprise eccentric drive motor 253 and eccentric gearing band 254, and described eccentric gearing band 254 is connected between described eccentric drive motor 253 and the described eccentric wheel 251, reliable in structure and compactness.
Such as Figure 10～shown in Figure 12, above-mentioned infusion tube filling transfer and chemical solution distributing apparatus 3 comprise pedestal 31 and be used for the separatory parts 35 of extruding infusion tube, also comprises turntable 32, transporting arms 33 and be used for the syringe needle hold assembly 34 of the described infusion tube of clamping; Separatory parts 35 are used for liquid is delivered to the containers such as medicine bottle.Described turntable 32 is rotationally connected with described pedestal 31, described separatory parts 35 are fixed on the described turntable 32, described transporting arms 33 is provided with two, described two transporting arms 33 are rotationally connected with respectively the both sides of described turntable 32, the front end setting of described transporting arms 33 is provided with the syringe needle that 34, two syringe needle hold assemblies of described syringe needle hold assembly 34 are used for clamping infusion tube two ends; So that syringe needle is moved to the position of Set arbitrarily, thus syringe needle can be inserted mother liquid multi-cavity bottle or powder bottle or ampoule bottle, will carry liquid by separatory parts 35 again.Be provided with on the described pedestal 31 be used to the turntable driver part that drives described turntable 32, the turntable driver part can be motor etc., and the drive mechanism by worm and gear drives turntable 32, so that turntable 32 is turned to suitable position, enlarged the scope of activities of transporting arms 33.Be provided with the transporting arms driver part 333 that rotates relative to described turntable 32 be used to driving described transporting arms 33 on the described turntable 32, so that transporting arms 33 is urged to suitable position.Be provided with on the described transporting arms 33 be used to the clamping driver part 343 that drives 33 upsets of the relatively described transporting arms of described syringe needle hold assembly 34, to drive the syringe needle upset, make the syringe needle can be towards different positions, such as level, fore-and-aft tilt etc.In concrete the application, two transporting arms 33 are to protracting, infusion tube is loaded into syringe needle hold assembly 34, two syringe needle hold assemblies 34 are held on respectively on the syringe needle at infusion tube two ends, then transporting arms 33 horizontally rotates, can make infusion tube exceptionally straight and snap in separatory parts 35, separatory parts 35 can be pressed and are sandwiched in infusion tube conveying liquid, just can realize the accurate quantification suction to liquid, medical personnel need not manual preparating liquid, be conducive to ensure the healthy and safe of medical personnel, reduced medical personnel's labour intensity.
Be appreciated that ground, infusion tube filling transfer and chemical solution distributing apparatus 3 also can adopt the suitable structures such as standard machinery hand, all belong to protection domain of the present utility model.
Particularly, such as Figure 10～shown in Figure 12, described transporting arms 33 comprises the first cursor slide 331 and the second cursor slide 332, be slidingly connected between the first cursor slide 331 and the second cursor slide 332, be provided between described the first cursor slide 331 and described the second cursor slide 332 driving the slide unit that described the second cursor slide 332 relative described the first cursor slides 331 slide, under the driving of slide unit, transporting arms 33 is extending or shorten, further enlarged the scope of syringe needle hold assembly 34, made the syringe needle transfer more efficient, flexible.Particularly, two transporting arms 33 can independently be rotated, and two slide units also can drive independently transporting arms 33 and elongate or shorten.
Particularly, such as Figure 10～shown in Figure 12, the root of described the first cursor slide 331 is rotationally connected with described turntable 32, described the second cursor slide 332 is slidingly connected to described the first cursor slide 331 by chute, described syringe needle hold assembly 34 is rotationally connected with the end of described the second cursor slide 332, and structure is ingenious reliable.
Particularly, such as Figure 10～shown in Figure 12, the described transporting arms 33 of described turntable 32 both sides respectively by two independently described transporting arms driver part 333 drive; But two transporting arms 33 self contained functions, be independent of each other.Syringe needle hold assembly 34 on described two transporting arms 33 is respectively by two independently described clamping driver part 343 drivings, but two clamping driver parts 343 drive self contained functions, are independent of each other.
Particularly, such as Figure 10～shown in Figure 12, the second cursor slide 332 on two described transporting arms 33 respectively by two independently slide unit drive, two transporting arms 33 can independent telescope to drive syringe needle.
