CN209611756U - A kind of full-automatic dispensing equipment - Google Patents

Abstract

The utility model discloses a kind of full-automatic dispensing equipments comprising the prewired room that is successively disposed proximate to, liquor room and coyote hole out；Liquor room is internally provided with needle cap clamping device, main mechanical arm, secondary mechanical arm, liquid bag and places lattice and transport track；It transports track and is provided with pallet；The both ends for transporting track extend respectively to prewired room and out in coyote holes；Prewired room, liquor room and air pressure regulator and baroceptor are provided in coyote hole out；Air pressure regulator is matched with baroceptor, so that prewired room and out coyote hole are in positive pressure, liquor room is in negative pressure state.The utility model has the advantages that: due to being arranged between prewired area and drug area with liquid zone, therefore the gas pressure distribution of whole equipment is positive pressure, negative pressure, positive pressure, so that the gas with liquid zone can not can be handled except device for transferring and by centralized recovery, guarantee that during matching liquid medical staff's is healthy and safe；Effectively avoid the drug of toxic side effect for the harm of human body simultaneously.

Description

A kind of full-automatic dispensing equipment

Technical field

The utility model belongs to field of medical device, and in particular to a kind of full-automatic dispensing equipment.

Background technique

Pharmacy Intravenous Admixture Service (PIVAS) refers to that pharmacy department, medical institutions according to clinician's prescription, examines through pharmacist After core in venous transfusion bag plus other injection drugs, make can clinical directly vein input medical fluid.But intravenous pharmacy Configuration center removing typical medicine is matched outside liquid, and can also be related to special drug matches liquid.Special drug matches the dangerous property of liquid, To matching, liquid environmental requirement is high, existing at present that the requirement for matching liquid to special drug is unable to satisfy with pendular ring border, will lead to liquid Medical staff's health generate adverse effect.

Summary of the invention

The purpose of this utility model is to provide a kind of full-automatic dispensing equipment according in place of above-mentioned the deficiencies in the prior art, The full-automatic dispensing equipment realizes the internal gas with pendular ring border by using automation equipment and air pressure regulator and follows Ring and gas is not to the purpose of extraneous Environment release.

The utility model aim realization is completed by following technical scheme:

A kind of full-automatic dispensing equipment, it is characterised in that: including prewired room, liquor room and the drug being successively disposed proximate to Room and transport track；The transport track is provided with pallet；The both ends for transporting track extend respectively to the prewired room And in the coyote hole out；The prewired room, the liquor room and it is described go out coyote hole in be provided with air pressure regulator with And baroceptor；The air pressure regulator is matched with the baroceptor so that the prewired room and it is described go out Coyote hole is in positive pressure, the liquor room is in negative pressure state.

Be provided with several grooves on the pallet, each groove be respectively used to carrying cillin bottle, ampoule bottle, syringe with And liquid bag.

The liquor room is internally provided with needle cap clamping device, main mechanical arm, secondary mechanical arm, liquid bag and places lattice.

The end of the main mechanical arm is provided with syringe clamping device；The end of the pair mechanical arm is provided with drug clamping Device.

It is additionally provided with weighing device inside the liquor room, the weighing device is used to weigh syringe and its internal medical fluid Weight；The weighing device includes needle support, syringe bracket and core bar bracket, and the needle support and the core bar branch are set up Set the opposite sides in the syringe bracket, and consistent, the needle of setting height of the needle support and the core bar bracket The setting height of tube stent is lower than the needle support and the core bar bracket；It is set at the needle support and the core bar bracket It is equipped with card slot；Weighing sensor is equipped in the lower section of the syringe bracket.

Cillin bottle rocking equipment is additionally provided with inside the liquor room, the cillin bottle rocking equipment includes pedestal, fixation Rack and driving device on the pedestal, the driving device connect the pedestal and the rack are driven to transport It is dynamic；There are several placing grooves on the rack, pressing plate is equipped with above the placing groove, the pressing plate is connected simultaneously by a telescopic rod Driving lifting, the pressing plate is for the medicine bottle to be limited in the placing groove；The driving device is cylinder, the cylinder It connects the pedestal and the rack is driven to move；The bottom surface of the pressing plate is equipped with elastic insert.

Be additionally provided with ampoule bottle cutter device inside the liquor room, the ampoule bottle cutter device include box-type member, Recycling bins and buffer board；The box-type member is located at the top of the recycling bins, and the bottom plate of the box-type member, which offers, to be cut Slot；Two sides of the cutting seam are mounted on cutting blade, and the blade of two cutting blades is oppositely arranged；It is described The first end of cutting seam is provided with ampoule bottle card slot；The buffer board is mounted on the upper surface of the recycling bins, the recycling bins Upper surface offer recovery port；The buffer board is located at the lower section of the cutting seam, and tilts to the recovery port；The case The bottom of the first end of type component is connected with recovery approach, the bottom opening of the recovery approach be located at the recovery port just on Side；The end face of the second end of the box-type member offers end plate seam；The second end of the cutting seam is connected to end plate seam； The ampoule bottle card slot is by the first end margin of the cutting seam, the side of the cutting seam and the end of the cutting blade It constitutes.

