CN205391352U - Medicine dispensing machine ware people - Google Patents
Medicine dispensing machine ware people Download PDFInfo
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- CN205391352U CN205391352U CN201521004960.1U CN201521004960U CN205391352U CN 205391352 U CN205391352 U CN 205391352U CN 201521004960 U CN201521004960 U CN 201521004960U CN 205391352 U CN205391352 U CN 205391352U
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Abstract
The utility model discloses a medicine dispensing machine ware people, the setting is in biohazard safety equipment, the needling instrument of the six station mother liquor devices mother liquor in the mother liquor container and through in xiLin bottle that send tub transport to 16 stations slope revolving stage module on through this station of delivery pump extraction, 16 it is mild that 2D is passed through to station slope revolving stage module, 3D is violent dissolves the medicine motion and dissolves powder in mother liquor in the bottle of xiLin and xiLin bottle, the antiport of delivery pump, again with in the bottle of xiLin with fused mother liquor foldback to the mother liquor container of powder, here simultaneously, needling instrument on the six -shaft mechanical arm device passes through conveyer pipe intercommunication mother liquor container, absorb the ampoule that sets up on six -shaft mechanical arm device below ampoule processing apparatus dissolve the medicine after, should dissolve the medicine and carry to the mother liquor container in, after the medicine preparation completion in a mother liquor container, 16 stations slope revolving stage module, six station mother liquor devices and six -shaft mechanical arm device change over to next station over to or reset to former work position, and repeated above -mentioned step can be dispense to next mother liquor container.
Description
Technical field
This utility model relates to field of medical device, and one is made up a prescription robot specifically.
Background technology
At present, the medicine ordinance of most of hospitals completes in Dispensary by nurse, and its operating process is as follows: before making up a prescription, and operator get out product to be dispensed and medical instrument (ampoule bottle, cillin bottle, transfusion bag, syringe etc.)；Check relevant medicine and medical instrument information (three inspections and seven verifications)；Open drug container (ampoule bottle, cillin bottle, transfusion bag, syringe etc.)；The sterilization (mainly for ampoule bottle, cillin bottle, transfusion bag) of contact site；Artificial employing syringe carries out medicine suction；Drug injection is entered transfusion bag or infusion bottle；Fill in registration card and put into transfusion bag depositing basket by joining transfusion bag.
Above-mentioned process of manually making up a prescription, there are the following problems:
Owing to dispensing operation environmental bacteria, dust content are generally higher, therefore when opening medical bottle and aspirating drug, it is easy to medicine and medical instrument are polluted, thus there is infusion reaction, patient is worked the mischief.
When preparing poisonous anti-tumor medicine, when opening medical bottle and aspirating drug, medicine can through the pin hole of unlatching, syringe needle, liquid bottle mouth etc., drug particle is made to overflow, form invisible, virose microgranule aerosol, the human body of the nurse that makes up a prescription is entered, it is possible to cause the toxic reactions such as the decline of leukocyte, platelet, menoxenia, alopecia, and the chronic lesion occurred is probably cancer, fertility Issue, gene alteration, miscarriage, monster etc. by approach such as contact skin, respiratory tract suctions.
Long-term work process of making up a prescription inevitably runs into some fortuitous events, such as vial or ampoule fall makes medicine overflow on the ground, when breaking ampoule into two with one's hands, medicated powder or medicinal liquid splash, liquid medicine spill during suction air-tight bottle, syringe needle comes off in operation, by accidental needle punctures, process garbage is improper, all may the personnel of making up a prescription be damaged.
Finally, nurse institute's every day power dispensers quantity of making up a prescription reaches hundreds of bottle, and workload is big, occupies a large amount of valuable nursing resource, and long-term repetitive operation, fatiguability is made mistakes.
The robot it is accordingly required in particular to one is made up a prescription, to solve problems of the prior art.
Utility model content
The purpose of this utility model is to solve in prior art, and nurse institute's every day power dispensers quantity of making up a prescription reaches hundreds of bottle, and workload is big, occupies the defect of a large amount of valuable nursing resource, it is provided that one is made up a prescription robot, solves problems of the prior art.
For achieving the above object, the technical solution of the utility model is as follows:
One is made up a prescription robot, including Biohazard Safety Equipment and the six station mother solution devices being arranged in Biohazard Safety Equipment, 16 stations tilt turntable module, six axis robot device, described six station mother solution devices pass through needle set, mother solution in mother liquid multi-cavity bottle is inputted in the cillin bottle that 16 stations tilt on turntable module by conveying pipe and delivery pump, described 16 stations tilt turntable module vibrations and are dissolved by the original medicated powder in the mother solution inputted and cillin bottle, mother solution after dissolving with medicated powder in described cillin bottle passes through needle set, mother solution is returned in the mother liquid multi-cavity bottle of six station mother solution devices by conveying pipe and delivery pump again, described six axis robot device is for cutting ampoule bottle and passing through needle set, liquid in ampoule bottle is delivered in mother liquid multi-cavity bottle by conveying pipe and delivery pump.