Particularly, such as Figure 10～shown in Figure 12, be fixedly installed bracing frame 353 on the described turntable 32, described separatory parts 35 comprise peristaltic pump, described peristaltic pump comprises pump head 351 and lower pump body 352, described lower pump body 352 is fixedly installed on described turntable 32 or the bracing frame 353, described pump head 351 is slidingly connected on the support frame as described above 353 and is positioned at the top of described lower pump body 352, be provided with on support frame as described above 353 or the turntable 32 be used to drive described pump head 351 near or away from the pump head drive parts of described lower pump body 352.Be provided with the roller for continuously extruded infusion tube on pump head 351 or the lower pump body 352, roller is driven by drive member and rotates, and drive member can be motor etc.Peristaltic pump of the prior art, its pump head 351 is manually and pulls open, be not easy to use, peristaltic pump provided by the utility model, its pump head 351 can slide up and down under the effect of pump head drive parts, to realize clamping or unclamping infusion tube, automaticity is high, just can realize the accurate quantification of liquid is aspirated by starting peristaltic pump, and medical personnel need not manual preparating liquid, greatly reduce medical personnel's labour intensity, be conducive to ensure that medical personnel's is healthy and safe.The pump head drive parts can be linear electric motors or nut screw structure, and it can accurately drive pump head 351 and slide up and down.
Particularly, such as Figure 10～shown in Figure 12, be fixedly installed the support bar 354 that is useful on the described infusion tube of support on the support frame as described above 353, described support bar 354 is provided with two and be arranged at respectively the both sides of described pump head 351 and lower pump body 352.
Particularly, such as Figure 10～shown in Figure 12, but described syringe needle hold assembly 34 comprises the jaw 341 of two relative slidings and is used for driving the jaw actuator 342 of described jaw 341 relative slidings.The jaw actuator can be linear electric motors or cylinder etc.
Particularly, such as Figure 10～shown in Figure 12, described transporting arms driver part 333 is the motor that is used for driving relatively described turntable 32 transverse rotations of described transporting arms 33 or cylinder etc.
Particularly, such as Figure 10～shown in Figure 12, described clamping driver part 343 is for being used for driving the relatively described transporting arms 33 of described syringe needle the hold assembly 34 vertically motors of upset or cylinder etc.
Particularly, such as Figure 13～shown in Figure 16, disconnected bottle 4 comprises pedestal 41, side stand 42, the body hold assembly 43 that is used for holding ampoule bottle 94 bodies is held parts 44 with a bottle head-clamp that can be clamped on 94 bottles of heads of ampoule bottle, described body hold assembly 43 is rotationally connected with on the described pedestal 41, described bottle head-clamp is held parts 44 and is rotationally connected with on the described side stand 42, be provided with the body driver part 45 that rotates be used to driving described body hold assembly 43 on the described pedestal 41, be provided with on the described side stand 42 be used to the disconnected bottle actuator that drives the head-clamp gripping member translation of described bottle or upset, so that 94 bottles of heads of ampoule bottle separate from bottleneck with body, medical personnel need not directly to contact ampoule bottle 94, just can finish the processing to ampoule bottle 94, existing potential safety hazard when having avoided that medical personnel directly contact ampoule bottle 94 in the prior art, liquid in the ampoule bottle 94 can not splash to medical personnel on hand, thereby avoided medical personnel are formed injury, reliability is high, and realized automation, greatly reduce medical personnel's working strength.
Be appreciated that ground, disconnected bottle 4 also can adopt other structure, and for example the clamping bottle is motionless, and is mobile or rotate body and the structure of breaking off ampoule bottle all belongs to protection domain of the present utility model.
Particularly, such as Figure 13～shown in Figure 16, described body driver part 45 comprises the travelling gear 451 that is fixedly connected on described body hold assembly 43, the driving member 452 that is meshed with described travelling gear 451 and the actuator 453 that is used for driving described driving member 452.Travelling gear 451 is arranged at the below of body hold assembly 43.Body hold assembly 43 can circumferentially rotate under the driving of travelling gear 451, transmission structure 453
Particularly, such as Figure 13～shown in Figure 16, described driving member 452 is worm screw, the reliable and compact conformation of its stable drive, and have the function of self-locking.In addition, travelling gear 451 can be set to hollow form, the ampoule bottle 94 after the use can directly pass travelling gear 451 fall to the below container in.Certainly, driving member 452 also can for gear etc., all belong to protection domain of the present utility model.