Needle cap clamping device includes pedestal and two mechanical fingers；The pedestal includes mechanical finger driving machine Structure, the first end of the mechanical finger are connect with the mechanical finger driving mechanism；The second end of two mechanical fingers is equal It is provided with the clamping part being mutually adapted；The clamping part is arc groove；The mechanical finger is in the shape of a rod；The of the mechanical finger Two ends are vertically bent, and the end face of the second end of two mechanical fingers is oppositely arranged；The clamping part is arranged in the machinery The end face of the second end of finger；The mechanical finger driving mechanism includes linear guide and is arranged in the linear guide Slide block mechanism；The number of the slide block mechanism be two, the first end of two mechanical fingers respectively with a sliding block machine Structure connection.

The transport track includes bracket, rigid substrates, sprocket wheel elevating mechanism, load bearing component and sprocket wheel transmission mechanism, Wherein the rigid substrates are mounted on above the bracket, and the sprocket wheel elevating mechanism is arranged in the bracket and the rigid base Among the space that plate is constituted, the sprocket wheel transmission mechanism includes two sprocket wheels and is set in soft between two sprocket wheels Property chain, the sprocket wheel are separately mounted to the both ends at the top of the sprocket wheel elevating mechanism, and the load bearing component is mounted on the flexibility On chain and it is used for pallet described in support, the through slot as track is offered on the rigid substrates, the load bearing component top surface is set There is top salient point；Under the pushing tow of the sprocket wheel elevating mechanism, the top salient point passes through pallet described in the through slot and upwards jacking, And make the pallet by the load bearing component as the flexible chain is displaced.

The utility model has the advantages that: due to being arranged between prewired area and drug area with liquid zone, whole equipment Gas pressure distribution is positive pressure, negative pressure, positive pressure, so that the gas with liquid zone can not can be handled except device for transferring and by centralized recovery, Guarantee that during with liquid medical staff's is healthy and safe；Effectively avoid the drug of toxic side effect for the harm of human body simultaneously.

Detailed description of the invention

Fig. 1 is the side view of full-automatic dispensing equipment in the utility model；

Fig. 2 is the structural block diagram of the control system of full-automatic dispensing equipment in the utility model；

Fig. 3 is the three-dimensional view of weighing device in the utility model；

Fig. 4 is the three-dimensional view of cillin bottle rocking equipment in the utility model；

Fig. 5 is the three-dimensional view of ampoule bottle cutter device in the utility model；

Fig. 6 is the partial enlarged view in Fig. 5 at A；

Fig. 7 is the schematic diagram of the moving direction of ampoule bottle during cutting ampoule bottle；

Fig. 8 be breaking off ampoule bottle during ampoule bottle moving direction schematic diagram；

Fig. 9 is the three-dimensional view of needle cap clamping device in the utility model；

Figure 10 is the structural schematic diagram that track is transported in the utility model；

Figure 11 is structural schematic diagram when transporting trackwork in the utility model；

Figure 12 is the partial sectional view of flexible chain stroke detection sensor in the utility model；

Figure 13 is the top view illustration of rigid substrates in the utility model；

Figure 14 is the structural block diagram that control system is transported in the utility model.

Specific embodiment

The feature of the utility model and other correlated characteristics are made further specifically by embodiment below in conjunction with attached drawing It is bright, in order to the understanding of technical staff of the same trade:

Such as Fig. 1-14, label 1-60 is respectively as follows: prewired room 1, liquor room 2, goes out coyote hole 3, weighing device 4, ampoule bottle in figure Cutter device 5, cillin bottle rocking equipment 6, needle cap clamping device 7, main mechanical arm 8, secondary mechanical arm 9, liquid bag are placed lattice 10, are transported Track 11, air pressure regulator 13, baroceptor 14, needle support 15, syringe bracket 16, core bar bracket 17, claims pallet 12 Retransmit sensor 18, weighing controller 19, pedestal 20, rack 21, placing groove 22, telescopic rod 23, pressing plate 24, porous elastic material Layer 25, box-type member 26, recycling bins 27, recovery approach 28, baffle 29, buffer board 30, cutting seam 31, cutting blade 32, end plate Stitch 33, ampoule bottle card slot 34, the first end margin 35, side 36, recovery port 37, ampoule bottle 38, body 39, bottleneck groove 40, head Portion 41, bracket 42, load bearing component 43, sprocket wheel elevating mechanism 44, sprocket wheel transmission mechanism 45, sprocket wheel 46, flexible chain 47, chain wheel drive Mechanism 48, through slot 49, top salient point 50, rigid substrates 51, industrial personal computer 52, flexible chain stroke detection sensor 53, ccd sensor 54, image processing unit 55, polarizing film 56, optical filter 57, laser source array 58, central control unit 59, touch device 60.

Embodiment: as shown in Fig. 1 to 10, the present embodiment is specifically related to a kind of full-automatic dispensing equipment comprising successively tight Prewired room 1, liquor room 2 and coyote hole 3 out of neighbour's setting.Liquor room 2 is internally provided with weighing device 4, ampoule bottle cutter device 5, cillin bottle rocking equipment 6, needle cap clamping device 7, main mechanical arm 8, secondary mechanical arm 9, liquid bag place lattice 10 and transport track 11.It transports track 11 and is provided with pallet 12；The both ends for transporting track 11 extend respectively to prewired room 1 and out in coyote holes 3.It is prewired Room 1 is equipped with scanning recognition and computer equipment, the prescription and match liquor amount, scanning recognition that the computer equipment is used to confirm need to liquid Whether equipment matches with liquid drug with prescription for checking.Coyote hole 3 is equipped with computer equipment out, and the medicine with liquid is completed for recording Product.