In this utility model, described six axis robot device includes matrix, rotating seat, needle set presser feet, needle set presser feet Pneumatic slid platform and needle set, described matrix arranges the first sliding part and the second sliding part, described first sliding part arranges cutting blade, described second sliding part arranges the positioning blade that quantity is two, on the matrix, with cutting blade for vertex angle, using two positioning blades as base angle, the triangle that arrangement is formed is isosceles triangle, described matrix is arranged on rotating seat, and described rotating seat is arranged on one end of robot body；Described needle set presser feet is arranged on matrix by needle set presser feet Pneumatic slid platform, and on the matrix, needle set is arranged on the lower section of needle set presser feet for stopping cillin bottle；Described needle set includes piercing needle and needle stand, the left end of described piercing needle is provided with the first fluid apertures, its right-hand member is provided with the second fluid apertures, described needle stand is also equipped with trocar sheath, described piercing needle is arranged in the pipeline of described trocar sheath, the pipeline of trocar sheath is stretched out at the two ends of piercing needle respectively, first fluid apertures is positioned at extension on the left of it, it is formed with air guide channel between outer wall and the trocar sheath of piercing needle, the left end of trocar sheath is additionally provided with and can stretch into the first pore sealing in container and being connected with described air guide channel, the right-hand member of trocar sheath is provided with to expose and seals the second pore that container is outer and is connected with described air guide channel.
In this utility model, on described robot body, the ampoule bottle that is arranged below of needle set processes device, and described ampoule bottle processes device and comprises base, described base arranges angle rotating platform, described angle rotating platform arranges ampoule bottle claw.
In this utility model, the anglec of rotation of described angle rotating platform is 0 degree 90 degree.
In this utility model, described angle rotating platform arranges ampoule bottle mouth induction apparatus；Described ampoule bottle claw realizes claw clamping by motor.
In this utility model, on described base, being arranged below of angle rotating platform connects a bottle box.
In this utility model, when described first sliding part and the second sliding part move towards to extreme position, on the matrix, with cutting blade for vertex angle, using two positioning blades as base angle, the triangle that arrangement is formed is equilateral triangle.
In this utility model, described first sliding part arranges the first fixing card hand, described second sliding part arranges the second fixing card hand matched with the first fixing card hand；Described first sliding part and the second sliding part comprise the leading screw being arranged in matrix and DC motor combination.
In this utility model, described cutting blade and positioning blade are arranged on the first sliding part respectively through line slide rail, and described cutting blade and positioning blade slide on line slide rail respectively through cylinder.
In this utility model, described 16 stations tilt turntable module and include a servomotor, servomotor side arranges one speed reducer, decelerator one end is connected with servomotor, the other end of decelerator is connected with shaft coupling, another free end of shaft coupling connects a lifting dispenser, the side of lifting dispenser arranges a clutch, the bottom of lifting dispenser is connected with a power supply conducting slip ring, seat fixed by the dispenser that is arranged over of lifting dispenser, the fixing seat of dispenser have a rotary tilt table above through Flange joint, rotary tilt table is provided with position, some holes along its periphery, position place, each hole is provided with the Zhua Ping mechanism of a blessing different-diameter bottle, rotary tilt table is also arranged above a correlation back-light mechanism, this correlation back-light mechanism includes CCD camera in order to identify cillin bottle and the ampoule bottle of different size.
Beneficial effect
One of the present utility model is made up a prescription robot; compared with prior art; solve traditional-handwork make up a prescription exist various problems; there is environment cleaning of making up a prescription; process for preparation is aseptic, the controllable precise that makes up a prescription, both avoid the cross infection of patient; protect again the healthy and safe of the personnel of making up a prescription, while improve dispensing efficiency, reduce the cost that makes up a prescription.
Accompanying drawing explanation
Fig. 1 structural representation of the present utility model；
The positional structure schematic diagram of Fig. 2 this utility model ampoule bottle cutter sheet；
The structural representation of Fig. 3 this utility model six axis robot device 9；
The structural representation of Fig. 4 this utility model needle set；
Fig. 5 this utility model ampoule bottle processes the structural representation of device；
The structural representation of Fig. 6 this utility model six station mother solution device；
The automatically centering fixture structural representation of Fig. 7 this utility model six station mother solution device；
Fig. 8 this utility model 16 station tilts the structural representation of turntable module；
Fig. 9 this utility model 16 station tilts the explosive view of turntable module；
Figure 10 this utility model is the schematic perspective view of bottle-clip mechanism in Fig. 8.