Preferably, such as Figure 13～shown in Figure 16, described actuator 453 is motor, and transmission accuracy is high.
Particularly, such as Figure 13～shown in Figure 16, the central authorities of described travelling gear 451 are provided with the through hole that drops for ampoule bottle 94.Body hold assembly 43 unclamps after the ampoule bottle 94 after the use, and ampoule bottle 94 can directly pass the through hole of travelling gear 451 and fall in the container of below.
Particularly, such as Figure 13～shown in Figure 16, be provided with on the described side stand 42 for the line assembly 46 that marks snap slot in ampoule bottle 94 bottleneck, described line assembly 46 comprises the body of rod and rotates the line break bar 462 that is arranged at the described body of rod 461 front ends, the described body of rod 461 is driven by the line actuator, and described line actuator is fixedly connected on described side stand 42.Line break bar 462 can be resisted against on the described bottleneck.Described line break bar 462 is driven by the line actuator, and the line actuator can be cylinder.During disconnected bottle, line break bar 462 pushes against in bottleneck under the driving of line actuator, and then body driver part 45 driving body hold assemblies 43 rotate, thereby make bottleneck mark corresponding snap slot, so that bottleneck is fractureed.The line actuator can be cylinder etc.
Particularly, such as Figure 13～shown in Figure 16, one side of described pedestal 41 is provided with the vertical driver part that slides up and down be used to driving described pedestal 41, described vertical driver part comprises vertical support body 471 of being fixedly installed on described pedestal 41 1 sides, longitudinal slide 472 and be used for driving the slide plate actuator 473 of described longitudinal slide 472 can slide up and down, described longitudinal slide 472 is slidingly connected to described vertical support body 471, and described slide plate actuator 473 is fixedly connected on described vertical support body 471.Slide up and down with the ampoule bottle 94 after driving body hold assembly 43 and being held on the fractureing of body hold assembly 43, under the infusion tube syringe needle keeps motionless situation, vertically the driver part ampoule bottle 94 of elevate a turnable ladder after fractureing that can make progress makes syringe needle stretch into ampoule bottle 94, reliable in structure.
Particularly, such as Figure 13～shown in Figure 16, described pedestal 41 is rotationally connected with described longitudinal slide 472 by balance staff 481, be provided with between described longitudinal slide 472 and the described pedestal 41 be used to the pose adjustment component of adjusting described pedestal 41 angles of inclination, to regulate the angle of ampoule bottle 94, the bottom that makes syringe needle can arrive ampoule bottle 94 also can all be extracted liquid out, avoids bubble suction infusion tube, and reliability is high.
Particularly, such as Figure 13～shown in Figure 16, described pose adjustment component comprises the pose adjustment actuator 491 that is arranged at described balance staff 481 1 sides and is fixedly connected on described pedestal 41, be fixedly connected with connecting rod 411 on the described pedestal 41, the push rod that described pose is adjusted actuator 491 is fixedly connected on described connecting rod 411.Adjust actuator 491 pulling pedestals 41 by pose, realized the adjustment at pedestal 41 and body hold assembly 43 angles of inclination.Pose is adjusted actuator 491 and be can be the suitable structure such as linear electric motors or cylinder.
Particularly, such as Figure 13～shown in Figure 16, described bottle head-clamp hold parts 44 comprise at least two bottles of gripper jaws 441 and be used for driving each bottle gripper jaw 441 mutually close bottle head-clamps hold actuator 442.The bottle head-clamp is held actuator 442 and be can be cylinder or linear electric motors etc.In the present embodiment, disconnected bottle actuator is cylinder or motor etc., and it can drive a bottle head-clamp and hold the assembly eccentric rotary, and the chip that produces in the time of can avoiding disconnected bottle is fallen into body.
Particularly, such as Figure 13～shown in Figure 16, described body hold assembly 43 comprises at least two body gripper jaws 431 and is used for driving each body gripper jaw 431 mutual close body clamping actuator 432.Body clamping actuator 432 can be cylinder or linear electric motors etc.