It is interrupted setting between liquor room 2 and prewired room 1 and out coyote hole 3, and offers the opening passed through for transporting track 11； By the prewired room 1 of above-mentioned opening, liquor room 2 and out the air between coyote hole 3 can circulate mutually to a certain extent.In order to Prevent the liquid steam in liquor room 2 to be circulated to prewired room 1 and out inside coyote hole 3, prewired room 1, liquor room 2 and it is described go out Air pressure regulator 13 and baroceptor 14 are provided in coyote hole.Air pressure regulator 13 and baroceptor 14 match It closes, so that prewired room 1 and out coyote hole 3 are in barotropic state, liquor room 2 is in negative pressure state.

As shown in Fig. 1,10, pallet 12 is used to various drugs being transported to liquor room 2 from prewired room 1, and will complete with liquid Drug afterwards is transported to out coyote hole 3.Several grooves are provided on pallet 12, each groove is respectively used to carrying cillin bottle, ampoule Bottle, syringe and liquid bag.

As shown in Figure 1, 2, the end of main mechanical arm 8 is provided with syringe clamping device, and syringe clamping device is for clamping needle Cylinder.The end of secondary mechanical arm 9 is provided with drug clamping device.Secondary mechanical arm 9 is for clamping cillin bottle, ampoule bottle and liquid bag. Liquid bag places lattice 10 and is used for liquid carrying bag during making up a prescription.Weighing device 4, cillin bottle rocking equipment 6, needle cap clamping device 7, Main mechanical arm 8, secondary mechanical arm 9 and transport track 11 are connect with central control unit 59.In the present embodiment, center control is single Member 59 is industrial personal computer.Central control unit 59 is connected with touch device 60, operator can be understood by touch device 60 it is complete from The operation conditions of the dynamic robot that makes up a prescription, and input control instructs.

As shown in figure 3, weighing device 4 is used to weigh the weight of syringe and its internal medical fluid.Main mechanical arm 8 is taken out using syringe Before and after taking liquid, syringe is placed on weighing device 4 respectively, weighing result twice is subtracted each other, needle can be obtained The weight for the medical fluid that cylinder extracts.

As shown in figure 3, weighing device 4 includes needle support 15, syringe bracket 16 and the core bar bracket 17 set gradually.Its In, the bottom surface of the bottom surface of needle support 15, the bottom surface of syringe bracket 16 and core bar bracket 17 is generally aligned in the same plane, needle support 15 Height it is consistent with the height of core bar bracket 17, the height of syringe bracket 16 is lower than the height of needle support 15, can guarantee syringe No matter blank state or draw medical fluid in the state of carry out weighing can held stationary, improve the accuracy of weighing results. Needle support 15 and core bar bracket 17 are equipped at rest distinguishes compatible card slot with syringe syringe needle, syringe core bar, into one Step improves stationarity of the syringe on weighing device 4, to improve the accuracy of weighing.Weighing sensor 18 is fixed on syringe branch The bottom of frame 16, to weigh to the syringe being carried on bracket.

The present embodiment is in the specific implementation: weighing device 4 can cooperate weighing controller 19 to work.Specifically, claiming The settable data uploading module of heavy-duty machine structure is to be uploaded to weighing controller 19 for its weighing data and save, weighing controller 19 can to medical fluid weight it is automatic calculating and at any time progress data review.

Needle support 15, syringe bracket 16 and core bar bracket 17 can also be an integral structure, and reduced assembled process, improved whole The stress performance of body.15 length of needle support is greater than 17 length of core bar bracket, is adapted with the shape of syringe.

Weighed using the medical fluid that weighing device 4 extracts syringe specifically includes the following steps:

1) typing medical fluid type and extraction amount in weighing controller 19；Injection head in syringe is correspondingly placed at syringe needle branch On the card slot of frame 15, the core bar in syringe is correspondingly placed on the card slot of core bar bracket 17, the stack shell in syringe is suspended on needle It weighs above tube stent 16.At this point, syringe is empty needle cylinder.

) weigh again to syringe after the completion of syringe suction.At this point, there being medical fluid in syringe.

) weighing sensor 18 by data uploading module will be uploaded to weighing controller 19 by weighing results twice, weighing control The weight of medical fluid is calculated according to the difference of weighing results twice for device 19 processed, and the medical fluid dosage for then comparing preparatory typing carrys out core Whether meet the requirements to the liquid volume in syringe.If meeting the requirements, then it represents that syringe aspirates process and completes；If it does not meet the requirements, Corresponding liquid volume is then accordingly extracted or sucks out out of syringe, to guarantee that the liquid volume in syringe meets the requirements.

As shown in figure 4, the cillin bottle rocking equipment 6 in the present embodiment includes pedestal 20, rack 21, telescopic rod 23, pressure Plate 24 and driving device.Cillin bottle rocking equipment 6, which is controlled using cylinder (not shown) as driving device, to be vibrated, and can be used The dynamics of automatic technology control oscillation and time solve existing oscillating mechanism and need artificially to judge whether oscillation is uniformly existing Shape；The design of pressing plate 24 can effectively prevent bottle body and breakage occur in oscillatory process.

Wherein, rack 21 is fixed on pedestal 20, and for carrying bottle body, pedestal 20 is used to support rack 21.It places It is offered on frame 21 several for placing the placing groove 22 of cillin bottle, notch size, shape and the west to be placed of placing groove 22 Bottle body size, the shape of woods bottle match adaptation.Placing groove 22 has angle, and cillin bottle bottle body may be stuck among placing groove 22. Pedestal 20 is connected with driving device, and driving device (the present embodiment is cylinder) is for driving pedestal 20 to carry out in the horizontal direction back and forth Movement shakes up so that the cillin bottle being stuck in placing groove 22 be made to obtain oscillation.