Detailed description of the invention
In the view of whole accompanying drawings, corresponding reference marks represents corresponding parts.
One is made up a prescription robot, tilts turntable modules, six station mother solution modules, six axis robot device 9, disposable dosing needle set and ampoule bottle process device including Biohazard Safety Equipment (may be designed to different size as required) and 16 stations being arranged in Biohazard Safety Equipment.
When Biohazard Safety Equipment is to have infective experiment material for operation primary culture, bacterium strain and diagnostic specimen etc.; be used for protect operator, laboratory environment and experiment material so that it is avoid exposure in aforesaid operations process issuable infectivity aerosol and spatters and design；By vehicle robot and two stage biological safety cabinet (100% outer row) science, reasonable combination, pollution when decreasing configuration, improve property of medicine purity；
16 stations tilt turntable module for all size cillin bottle carrying out Intelligent Recognition, fluid injection, medicated powder dissolving (according to meeting medicated powder characteristic, it is possible to do the molten medicine motion that 2D is mild, 3D is violent), tilting to extract；16 automatic elastic location electrical clip tight integration mechanisms can be attached with；null16 stations tilt turntable module and include a servomotor 200，Servomotor 200 side arranges one speed reducer 201，Decelerator 201 one end is connected with servomotor 200，The other end of decelerator 201 is connected with shaft coupling 202，Another free end of shaft coupling 202 connects a lifting dispenser 203，The side of lifting dispenser 203 arranges a clutch 204，The bottom of lifting dispenser 203 is connected with a power supply conducting slip ring 205，Seat 206 fixed by the dispenser that is arranged over of lifting dispenser 203，The fixing seat 206 of dispenser be connected to a rotary tilt table 208 above through flange 207，Rotary tilt table 208 is provided with position, some holes along its periphery，Position place, each hole is provided with the Zhua Ping mechanism 209 of a blessing different-diameter bottle，Rotary tilt table 208 is also arranged above a correlation back-light mechanism，This correlation back-light mechanism includes CCD camera in order to identify cillin bottle 210 and the ampoule bottle of different size.Wherein, servomotor 200 and decelerator 201 form servo deceleration motor.Rotary tilt table 208 is arranged above capping 211.Concrete, the bottom of lifting dispenser 203 arranges a base 214, and base 214 is connected with a power supply conducting slip ring 205.
Being provided with fixing plate 212 outside described shaft coupling 202, a free end of fixing plate 212 is connected on decelerator 201, and the other end of fixing plate 212 is connected on lifting dispenser 203；Being arranged to make the elastic part of the normally closed clamping of jaw on the jaw 213 of 16 station electric folders, elastic part can be spring or spring leaf.
The middle part of the fixing seat 206 of described dispenser forms a through hole, is provided with a hang plate in the fixing seat 206 of dispenser.
Described Zhua Ping mechanism 209 includes a motor, motor and a worm screw 215 are connected, and worm screw 215 is connected with worm gear 216 and drives it to rotate, and worm gear 216 is connected with a gear wheel 217, this gear wheel 217 engages with some little gears 218, and each little gear 218 is connected with a jaw 213.Described gear wheel 217 periphery is uniformly engaged with three little gears 218, and each little gear 218 is connected with a jaw 213, and three jaws 213 surround the space of a clamping bottle (such as ampoule bottle).When gear wheel 217 rotates time, little gear 218 is driven by gear wheel 217 and rotates, now bottle is clamped by three jaws 213, characteristic due to worm gear 216 worm screw 215, jaw 213 does not come off after being clamped by bottle (such as cillin bottle 210), owing to the characteristic of direct current generator 219 is providing more superior in power, it is possible to prevent from clipping broken bottle, more safe and reliable.It also avoid the loss of medicament, reduce operational risk, it is to avoid equipment breaks down because bottle breaks.
In Zhua Ping mechanism 209, described motor is a direct current generator 219.Direct current generator 219 is also called DC motor.
Described correlation back-light mechanism includes a CCD camera, backlight 220, and backlight 220 connects a backlight post 222 by a contiguous block 221, and the top of backlight post 222 sets a CCD correlation backlight cylinder 223.CCD is the abbreviation of charge-coupled image sensor (chargecoupleddevice), and light can be become electric charge and by electric charge storage and transfer by it, it is possible to is taken out by the electric charge of storage and makes voltage change.Preferably, backlight 220 passes through the connection one backlight post 222 that a contiguous block 221 is removable.