Particularly, such as Fig. 1～shown in Figure 3, described multi-axis robot 1 comprises the holder 11 that is fixed in fixing described stand, be rotatably connected to the turntable 12 that can circumferentially rotate on the described holder 11, but slidely connect the sliding bar 13 of longitudinal sliding motion on the described turntable 12, be connected with the electronic clamping device for the clamping syringe needle on the described sliding bar.
Such as Figure 17～shown in Figure 19, mother liquid multi-cavity bottle clamping device 5 comprises the clamp assemblies 51 that can be clamped on the mother liquid multi-cavity bottle bottleneck, described clamp assemblies 51 1 sides are provided for the support components support 52 with support mother liquid multi-cavity bottle body, and described support components support 52 is arranged at a side of described clamp assemblies 51.Mother liquid multi-cavity bottle 94 can be by support components support 52 supportings, and the bottleneck of mother liquid multi-cavity bottle 94 is fixing by clamp assemblies 51, medical personnel's both hands have been liberated, can be applicable in the automatic dispensing system, reduced medical personnel's labour intensity, medical personnel can be freed from simple repeated labor, be conducive to improve its operating efficiency, and be beneficial to the automation that realization is made up a prescription.
Be appreciated that ground, mother liquid multi-cavity bottle clamping device 5 also can adopt other suitable structure, for example adopts fixedly mother liquid multi-cavity bottle or adopt the fixedly structure of mother liquid multi-cavity bottle of clip of band, all belongs to protection domain of the present utility model.
Particularly, such as Figure 17～shown in Figure 19, described mother liquid multi-cavity bottle clamping device for dispensing system also comprises connecting plate 53, offer the through hole that passes for for the mother liquid multi-cavity bottle bottleneck on the described connecting plate 53, described clamp assemblies 51 is connected on the described connecting plate 53, clamp assemblies 51 can be arranged at a side of connecting plate 53 and be positioned at the place ahead place of through hole, and the bottleneck of mother liquid multi-cavity bottle 94 can pass from the opposite side of connecting plate 53 in through hole by being held on the clamp assemblies 51, uses very convenient.
Particularly, such as Figure 17～shown in Figure 19, described mother liquid multi-cavity bottle clamping device for dispensing system also comprises supporting frame 54, and described connecting plate 53 is rotationally connected with support frame as described above body 54, connecting plate 53 can be driven by motor 541, so that regulate the angle of connecting plate 53 and mother liquid multi-cavity bottle 94.
Particularly, such as Figure 17～shown in Figure 19, described clamp assemblies 51 comprises the first grip block 511 and second grip block 512 of involutory setting, be provided be used to the breach 501 that holds the mother liquid multi-cavity bottle bottleneck on described the first grip block 511 and described the second grip block 512 end face in opposite directions, one end of described the first grip block 511 is rotationally connected with described connecting plate 53 by rotation shaft, described the second grip block 512 is fixedly connected on described connecting plate 53, be provided with elastic reset spare 513 between the other end of described the first grip block 511 and described the second grip block 512 or the connecting plate 53, elastic reset spare 513 can be spring, the one end is connected in the first grip block 511, the other end is connected in the second grip block 512, to be held on reliably the bottleneck of mother liquid multi-cavity bottle 94.If in the time of need to unclamping mother liquid multi-cavity bottle 94, the elastic force that only need overcome elastic reset spare 513 is upwards lifted the first grip block 511, just mother liquid multi-cavity bottle 94 can be removed from support components support 52.Unclamp after the first grip block 511, under the reset response of elastic reset spare 513, the first grip block 511 keeps being clamped on the second grip block 512.If need clamping mother liquid multi-cavity bottle 94, only need overcome the elastic force of elastic reset spare 513, the first grip block 511 is upwards lifted, just the Bottle neck keeper of mother liquid multi-cavity bottle 94 can be sandwiched between the first grip block 511 and the second grip block 512.Unclamp after the first grip block 511, under the reset response of elastic reset spare 513, the first grip block 511 keeps being clamped on the second grip block 512, thereby mother liquid multi-cavity bottle 94 is clamped.Clamp assemblies 51 also can adopt other suitable mode, such as the fixture block of horizontal slip, the lock dog of screw-threaded coupling etc.