As shown in figure 4, telescopic rod 23 is arranged in a vertical direction, telescopic rod 23 is connected with driving device, and telescopic rod 23 can be It stretches along the vertical direction under the driving of driving device.One end of telescopic rod 23 is fixed on pedestal 20, the other end and pressing plate 24 are connected, and pressing plate 24 can be vertically moving with stretching for telescopic rod 23.Pressing plate 24 is located at 20 top of pedestal and corresponds to The position of placing groove 22；When being placed with cillin bottle in placing groove 22, pressing plate 24 can decline and press under the driving of telescopic rod 23 Tight cillin bottle avoids cillin bottle from throwing away out of placing groove 22 to outer in oscillatory process.

As shown in figure 4, being equipped with porous elastic material layer 25 in the bottom surface of pressing plate 24, placement is directly damaged by pressure to avoid pressing plate 24 Cillin bottle in slot 22.The length of the porous elastic material layer 25 and the length of rack 21 are adapted.

This case is in the specific implementation: as shown in figure 4, being set side by side with several placing grooves 22 on rack 21, and several The orientation of placing groove 22 and the plate body length direction of pressing plate 24 are perpendicular, and the plate body length of pressing plate 24 and several placing grooves 22 length assembly is adapted, so that the cillin bottle in the compressible several placing grooves 22 of pressing plate 24, realizes multiple cillin bottles While vibrate.

Cylinder as driving device can not only be connected with telescopic rod 23 but also be connected with pedestal 20 to realize to the two Connection driving, intensivism are good；It is also possible to telescopic rod 23 and pedestal 20 are independently controlled respectively using two sets of cylinders, Convenient for regulation.

Cillin bottle rocking equipment 6 cillin bottle is shaken the following steps are included:

1) it is placed in placing groove 22 after being sterilized cillin bottle by pair mechanical arm 9, cylinder controls telescopic rod 23 and shrinks simultaneously Make the decline of pressing plate 24 until bottle body is compressed.

) cylinder control pedestal 20 move back and forth in the horizontal direction, shake up the medical fluid in bottle body.

) after completing preset oscillating operation, 20 stop motion of pedestal, telescopic rod 23 extends and increase upwards pressing plate 24 It lifts, can will vibrate the medicine bottle shaken up by secondary mechanical arm 9 at this time and taken out out of placing groove 22 and carry out with liquid process.

As shown in figure 5, ampoule bottle cutter device 5 in the present embodiment be used for and the secondary cooperation of mechanical arm 9 to ampoule bottle 38 into Row cutting, the ampoule bottle cutter device 5 include box-type member 26, recycling bins 27, recovery approach 28, baffle 29 and buffer board 30。

In order to cut ampoule bottle, the bottom plate of box-type member 26 offers cutting seam 31, and two sides of cutting seam 31 are pacified Equipped with cutting blade 32.The blade of two cutting blades 32 is oppositely arranged.The end face of the second end of box-type member 26 offers end Plate stitch 33；The second end of cutting seam 31 is connected to end plate seam 33.Cutting blade 32 is used to cut the bottleneck groove of ampoule bottle, generates Tool marks, so as to the head of breaking off ampoule bottle.33 are stitched by setting end plate, box structure is inserted on the head of ampoule bottle with can be convenient In part 26.31 first end of slot is autotomyed to the direction of cutting 31 second ends of seam, the blade spacing of two cutting blades 32 gradually becomes It is small.

As shown in Figure 5,6, the first end of cutting seam 31 is provided with ampoule bottle card slot 34；In the present embodiment, ampoule bottle card slot 34 are made of the end of the first end margin 35 of cutting seam 31, the side 36 of cutting seam 31 and cutting blade 32.Ampoule bottle card Slot 34 fractures by the ampoule bottle that cutting blade 32 is cut for 9 Duis of matching pair mechanical arm.In snap-off process, secondary mechanical arm 9 grasp the body of ampoule bottle, and the head of ampoule bottle is resisted against to the slot bottom of ampoule bottle card slot 34, the slot bottom of ampoule bottle card slot 34 The side 36 for referring to cutting seam 31, against after the completion, secondary mechanical arm 9 drives ampoule bottle continuation to run in the horizontal direction, ampoule The head of bottle fractures under the action of ampoule bottle card slot 34.

As shown in figure 5, box-type member 26 is located at the top of recycling bins 27.Recovery approach 28 is the tubular knot that section is rectangle Structure is arranged along the vertical direction.The top of recovery approach 28 is connect with the bottom of the first end of box-type member 26, box-type member 26 Internal cavities are connected to recovery approach.The upper surface of recycling bins 27 offers recovery port 37, the bottom opening position of recovery approach 28 In the surface of recovery port 37.When breaking off ampoule bottle, box can successively be passed through by falling into the ampoule bottle head inside box-type member 26 Component 26 and recovery approach 28, and fall into from recovery port 37 inside of recycling bins 27.It is fallen into for the ease of the head of ampoule bottle In recovery approach 28, the bottom plate of box-type member 26 is tilted to recovery port 37 and recovery approach 28, in such box-type member 26 Ampoule bottle head spontaneous under gravity can roll into recovery approach.