Rotary tilt table 208 is provided with position, 16 holes along its periphery；When in use, this device can shake, and bottle does 2D or 3D motion therewith.
Compared to prior art, the beneficial effects of the present invention is:
Configuration clutch 204 on lifting dispenser 203, rotary tilt table 208 can realize 2D gentle movement, 3D strenuous exercise, meet the demand of the differently configured medicament of hospital simultaneously, 16 clip stations tilt to install, cillin bottle 210 liquid level be can relatively improve, few medicinal liquid, CCD camera identification and Intelligent treatment different size cillin bottle 210, ampoule bottle after extraction, in bottle, remained, 16 station clips (refer to Zhua Ping mechanism 209), solve inclined plane ampoule bottle and place and easily clip broken a difficult problem.
16 stations tilt turntable module: 1, configuration clutch in innovative design lifting dispenser, can carry out 2D altofrequency circumference intermittent movement to easily holding medicine turntable, it is to avoid medicament produces foam because of vigorous exercise；Medicine hard to tolerate can carry out 3D altofrequency circumference interval+elevating movement, and vigorous exercise can reach molten drug effect fruit；2, turntable tilts to install, it is possible to relatively improve cillin bottle liquid level, the only few medicinal liquid of remaining in bottle after extraction；3, application CCD camera may identify which and Intelligent treatment all size cillin bottle, ampoule bottle；4, innovative design 16 station electrics folder, has normally closed soft self-centering, motor clamping dual-use function, solves normally opened chuck on inclination turntable and places ampoule bottle and easily topple over and easily press from both sides the difficult problem split.
Six station mother solution modules, carry out drawing liquid (including quantitatively), fluid injection to specification mother liquor vessel (plastic soft bag, plastic bottle, hundred special soft bag), each medicament carry out supplied materials, finished weight detection, it is ensured that configuration medicament 100% safety；Changing configuration medicament, display screen shows that changing disposable pin warns, and needle exchange tool equipment cannot not run, and ensures configuration medicament 100% safety；Six station mother solution devices, including the rotary case 101 being arranged on support 100 and reciprocating motion assembly 102, it is plural mother solution fixture 103 that rotary case 101 is uniformly arranged quantity, moves back and forth and arranges liquid-confecting needle 104 on assembly 102；When in use, the fluid flow port place of mother liquor vessel 105 is fastened on mother solution fixture 103, it is achieved easily the mother liquor vessel 105 such as plastic soft bag, plastic bottle, hundred special soft bag are carried out supplied materials, finished weight detection, it is ensured that 100% safety of configuration medicament；
Mother solution fixture is set to automatically centering fixture, reaches good result of use, it is simple to mother solution realizes batch configuration.
Liquid-confecting needle 104 is disposable liquid-confecting needle；Liquid-confecting needle 104 is arranged on reciprocating motion assembly 102 by induction apparatus (not shown)；Whether operationally wait, it is possible to sensing needle exchange tool, needle exchange tool cannot not run, and ensures configuration medicament 100% safety；
In preferred embodiment, the quantity of mother solution fixture 103 is 6.
Mother solution fixture 103 arranges weight sensor (not shown)；Reach mother liquor vessel 105 is carried out the purpose of weight detecting.
In preferred embodiment, the cylinder (not indicating in figure) that reciprocates through moving back and forth assembly 102 realizes, and reaches good result of use.
Mother solution fixture 103 arranges supplied materials induction apparatus (not shown), in order in time whether detection mother solution fixture 103 has mother liquor vessel 105.
In preferred embodiment, rotary case 101 realizes rotating by motor (not shown) and variator (not shown), reaches good result of use.
Six station mother solution devices, also include automatically centering fixture pedestal 106, v-depression clamping part 107, installing plate 108, spring 109, gear 110 and connector 111, automatically centering fixture includes the v-depression clamping part 107 of two mutual correspondences, the mode adopting two v-depression clamping parts 107 to coordinate, reaches the self centering effect of V-arrangement；Two v-depression clamping parts 107 are separately positioned on one end of two installing plates 108, and the middle part of two installing plates 108 is connected by spring 109, reaches well-set effect；The other end of two installing plates 108 is connected by gear 110, by passing on Gong of gear 110, in order to realize the clamping of automatically centering fixture, releasing orientation；Gear 110 is arranged on automatically centering fixture pedestal 106, automatically centering fixture pedestal 106 also sets up the connector 111 for connecting six station mother solution devices, now weight sensor can be arranged on connector 111, or connector 111 is directly as weight sensor, reaches mother liquor vessel 105 is carried out the purpose of weight detecting.