Particularly, such as Figure 17～shown in Figure 19, described breach 501 is " V " font, to be adapted to the bottlenecks of different sizes.Certainly, breach 501 also can be circular arc, the suitable shape such as trapezoidal.
More specifically, such as Figure 17～shown in Figure 19, described breach 501 places offer serrated slot, to increase the frictional force at breach 501 places, avoid mother liquid multi-cavity bottle 94 arbitrarily to slide, the reliability height.
Particularly, such as Figure 17～shown in Figure 19, be provided with between described the first grip block 511 and described the second grip block 512 and make the first grip block 511 and the second grip block 512 relative opening assemblies that open, pass through opening assembly, the first grip block 511 relative the second grip blocks 512 are opened, so that remove or clamping mother liquid multi-cavity bottle 94.
Particularly, such as Figure 17～shown in Figure 19, offer draw-in groove 502 on described the first grip block 511, the second grip block 512 end face in opposite directions, described opening assembly is arranged at the unlatching member 55 in the described draw-in groove 502, described unlatching member 55 is rotationally connected with described connecting plate 53, opening member 55 can rectangular bulk, its four rounding of angle.Be horizontally set at draw-in groove 502 when interior when opening member 55, the first grip block 511 and the second holing clip can be close in opposite directions, open member 55 rotations 90 degree when driving, when unlatching member 55 is vertically arranged, unlatching member 55 can overcome the pulling force of spring and the first grip block 511 is strutted, thereby make mother liquid multi-cavity bottle 94 from snapping in breach 501 or shifting out from breach 501, easy to operate.Certainly, open member 55 and also can be set to oval grade for non-circular shape, all belong to protection domain of the present utility model.In addition, opening assembly also can be set to other suitable structure, for example by push rod or other drives structure the first grip block 511 is backed down, and all belongs to protection domain of the present utility model.
Particularly, such as Figure 17～shown in Figure 19, described support components support 52 comprises supporting slice 521, is fixedly connected with fixed head 523 on the described connecting plate 53, and described supporting slice 521 is connected on the described fixed head 523, and the body of mother liquid multi-cavity bottle 94 can be positioned on the supporting slice 521.
More specifically, such as Figure 17～shown in Figure 19, described support components support 52 also comprises regulates locked component 522, offer the regulating tank 5231 of vertical setting on the described fixed head 523, described adjusting locked component 522 is arranged in described regulating tank 5231 and with described supporting slice 521 adjustable lockings on described fixed head 523, it can regulate supporting plate easily with respect to the height of breach 501, and with the mother liquid multi-cavity bottle 94 that is adapted to different size, the structure versatility is high.
Particularly, such as Figure 17～shown in Figure 19, regulate locked component 522 and can be wing bolt and nut, so that the height of manual adjustments supporting slice 521, and need not to use the aid such as screwdriver, easy to operate.
Such as Figure 17～shown in Figure 19, connecting plate 53 is rotationally connected with on the supporting frame 54 by connection rotating shaft 56, is provided with limit assembly between described connecting plate 53 and the support frame as described above body 54 further, is used for preventing that the rotational angle of connecting plate 53 from surpassing setting value.
Particularly, such as Figure 17～shown in Figure 19, limit assembly comprises the switching member 58 that is fixedly connected on the blend stop 57 on connection rotating shaft 56 or the connecting plate 53 and is fixedly installed on the supporting frame 54 and can be triggered by described blend stop 57.Switching member 58 can be microswitch or infrared switch, and switching member 58 is provided with two and in opposite directions setting.When blend stop 57 was touched to microswitch or turned to the infrared switch place, the state of switching member 58 can in time change, and then control motor 541 makes in time and stop operating, and guaranteed that connecting plate 53 and mother liquid multi-cavity bottle 94 can not surpass the angle of setting, and reliability is high.
Particularly, such as Fig. 1～shown in Figure 3, described stand is provided with the first guide rail 101, the second guide rail 102, described liquid input oscillating uniform device 2 slides and is arranged on described the first guide rail 101, described mother liquid multi-cavity bottle hold assembly 5 slides and is arranged on described the second guide rail 102, so that medicine bottle and mother liquid multi-cavity bottle are put to liquid input oscillating uniform device 2 and mother liquid multi-cavity bottle hold assembly 5.