When fractureing, the head of part ampoule bottle is not fallen in box-type member 26, but is fallen from cutting seam 31.In order to It recycles from the ampoule bottle head that cutting seam 31 is fallen, buffer board 30 is arranged in the lower section of box-type member 26.Buffer board 30 is used for Accept the ampoule bottle head that cutting seam 31 is fallen.Buffer board is mounted on the upper surface of recycling bins 27, and tilts to recovery port 37, this The ampoule bottle head that sample is fallen from cutting seam 31 can be fallen into recycling bins 27 along inclined buffer board.In box-type member 26 Two sides be provided with baffle 29, the bottom of baffle 29 is connect with the upper surface of buffer board 30 and recycling bins 27.Baffle 29 is used for Prevent ampoule bottle head from falling from the two sides of buffer board 30, while baffle 29 is also used to fixed box-type member 26.

As shown in Fig. 5 to 8, had using the process that the ampoule bottle cutter device 5 in the present embodiment cuts ampoule bottle Body the following steps are included:

(1) body 39 that ampoule bottle 38 is held using secondary mechanical arm 9 translates ampoule bottle 38 along direction a shown in Fig. 7, So that cutting blade 32 forms scratch in the cutting of bottleneck groove 40 of ampoule bottle 38；

(2) after ampoule bottle 38 is moved to the ampoule bottle card slot 34 for being located at cutting 31 first ends of seam, by ampoule bottle 38 from cutting Certain distance is extracted out in seam 31, and after the completion of extraction, the state of ampoule bottle 38 is as shown in Figure 8；

(3) ampoule bottle 38 is moved using direction b of the secondary mechanical arm 9 in Fig. 8, so that the head 41 of ampoule bottle 38 is resisted against The slot bottom of ampoule bottle card slot 34；It continues on direction b against secondary mechanical arm 9 after the completion to exert oneself, the head 41 of ampoule bottle 38 and bottle Body 39 is broken at the scratch of bottleneck groove 40, so that body 39 is separated with head 41；

(4) after the completion of separating, the head of ampoule bottle 38 can successively be fallen into back via box-type member 26 and recovery approach 28 Receive case；It can also fall from cutting seam 31, be fallen into recycling bins 27 by the slope of buffer board 30.

Ampoule bottle cutter device 5 in the present embodiment can cooperative mechanical hand automatic cutting, cutting mechanism are carried out to ampoule bottle With a variety of collection modes, the ampoule bottle head in cutting process and broken glass can be collected, can prevent cullet and The ampoule bottle-neck fallen is scattered in around cutting mechanism, avoids unnecessary infection or bleeding, ensure that with pendular ring border Clean and safety.

As shown in figure 9, the needle cap clamping device 7 in the present embodiment is used for and main mechanical arm 8 cooperates, the needle of syringe is removed Cap.Needle cap clamping device 7 includes pedestal 42 and two mechanical fingers 43.The second end of two mechanical fingers 43 is used for phase interworking Conjunction clamps syringe needle cap, syringe is extracted out by main mechanical arm 8 in clamping process, to realize unloading for syringe needle cap It removes.

Specifically, pedestal 42 includes mechanical finger driving mechanism 44, mechanical finger driving mechanism 44 includes linear guide 45 And the slide block mechanism 46 in linear guide 45 is set.Linear guide 45 and slide block mechanism 46 constitute straight line driving mechanism. The number of slide block mechanism 46 is two, and the first end of two mechanical fingers 43 is fixedly connected with a slide block mechanism 46 respectively. Slide block mechanism 46 refers to that 43 translate along the axis direction of linear guide 45 for driving manipulator, thus two mechanical fingers of driving Syringe needle cap is clamped and discharged.

In the present embodiment, two mechanical fingers 43 are rod-shaped；The second end of mechanical finger 43 is vertically bent, two machinery The end face of the second end of finger 43 is oppositely arranged.The end face of the second end of mechanical finger 43 is provided with clamping part 47.Clamping part 47 For arc groove, both ends extend respectively to the end face edge of the second end of mechanical finger 43.The shape and cyclinder needle of clamping part 47 The side view of cap is adapted, while the clamping part 47 of two mechanical fingers 43 is mutually adapted, for being fitted in syringe needle cap Two sides clamp syringe needle cap.

Main mechanical arm 8 clamps syringe, and the needle cap of syringe is moved between the clamping part 47 of two mechanical fingers 43, makes Obtain the two sides that two mechanical fingers 43 are symmetrically dispersed in needle cap；Referred to simultaneously using 44 driving manipulator of mechanical finger driving mechanism 43 is mobile to needle cap, so that the clamping part 47 of mechanical finger 43 clamps needle cap；After the completion of clamping, main mechanical arm 8 is controlled Axis along syringe moves syringe so that the needle of syringe is extracted out from needle cap, can by needle cap from syringe removal.The present embodiment In needle cap clamping device 7 can be applicable in full-automatic dispensing equipment, occupy little space；Syringe needle cap can be unloaded automatically It removes, ensure that sterile, safe with liquid process.

As shown in Figure 10, in the present embodiment, the drug on 11 transport pallet 12 of track and pallet 12 is transported.Transport track 11 include bracket 42, load bearing component 43, sprocket wheel elevating mechanism 44 and two sprocket wheel transmission mechanisms 45.