Ampoule bottle processes device, it is possible to identify all size ampoule bottle, atomization alcohol disinfecting, has level to put, tilts to extract, topple over three positions of ampoule empty bottle.There is recognition function to breaking disconnected ampoule bottle mouth-shaped, just in case bottleneck explosion, can alert operators process during medicinal liquid outflow；
Disposable special dosing needle set, design has the liquids and gases dual pathways, cillin bottle, mother liquor vessel (sealing container) are taken out, injecting medical liquid time, it is possible to avoid taking out, fluid injection body causes that air-tight bottle (bag) produces positive and negative pressure (causing pumping resistance).There are applicable cillin bottle and ampoule bottle (all size) two system row needle set.
Six axis robot device 9 arranges matrix 1 and rotating seat (not shown), matrix 1 arranges the first sliding part 60 and the second sliding part 70, first sliding part 60 arranges cutting blade 61, second sliding part 70 arranges the positioning blade 71 that quantity is two, on matrix 1, with cutting blade 61 for vertex angle, using two positioning blades 71 as base angle, the triangle that arrangement is formed is isosceles triangle, and matrix 1 is arranged on rotating seat；Cutting part to cylindrical shape, reaches convenient fixing purpose；Matrix 1 is arranged on rotating seat, and after the cutting part of cylindrical shape is fixing, rotating seat rotates, band moving base 1 rotates, thus realizing the purpose to cylinder cutting part circumgyration incision, rotating seat is arranged on one end of robot body, and the other end of six axis robot device 9 connects installing plate 5.
In preferred embodiment, when the first sliding part 60 and the second sliding part 70 move towards to extreme position, on matrix 1, with cutting blade 61 for vertex angle, using two auxiliary blade 71 as base angle, the triangle that arrangement is formed is equilateral triangle.
First sliding part 60 arranges the first fixing card hand 62, the second sliding part 70 arranges the second fixing card hand 72 matched with the first fixing card hand 62, makes simple in construction, reach the purpose of convenient cutting.
In preferred embodiment, the first sliding part 60 and the second sliding part 70 comprise the leading screw (not shown) being arranged in matrix 1 and DC motor combination (not shown), reach good result of use.
Cutting blade 61 and auxiliary blade 71 are arranged on the first sliding part 60 respectively through line slide rail (not shown), and cutting blade 61 and auxiliary blade 71 are slided on line slide rail respectively through small-sized cylinder 73；The motion that small-sized cylinder 73 is driven by line slide rail, outside wide range positions, plays the purpose of precise positioning.
Cylinder 73 connects pressure regulator (not shown)；Achieve stepless control, reach good result of use.
The end interface shape of cutting blade 61 and auxiliary blade 71 is respectively circular, to cylinder cutting part, reaches good result of use.
Six axis robot device 9, also includes needle set presser feet 6, needle set presser feet Pneumatic slid platform 7 and needle set 8, and needle set presser feet 6 is arranged on matrix 1 by needle set presser feet Pneumatic slid platform 7, and on matrix 1, needle set 8 is arranged on the lower section of needle set presser feet 6 for stopping cillin bottle；By employing six axis robot；Ampoule bottle is processed: clamp ampoule bottle and be transported to ampoule bottle process turntable, ampoule bottle being realized cervical region cutting, breaks disconnected and drawing liquid；Cillin bottle is processed: inject solvent to cillin bottle, needle set is extracted out and presser feet prevents cillin bottle from taking (because cillin bottle serum cap can stick needle tubing and take out of together) out of, extract the medicinal liquid after melting, needle tubing sticks sky cillin bottle and is promoted to together above empty bottle disposable box, then is lost to disposable box by sky cillin bottle by presser feet and needle set routing motion.
Needle set 8 includes piercing needle 81, trocar sheath 82 and needle stand 83, and piercing needle 81 is fixedly mounted in the sleeve pipe of trocar sheath 82, and trocar sheath 82 is fixedly mounted on needle stand 83.
Piercing needle 81 is made for stainless steel material, and piercing needle 81 is in horizontally set, and the left end end of piercing needle 81 is provided with the sharp-pointed portion 84 that can penetrate the serum cap sealing container；The intermediate formation of piercing needle 81 has liquid-conveying ducts 85；The left end sidewall of piercing needle 81 is provided with the first fluid apertures 86 being connected with liquid-conveying ducts 85；The right-hand member end of piercing needle 81 is provided with the second fluid apertures 87 being connected with liquid-conveying ducts 85.