The above only is preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of within spirit of the present utility model and principle, doing, be equal to and replace or improvement etc., all should be included within the protection domain of the present utility model.
Claims (10)
1. an automatic dispensing system is characterized in that, comprises stand, is provided with on the described stand:
Be used for the location medicine bottle and shake up liquid liquid input oscillating uniform device,
Be used for the location mother liquor the mother liquid multi-cavity bottle hold assembly,
Be used for that folder moves, the flexible pipe filling transfer of transfer flexible pipe and pumping liquid and chemical solution distributing apparatus,
Be used for the syringe needle of clamping and mobile described infusion tube and medicine bottle multi-axis robot,
Disconnected bottle for the medicine bottle that fractures.
2. automatic dispensing system as claimed in claim 1, it is characterized in that, described liquid input oscillating uniform device comprises and can circumferentially rotate and be used for that medicine bottle is sent to the input rotating disk of desired location and be used for driving the driver part that shakes up that described input rotating disk rocks, described input rotating disk is driven by rotatable parts, be provided with the position, hole for accommodating medicine bottle on the described input rotating disk, also be provided with on the described input rotating disk for the clip parts of described clamping medicine bottle in position, described hole.
3. automatic dispensing system as claimed in claim 2, it is characterized in that, described clip parts are arranged at place, position, described hole, it comprise that an end is rotationally connected with the claw on the described rotating disk and the other end that is used for driving described claw to the close clip driver part in center, position, described hole, described clip driver part is connected on the described input rotating disk.
4. automatic dispensing system as claimed in claim 3 is characterized in that, described claw is provided with more than three or three, and each described claw is take the axis of position, described hole as center of circle Zhou Junbu; Be connected with gear piece on the described claw, be provided with profile of tooth on the described gear piece; Described clip driver part comprises the clip gear and is used for gear or the drive motors of one of them gear piece, described gear be arranged at position, described hole centre and with each described gear piece engagement, described drive motors is connected in described rotating disk.
5. automatic dispensing system as claimed in claim 1, it is characterized in that, the filling transfer of described flexible pipe and chemical solution distributing apparatus comprise pedestal and be used for the separatory parts of extruding infusion tube, also comprises turntable, transporting arms and be used for the syringe needle hold assembly of the described infusion tube of clamping; Described turntable is rotationally connected with described pedestal, described separatory parts are fixed on the described turntable, described transporting arms is provided with two, and described two transporting arms are rotationally connected with respectively the both sides of described turntable, and the front end setting of described transporting arms is provided with described syringe needle hold assembly; Be provided with on the described pedestal be used to the turntable driver part that drives described turntable, be provided with the transporting arms driver part that rotates relative to described turntable be used to driving described transporting arms on the described turntable, be provided with on the described transporting arms be used to the clamping driver part that drives the relatively described transporting arms upset of described syringe needle hold assembly.
6. automatic dispensing system as claimed in claim 5, it is characterized in that, described transporting arms comprises the first cursor slide and the second cursor slide, be slidingly connected between the first cursor slide and the second cursor slide, be provided for driving the slide unit that relative described the first cursor slide of described the second cursor slide slides between described the first cursor slide and described the second cursor slide.
7. such as each described automatic dispensing system in the claim 1 to 6, it is characterized in that, described disconnected bottle comprises pedestal, side stand, the body hold assembly that is used for the holding ampoule bottle body is held parts with a bottle head-clamp that can be clamped on the ampoule bottle head, described body hold assembly is rotationally connected with on the described pedestal, described bottle head-clamp is held parts and is rotationally connected with on the described side stand, be provided with the body driver part that rotates be used to driving described body hold assembly on the described pedestal, be provided with on the described side stand be used to the disconnected bottle actuator that drives the head-clamp gripping member translation of described bottle or upset.
8. such as each described automatic dispensing system in the claim 1 to 6, it is characterized in that, described multi-axis robot comprises the holder that is fixed in fixing described stand, be rotatably connected to the turntable that can circumferentially rotate on the described holder, but slidely connect the sliding bar of longitudinal sliding motion on the described turntable, be connected with the electronic clamping device for the clamping syringe needle on the described sliding bar.