As shown in Figure 10, the bottom surface of bracket 42 is long and narrow, is equipped with rigid substrates 51 at the top of bracket 42.Sprocket wheel elevator Structure 44 and sprocket wheel transmission mechanism 45 are arranged among the enclosure space that bracket 42 and rigid substrates 51 are surrounded.Sprocket wheel elevator Structure 44 is used for bearing sprocket transmission mechanism 45, and furthermore sprocket wheel elevating mechanism 44 is also used to the lifting of drive sprocket transmission mechanism 45.

In conjunction with shown in Figure 10,14, sprocket wheel transmission mechanism 45 is used to drive load bearing component 43 for installing load bearing component 43 It translates in the horizontal direction.Each sprocket wheel transmission mechanism 45 includes two sprocket wheels 46 and the flexibility being set between two sprocket wheels 46 Chain 47.One sprocket wheel 46 of sprocket wheel transmission mechanism 45 is coaxially connected with sprocket drive 48, and sprocket drive 48 includes electricity Machine and retarder are used for the rotation of drive sprocket 46.Two sprocket wheels 46 of sprocket wheel transmission mechanism 45 are separately mounted to sprocket wheel liter The both ends at the top of descending mechanism 44.

In conjunction with shown in Figure 10,13, the bottom of load bearing component 43 is fixed on the flexible chain of two sprocket wheel transmission mechanisms 45 In 47 flat segments, when sprocket wheel transmission mechanism 45 works, load bearing component 43 moves on flexible chain 47.Specifically, two The flat segments of the flexible chain 47 of sprocket wheel transmission mechanism 45 are parallel to each other, and are located at sustained height, and load bearing component 43 is being located above The flat segments of flexible chain 47 do linear reciprocating motion.

In conjunction with shown in Figure 10,11 and 14, the upper surface of load bearing component 43 is provided with top salient point 50, and top salient point 50 is used for support Pallet 12.As shown in figure 13, through slot 49 of the twice as track, the notch shape of through slot 49 are offered on the surface of rigid substrates 51 Shape, size and location match with top salient point 50 set by 43 upper surface of load bearing component and are adapted to.

As shown in figure 11, load bearing component 43 is used to push up in the state that sprocket wheel elevating mechanism 44 is lifted sprocket wheel transmission mechanism 45 Pallet 12 is held in the palm, pallet 12 is used for medicament-carried and liquid bag.

As shown in Figure 10, in the present embodiment, flexible chain stroke detection sensor 53 is installed on sprocket wheel elevating mechanism 44.It is soft Property flexible chain moving distance and movement speed of the chain stroke detection sensor 53 for directly detection sprocket wheel transmission mechanism 45.Chain Actuation 48 can carry out 47 moving distance of flexible chain according to the testing result of flexible chain stroke detection sensor 53 accurate Control.

As shown in Figure 10,12, flexible chain stroke detection sensor 53 include ccd sensor 54, image processing unit 55, partially Shake piece 56, optical filter 57 and laser source array 58.Ccd sensor 54 and laser source array 58 are oppositely arranged on flexibility The two sides up and down of chain 47.Ccd sensor 54 along the length of 47 extending direction of flexible chain be greater than 2 times of crystallinities away from.Laser light source The laser source of dense arrangement is prepared on the silicon wafer of array 58, it is homogeneous that the polarization direction of each laser source and laser project direction Together.The internode gap that the fraction of laser light that laser source array 58 projects may pass through flexible chain 47 exposes to ccd sensor 54, and swashs Radiant array 58 issues blocking of another part laser by flexible chain 47, can not expose to ccd sensor 54.Therefore laser Array of source 58 can project the image for forming flexible chain 47 on ccd sensor 54.

The surface for being covered on ccd sensor 54 is laminated in polarizing film 56 and optical filter 57, for eliminating the influence of environment light. Optical filter 57 is narrow band filter, and the wavelength of laser source array 58 is located in the conducting wavelength band of optical filter 57.Laser light The polarization direction for the laser that source array 58 issues is identical as the polarization direction of polarizing film 56.Image processing unit 55 and the CCD Sensor connection.In 47 moving process of flexible chain, the collected image of ccd sensor 54 is also moved, therefore image procossing Unit 55 can calculate the movement speed and moving distance of flexible chain 47 according to the image that 54 continuous acquisition of ccd sensor arrives.

As shown in figure 14, the transport track 11 of the present embodiment includes an industrial personal computer 19, sprocket drive 48, sprocket wheel liter Descending mechanism 44 and flexible chain stroke detection sensor 53 are communicated to connect with industrial personal computer 19.In the present embodiment, pass through flexible chain Stroke detection sensor 53 directly detects the stroke of flexible chain 47, stroke caused by can wearing in this way to avoid flexible chain Error.In addition, directly being detected by the stroke to flexible chain 47, the lower motor of precision and gear-box substitution can be used High-cost servo motor carries out closed-loop control in high precision, significantly reduces the cost of system.

With in the prior art based on the transportation system of guide rail compared with, the transportation system of the present embodiment not only simplifies existing rail The complexity of road structure, also reduction equipment when using installation and maintenance can be at any time to trouble unit when equipment breaks down Detachable maintaining is individually carried out, human cost and production cost are reduced.

As shown in Figure 10 to 14, in the present embodiment transport track 11 transport drug process specifically includes the following steps:

(1) driving of sprocket wheel transmission mechanism 45 load bearing component 43 is moved to the lower section of pallet 12；Load bearing component 43 is at this time Low-end trim, pallet 12 are in originating location, and pallet 12 is carried on the upper surface of rigid substrates 51.