Trocar sheath 82 is made for stainless steel material, trocar sheath 82 is in horizontally set, piercing needle 81 is fixedly mounted in the pipeline of trocar sheath 82, trocar sheath 82 1 sections is stretched out at the two ends, left and right of piercing needle 81 respectively, first fluid apertures 86 of piercing needle 81 is positioned at the position stretched out on the left of it, being formed with gap between outer wall and the trocar sheath 82 of piercing needle 81, this gap is air guide channel 88；The left end end of trocar sheath 82 is provided with the introduction part 89 of truncated cone-shaped, and the left end of introduction part 89 is small end, when piercing needle 81 penetrates serum cap, trocar sheath 82 as introduction part 89 and penetrate smoothly in serum cap；The left end sidewall of trocar sheath 82 is provided with the first pore 90 being connected with air guide channel 88；The right end sidewalls of trocar sheath 82 is provided with the second pore 91 being connected with air guide channel 88, and the second pore 91 is positioned at needle stand 83.
Needle stand 83 is made for plastic material, the intermediate formation of needle stand 83 has the installing hole 92 that left and right is through, the right-hand member of trocar sheath 82 is fixedly mounted in the installing hole 92 of needle stand 83, the position corresponding to the second pore 91 of needle stand 83 is provided with the passage 93 turned on it, the right-hand member of needle stand 83 is provided with the union joint 94 facilitating catheter quickly to connect, and utilizes catheter to connect mother liquid multi-cavity bottle.
In preferred embodiment, when the first sliding part 60 and the second sliding part 70 move towards to extreme position, on matrix 1, with cutting blade 61 for vertex angle, using two positioning blades 71 as base angle, the triangle that arrangement is formed is equilateral triangle.
Arranging the first fixing card hand 62 on first sliding part 60, the second sliding part 70 arranges the second fixing card hand 72 matched with the first fixing card hand 62, makes simple in construction, two card hand combinations reach mobile ampoule bottle purpose.
In preferred embodiment, the first sliding part 60 and the second sliding part 70 comprise the leading screw (not shown) being arranged in matrix 1 and DC motor combination (not shown), reach good result of use.
Cutting blade 61 and positioning blade 71 are arranged on the first sliding part 60 respectively through line slide rail (not shown), and cutting blade 61 and positioning blade 71 slide on line slide rail respectively through small-sized cylinder 73；The motion that small-sized cylinder 73 is driven by line slide rail, outside wide range positions, plays the purpose of precise positioning.
Cylinder 73 connects pressure regulator (not shown)；Achieve stepless control, reach good result of use,
The end interface shape of cutting blade 61 and positioning blade 71 is respectively circular, to cylinder cutting part, reaches good result of use.
When in use, by pressing from both sides mobile XiLin, ampoule bottle, flexible cutting mechanism cutting ampoule bottle, clashes into or breaks disconnected ampoule bottle by side folder, and formed cillin bottle by needle stand, line slideway, elastic component, ampoule bottle pumping mechanism is to cillin bottle and has broken disconnected ampoule bottle liquid and extracts.
On six axis robot device 9, the ampoule bottle that is arranged below of needle set 8 processes device 50, and ampoule bottle processes device 50, including base 51, base 51 arranges angle rotating platform 52, angle rotating platform 52 arranges ampoule bottle claw 53；Ampoule bottle 55 horizontal positioned, inclination can be extracted or toppled over placement；Tilt the mode extracted and namely imitate the artificial mode extracting ampoule bottle liquid, it is possible to extract as much as possible for the liquid in ampoule bottle.
The anglec of rotation of angle rotating platform 52 is 0 degree 360 degree, it is preferred that embodiment is 0 degree 90 degree；Can realize on the one hand tilting to extract, on the other hand, the rotation of 360, make the present invention can realize ampoule bottle 55 inversion is processed, pour out by 23 residual liquids in ampoule bottle, it is achieved bottle liquid separates, and reaches environment protecting.
In high-volume work, on base 51, being arranged below of angle rotating platform 52 connects a bottle box (not shown)；Connect the inside of bottle box can include from top to bottom with connect that bottle box Internal periphery matches connect bottle layer and connect liquid layer, connecing bottle layer is mesh-like structure, connect bottle layer on the one hand for connecing the ampoule bottle toppled over, the liquid of 23 can be made on the other hand to flow to and connect liquid layer, it is achieved ampoule bottle separates with residual liquid.
In preferred embodiment, connect bottle layer and be fastened on and connect in bottle box, reach effect readily accessible, that clean.
As the embodiment replaced, the bottom connecing liquid layer arranges liquid outlet, it is simple to the liquid built up is discharged.
Angle rotating platform 52 arranges ampoule bottle mouth induction apparatus 54；Possess recognition function to breaking disconnected ampoule bottle mouth-shaped, burst at bottleneck, when medicinal liquid outflow, in time operator can be done warning and process；The quantity of ampoule bottle mouth induction apparatus 54 can be two or more, for sensing the diverse location of ampoule bottle bottleneck, distinguishes the model of ampoule bottle height, size to facilitate.