9. such as each described automatic dispensing system in the claim 1 to 6, it is characterized in that, described mother liquid multi-cavity bottle hold assembly comprises the clamp assemblies that can be clamped on the mother liquid multi-cavity bottle bottleneck, described clamp assemblies one side is provided for the support components support with support mother liquid multi-cavity bottle body, and described support components support is arranged at a side of described clamp assemblies.
10. such as each described automatic dispensing system in the claim 1 to 6, it is characterized in that, described stand is provided with the first guide rail, the second guide rail, and described liquid input oscillating uniform device slides and is arranged on described the first guide rail, and described mother liquid multi-cavity bottle hold assembly slides and is arranged on described the second guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220447205.0U CN202762372U (en) | 2012-09-04 | 2012-09-04 | Automatic dispensing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220447205.0U CN202762372U (en) | 2012-09-04 | 2012-09-04 | Automatic dispensing system |
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|---|---|
| CN202762372U true CN202762372U (en) | 2013-03-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201220447205.0U Expired - Lifetime CN202762372U (en) | 2012-09-04 | 2012-09-04 | Automatic dispensing system |
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| CN (1) | CN202762372U (en) |
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| CN102847473A (en) * | 2012-09-04 | 2013-01-02 | 深圳市卫邦科技有限公司 | Drug dispensing method of automated drug dispensing system, and automated drug dispensing system |
| CN103588161A (en) * | 2013-11-26 | 2014-02-19 | 威海卫宁医疗科技有限公司 | Tabletop type medical dispensing operation station |
| WO2014036867A1 (en) * | 2012-09-04 | 2014-03-13 | 深圳市卫邦科技有限公司 | Device for filling, transferring transfusion hose and dispensing medicinal liquid in dispensing system |
| WO2014036866A1 (en) * | 2012-09-04 | 2014-03-13 | 深圳市卫邦科技有限公司 | Liquid medicine introducing and shaking device used in dispensing system |
| CN105060215A (en) * | 2015-08-10 | 2015-11-18 | 李坚毅 | Ampoule bottle treatment device and use method |
| CN105214172A (en) * | 2015-09-30 | 2016-01-06 | 肖程午 | A kind of transfusion system |
| CN107997960A (en) * | 2018-01-03 | 2018-05-08 | 深圳市博为医疗机器人有限公司 | A kind of compact automated dispensing machine people |
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| CN108479627A (en) * | 2018-06-12 | 2018-09-04 | 上海螭宿医药科技有限公司 | Clamping medicine bottle device and its application method |
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| CN103588161A (en) * | 2013-11-26 | 2014-02-19 | 威海卫宁医疗科技有限公司 | Tabletop type medical dispensing operation station |
| CN103588161B (en) * | 2013-11-26 | 2016-08-17 | 威海卫宁医疗科技有限公司 | Table top type medicine prescription making work station |
| CN105060215A (en) * | 2015-08-10 | 2015-11-18 | 李坚毅 | Ampoule bottle treatment device and use method |
| CN105214172B (en) * | 2015-09-30 | 2019-04-19 | 深圳煜睿医疗设备有限公司 | A kind of transfusion system |
| CN105214172A (en) * | 2015-09-30 | 2016-01-06 | 肖程午 | A kind of transfusion system |
| CN107997960A (en) * | 2018-01-03 | 2018-05-08 | 深圳市博为医疗机器人有限公司 | A kind of compact automated dispensing machine people |
| CN108125788A (en) * | 2018-03-07 | 2018-06-08 | 成都杰仕德科技有限公司 | Assembly line cillin bottle dispensation apparatus and method |
| CN108125788B (en) * | 2018-03-07 | 2023-09-12 | 成都彼维仕科技有限公司 | Drug dispensing device and method for penicillin bottles in assembly line |
| CN108479627A (en) * | 2018-06-12 | 2018-09-04 | 上海螭宿医药科技有限公司 | Clamping medicine bottle device and its application method |
| WO2019237844A1 (en) * | 2018-06-12 | 2019-12-19 | 上海螭宿医药科技有限公司 | Medicament vial clamping apparatus and use method therefor |
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| CN110812065A (en) * | 2019-10-31 | 2020-02-21 | 同济大学 | Automatic dispensing machine |
| CN111661623A (en) * | 2020-06-10 | 2020-09-15 | 江婷 | Emergency department is with supplementary liquid suction ware of ampoule |
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Granted publication date: 20130306 |