(2) 44 lifting upwards of drive sprocket transmission mechanism 45 of sprocket wheel elevating mechanism, so that the top salient point 50 of load bearing component 43 From being passed through in through slot 49 on rigid substrates 51 and lift pallet from rigid substrates 51；Sprocket wheel transmission mechanism 45 is started to work, The drive of flexible chain 47 moves load bearing component 43 and pallet 12 along the cloth set direction of through slot 49；

(3) 44 drive sprocket transmission mechanism 45 of sprocket wheel elevating mechanism moves downward, and pallet 12 is made to ride upon rigid base On plate 51, so as to subsequent operation.

In addition, flexible chain 47 can be set on sprocket wheel 46 when it is the bagged liquid for having been injected into drug that pallet 12, which is carried, It is set to incomplete tensioning state, but the incomplete tensioning state refers to and guaranteeing that flexible chain 47 can normally drive load bearing component 43 movements but the state that can slightly rise and fall.At this point, having been injected into the bagged liquid of drug on pallet 12 with load bearing component When 43 movement, bagged liquid can be rocked, medical fluid and drug can be sufficiently mixed uniformly using the fluctuating of flexible chain 47, Avoid drug can not uniform caused drug effect decline.So, the conveying mechanism in the application is in the same of conveying medicine company bag When can also complete its mixing step, while guaranteeing safe transport, moreover it is possible to have the function of to shake up, no longer need to additionally be arranged packed Medical fluid shakes up oscillation device, and intensivism is strong.At this point, the top salient point 50 on load bearing component 43 is preferably ball head structure, while The lower surface of pallet 12 offers groove compatible with ball head structure, can guarantee to hold in the palm by the matching of ball head structure and groove Disk 12 can be steadily displaced, and avoid toppling because rising and falling.

At the same time, the present embodiment middle sprocket elevating mechanism 44 can be also used for across the chamber translation of full-automatic dispensing equipment. Specifically, full-automatic dispensing equipment is generally divided by function several chambers at present, several chambers are independently formed, but chamber two-by-two Often there is gap between room.Therefore, when encountering such case, the delivery system that is respectively provided in each chamber in the present embodiment System, at this point, 44 pushing tow of sprocket wheel elevating mechanism makes the upward pushing tow pallet of load bearing component 43, can complete gap between chamber across More.In the present embodiment, chamber is prewired room 1, liquor room 2 and coyote hole 3 out, and the gap between chamber is prewired room 1, liquor room 2 and the wall between coyote hole 3 out.

As shown in Figures 1 to 9, automatic liquid matching is carried out using the full-automatic dispensing equipment of the present embodiment specifically include following step It is rapid: (1) drug to be placed on pallet 12 in prewired room 1；It (2) will be in tray transport to liquor room 2 using transport track 11 Portion；(3) equipment in liquor room 2 prepares the drug on pallet；(4) track 11 is transported to be sent to the drug after preparation Out in coyote hole 3.

Equipment in liquor room 2 drug on pallet is prepared specifically includes the following steps: (1) pair mechanical arm 9 from Pallet 12 clamps liquid bag, and liquid bag is placed on liquid bag and is placed on lattice 10；(2) main mechanical arm 8 from pallet 12 clamp syringe, and with Needle cap clamping device 7 cooperates, and needle cap is pulled up, in the process, needle cap is clamped by needle cap clamping device 7；(3) secondary mechanical Arm 9 clamps cillin bottle or ampoule bottle from pallet 12, and matches with main mechanical arm 8, to the drug in cillin bottle or ampoule bottle Carry out allotment extraction；(4) main mechanical arm 8 is injected medical fluid in liquid bag using syringe.

Allotment extraction is carried out to the medicament in cillin bottle specifically includes the following steps: (1) pair mechanical arm 9 clamps cillin bottle； (2) main mechanical arm 8 clamps syringe and extracts mother liquor from liquid bag；(3) main mechanical arm 8 is injected mother liquor in cillin bottle by syringe； (4) cillin bottle is placed on cillin bottle rocking equipment 6 and mixes medical fluid with the medicinal powder in cillin bottle by secondary mechanical arm；(5) host Tool arm 8 clamps syringe and extracts medical fluid from cillin bottle, and judges whether the weight of the medicament extracted meets need by weighing device 4 It asks；(6) main mechanical arm 8 is injected medicament in liquid bag by syringe.

Allotment extraction is carried out to the medicament in ampoule bottle specifically includes the following steps: (1) pair 9 holding ampoule bottle of mechanical arm； (2) secondary mechanical arm 9 cooperates with ampoule bottle cutter device 5, cuts off the head of ampoule bottle；(3) main mechanical arm 8 passes through syringe from ampoule The medical fluid of predetermined weight is extracted in bottle, and judges whether the weight of the medicament extracted meets demand by weighing device 4；(6) main Mechanical arm 8 is injected medicament in liquid bag by syringe.

After the completion of medicament allotment, liquid bag, discarded cillin bottle or medicine bottle are put back to pallet 12 by secondary mechanical arm 9, and；Main mechanical Arm 8 and needle cap clamping device 7 cooperate, and needle cap is recovered on the injection needle of syringe；After the completion of needle cap is arranged, main mechanical arm 8 is by needle Cylinder puts back to pallet 12；It then transports track 11 and pallet 12 is transported to out coyote hole 3.