In preferred embodiment, ampoule bottle claw 53 realizes claw clamping by (miniature) motor, and further the movement locus in card column clamping process can be controlled by the line slideway arranged on base 51；Specifically used time, claw range ability can be measured by the motor operating number of turns, and detect the diameter of ampoule bottle 55, model, size according to distance；Reach good result of use.
As a kind of embodiment, the horizontal level of base 51 and ampoule bottle cutting, break disconnected, it is possible to detected by CCD camera；Alternatively, it is possible on base 51, arrange horizon sensor, for detecting the horizontal level of base 51.
In preferred embodiment, base 51 is in suitable obliquity, most useful for extracting ampoule bottle medicinal liquid；After extracting, base 51 turns to topples over (that is, about 90 degree) position, is used for abandoning ampoule empty bottle.
This utility model makes up a prescription in robot, and ampoule bottle processes the using method of device, comprises the following steps:
Step one, is placed on ampoule bottle on ampoule bottle claw by mechanical hand；
Step 2, ampoule bottle claw clamping ampoule bottle, and measure claw range ability by the motor operating number of turns, and detect ampoule bottle model, size according to distance；The clamping force of ampoule bottle claw is controlled by DC motor driver size of current.
Step 3, adjusts suitable operating position by angle rotating platform by ampoule bottle, and the bottleneck of ampoule bottle is cut, break disconnected；
Step 4, in suitable operating position, carries out Liquid extracting in ampoule bottle, and in Liquid extracting process, angular adjustment turntable also can coordinate the angle extracting work adjustment ampoule bottle, in order to as much as possible by complete for Liquid extracting in ampoule bottle；
Step 5, if needed, ampoule bottle can be rotated to the position that ampoule bottle bottleneck is toppled over by angular adjustment turntable, 2-3 drop of liquid remaining in ampoule bottle to be poured out completely, the penetration by liquid poured out connects bottle laminar flow and enters to connect liquid layer, when the fluid accumulation connecing liquid layer is more, liquid outlet can be passed through, liquid pouring is gone out, it is also possible to take out with connect that bottle box engages connect bottle layer, docking liquid layer is carried out.
Step 6, after extraction, ampoule bottle has been moved to certain position by angular adjustment turntable, and now, ampoule bottle claw unclamps, and ampoule bottle is fallen into and connect in bottle box, namely completes this time to extract work.
Step 7, ampoule bottle processes device and resets, and carries out new ampoule bottle Liquid extracting work once.
Make up a prescription robot entirety when in use, the robot that makes up a prescription is arranged in Biohazard Safety Equipment, mother solution that the needle set of six station mother solution devices is extracted on this station in mother liquor vessel by delivery pump by sending pipe to be delivered in the cillin bottle that 16 stations tilt turntable modules, 16 stations are tilted turntable module and are dissolved with medicated powder in cillin bottle by mother solution in cillin bottle by the molten medicine motion that 2D is mild, 3D is violent, rotating backward of delivery pump, then mother solution fused with medicated powder in cillin bottle is returned to mother liquor vessel；At the same time, it is arranged on the needle set on six axis robot device by carrying pipe to connect the mother liquor vessel on six station mother solution devices, after the molten medicine drawing the ampoule bottle being arranged on below six axis robot device on ampoule bottle process device, this molten medicine is delivered in mother liquor vessel；Adopt above-mentioned steps, after medicine in a mother liquor vessel has been prepared, 16 stations tilt turntable module, six station mother solution devices and six axis robot device and proceed to next station or be reset to former operating position, and next mother liquor vessel can be made up a prescription by repeat the above steps.
The above-mentioned description to embodiment is to be understood that for ease of those skilled in the art and use this utility model.These embodiments obviously easily can be made various amendment by person skilled in the art, and General Principle described herein is applied in other embodiments without through performing creative labour.Therefore, this utility model is not limited to above-described embodiment, and those skilled in the art should within protection domain of the present utility model according to announcement of the present utility model, the improvement made without departing from this utility model category and amendment.
Claims (10)
1. the robot that makes up a prescription, it is characterized in that: include Biohazard Safety Equipment and the six station mother solution devices being arranged in Biohazard Safety Equipment, 16 stations tilt turntable module, six axis robot device, described six station mother solution devices pass through needle set, mother solution in mother liquid multi-cavity bottle is inputted in the cillin bottle that 16 stations tilt on turntable module by conveying pipe and delivery pump, described 16 stations tilt turntable module vibrations and are dissolved by the original medicated powder in the mother solution inputted and cillin bottle, mother solution after dissolving with medicated powder in described cillin bottle passes through needle set, mother solution is returned in the mother liquid multi-cavity bottle of six station mother solution devices by conveying pipe and delivery pump again, described six axis robot device is for cutting ampoule bottle and passing through needle set, liquid in ampoule bottle is delivered in mother liquid multi-cavity bottle by conveying pipe and delivery pump.
2. make up a prescription robot according to claim 1, it is characterized in that: described six axis robot device includes matrix, rotating seat, needle set presser feet, needle set presser feet Pneumatic slid platform and needle set, described matrix arranges the first sliding part and the second sliding part, described first sliding part arranges cutting blade, described second sliding part arranges the positioning blade that quantity is two, on the matrix, with cutting blade for vertex angle, using two positioning blades as base angle, the triangle that arrangement is formed is isosceles triangle, described matrix is arranged on rotating seat, described rotating seat is arranged on one end of robot body；Described needle set presser feet is arranged on matrix by needle set presser feet Pneumatic slid platform, and on the matrix, needle set is arranged on the lower section of needle set presser feet for stopping cillin bottle；Described needle set includes piercing needle and needle stand, the left end of described piercing needle is provided with the first fluid apertures, its right-hand member is provided with the second fluid apertures, described needle stand is also equipped with trocar sheath, described piercing needle is arranged in the pipeline of described trocar sheath, the pipeline of trocar sheath is stretched out at the two ends of piercing needle respectively, first fluid apertures is positioned at extension on the left of it, it is formed with air guide channel between outer wall and the trocar sheath of piercing needle, the left end of trocar sheath is additionally provided with and can stretch into the first pore sealing in container and being connected with described air guide channel, the right-hand member of trocar sheath is provided with to expose and seals the second pore that container is outer and is connected with described air guide channel.
3. the robot that makes up a prescription according to claim 1, it is characterized in that: on described robot body, the ampoule bottle that is arranged below of needle set processes device, and described ampoule bottle processes device and comprises base, described base arranges angle rotating platform, described angle rotating platform arranges ampoule bottle claw.
4. the robot that makes up a prescription according to claim 3, it is characterised in that: the anglec of rotation of described angle rotating platform is 0 degree 90 degree.
5. the robot that makes up a prescription according to claim 3, it is characterised in that: described angle rotating platform arranges ampoule bottle mouth induction apparatus；Described ampoule bottle claw realizes claw clamping by motor.
6. the robot that makes up a prescription according to claim 4, it is characterised in that: on described base, being arranged below of angle rotating platform connects a bottle box.
7. the robot that makes up a prescription according to claim 2, it is characterized in that: when described first sliding part and the second sliding part move towards to extreme position, on the matrix, with cutting blade for vertex angle, using two positioning blades as base angle, the triangle that arrangement is formed is equilateral triangle.
8. the robot that makes up a prescription according to claim 2, it is characterised in that: described first sliding part arranges the first fixing card hand, described second sliding part arranges the second fixing card hand matched with the first fixing card hand；Described first sliding part and the second sliding part comprise the leading screw being arranged in matrix and DC motor combination.
9. the robot that makes up a prescription according to claim 2, it is characterised in that: described cutting blade and positioning blade are arranged on the first sliding part respectively through line slide rail, and described cutting blade and positioning blade slide on line slide rail respectively through cylinder.
null10. the robot that makes up a prescription according to claim 1，It is characterized in that: described 16 stations tilt turntable module and include a servomotor，Servomotor side arranges one speed reducer，Decelerator one end is connected with servomotor，The other end of decelerator is connected with shaft coupling，Another free end of shaft coupling connects a lifting dispenser，The side of lifting dispenser arranges a clutch，The bottom of lifting dispenser is connected with a power supply conducting slip ring，Seat fixed by the dispenser that is arranged over of lifting dispenser，The fixing seat of dispenser have a rotary tilt table above through Flange joint，Rotary tilt table is provided with position, some holes along its periphery，Position place, each hole is provided with the Zhua Ping mechanism of a blessing different-diameter bottle，Rotary tilt table is also arranged above a correlation back-light mechanism，This correlation back-light mechanism includes CCD camera in order to identify cillin bottle and the ampoule bottle of different size.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521004960.1U CN205391352U (en) | 2015-12-04 | 2015-12-04 | Medicine dispensing machine ware people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521004960.1U CN205391352U (en) | 2015-12-04 | 2015-12-04 | Medicine dispensing machine ware people |
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| CN205391352U true CN205391352U (en) | 2016-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201521004960.1U Active CN205391352U (en) | 2015-12-04 | 2015-12-04 | Medicine dispensing machine ware people |
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| CN (1) | CN205391352U (en) |
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