Although above embodiments are elaborated referring to conception and embodiment of the attached drawing to the utility model aim, But those skilled in the art will realize that still may be used in the case where no disengaging claim limits the precondition of range To make various modifications and variations to the utility model, therefore will not repeat them here.

Claims (9)

1. a kind of full-automatic dispensing equipment, it is characterised in that: including the prewired room, liquor room and coyote hole out being successively disposed proximate to And transport track；The transport track is provided with pallet；It is described transport track both ends extend respectively to the prewired room with And in the coyote hole out；The prewired room, the liquor room and it is described go out coyote hole in be provided with air pressure regulator and Baroceptor；The air pressure regulator is matched with the baroceptor, so that the prewired room and the drug Room is in positive pressure, the liquor room is in negative pressure state.

2. a kind of full-automatic dispensing equipment according to claim 1, it is characterised in that: be provided with several on the pallet Groove, each groove are respectively used to carrying cillin bottle, ampoule bottle, syringe and liquid bag.

3. a kind of full-automatic dispensing equipment according to claim 1, it is characterised in that: the liquor room is internally provided with needle Cap clamping device, main mechanical arm, secondary mechanical arm, liquid bag place lattice.

4. a kind of full-automatic dispensing equipment according to claim 3, it is characterised in that: the end of the main mechanical arm is arranged There is syringe clamping device；The end of the pair mechanical arm is provided with drug clamping device.

5. a kind of full-automatic dispensing equipment according to claim 3, it is characterised in that: be additionally provided with inside the liquor room Weighing device, the weighing device are used to weigh the weight of syringe and its internal medical fluid；The weighing device include needle support, The opposite sides of the syringe bracket is arranged in syringe bracket and core bar bracket, the needle support and the core bar bracket, and The setting height of the needle support and the core bar bracket is consistent, and the setting height of the syringe bracket is lower than the syringe needle branch Frame and the core bar bracket；Card slot is provided at the needle support and the core bar bracket；In the lower section of the syringe bracket Equipped with weighing sensor.

6. a kind of full-automatic dispensing equipment according to claim 3, it is characterised in that: be additionally provided with inside the liquor room Cillin bottle rocking equipment, the cillin bottle rocking equipment include pedestal, the rack being fixed on the pedestal and driving dress It sets, the driving device connects the pedestal and the rack is driven to move；There is several placing grooves, institute on the rack It states and is equipped with pressing plate above placing groove, the pressing plate is connected by a telescopic rod and driven lifting, and the pressing plate is for limiting cillin bottle In the placing groove；The driving device is cylinder, and the cylinder connects the pedestal and the rack is driven to move； The bottom surface of the pressing plate is equipped with elastic insert.

7. a kind of full-automatic dispensing equipment according to claim 3, it is characterised in that: be additionally provided with inside the liquor room Ampoule bottle cutter device, the ampoule bottle cutter device include box-type member, recycling bins and buffer board；The box-type member position In the top of the recycling bins, the bottom plate of the box-type member offers cutting seam；Two sides of the cutting seam are respectively mounted There is cutting blade, the blade of two cutting blades is oppositely arranged；The first end of the cutting seam is provided with ampoule bottle card slot； The buffer board is mounted on the upper surface of the recycling bins, and the upper surface of the recycling bins offers recovery port；The buffer board Positioned at the lower section of the cutting seam, and tilted to the recovery port；The bottom of the first end of the box-type member is connected with recycling Channel, the bottom opening of the recovery approach are located at the surface of the recovery port；The end face of the second end of the box-type member Offer end plate seam；The second end of the cutting seam is connected to end plate seam；The ampoule bottle card slot is by the cutting seam The end of first end margin, the side of the cutting seam and the cutting blade is constituted.

8. a kind of full-automatic dispensing equipment according to claim 3, it is characterised in that: needle cap clamping device includes base Seat and two mechanical fingers；The pedestal includes mechanical finger driving mechanism, the first end of the mechanical finger and the machine The connection of tool finger actuation mechanism；The second end of two mechanical fingers is provided with the clamping part being mutually adapted；The clamping Portion is arc groove；The mechanical finger is in the shape of a rod；The second end of the mechanical finger is vertically bent, two mechanical fingers The end face of second end is oppositely arranged；The end face of the second end of the mechanical finger is arranged in the clamping part；The mechanical finger Driving mechanism includes linear guide and the slide block mechanism that is arranged in the linear guide；The number of the slide block mechanism is Two, the first end of two mechanical fingers is connect with a slide block mechanism respectively.

9. a kind of full-automatic dispensing equipment according to claim 1, it is characterised in that: the transport track include bracket, Rigid substrates, sprocket wheel elevating mechanism, load bearing component and sprocket wheel transmission mechanism, wherein the rigid substrates are mounted on the bracket Top, the sprocket wheel elevating mechanism are arranged among the space that the bracket and the rigid substrates are constituted, and the sprocket wheel passes Transfer mechanism includes two sprocket wheels and the flexible chain that is set between two sprocket wheels, and the sprocket wheel is separately mounted to the chain The both ends at the top of elevating mechanism are taken turns, the load bearing component is mounted on the flexible chain and for pallet described in support, described rigid Property substrate on offer through slot as track, the load bearing component top surface is equipped with top salient point；In the sprocket wheel elevating mechanism Under pushing tow, the top salient point passes through pallet described in the through slot and upwards jacking, and makes the pallet by the load bearing component As the flexible chain is displaced.