CN211724022U

CN211724022U - Powder dispensing robot

Info

Publication number: CN211724022U
Application number: CN201921529036.3U
Authority: CN
Inventors: 王海涛
Original assignee: Wuxi Anzhizhuo Medical Robot Co ltd
Current assignee: Wuxi Anzhizhuo Medical Robot Co ltd
Priority date: 2019-09-16
Filing date: 2019-09-16
Publication date: 2020-10-23
Anticipated expiration: 2029-09-16

Abstract

The utility model discloses a powder dispensing robot, which comprises a base, wherein a bottle feeding mechanism, a medicine dissolving mechanism, a reversing mechanism, a three-way injector, an infusion bag turntable mechanism and a control box are arranged on the base, the bottle feeding mechanism is arranged on one side of the bottle feeding mechanism, the medicine dissolving mechanism and the reversing mechanism are arranged on one side of the bottle feeding mechanism, the medicine dissolving mechanism is arranged on the rear side of the reversing mechanism, the three-way injector is arranged on the reversing mechanism, the infusion bag turntable mechanism is arranged on one side of the medicine dissolving mechanism, a soft needle tube fixing mechanism is arranged between the reversing mechanism and the infusion bag turntable mechanism, the control box is arranged on the rear side edge of the upper end surface of the base, the utility model, through corresponding to different operation steps in different stages, enables different dispensing actions to become mechanical actions of a production line, has high dispensing efficiency, and can avoid the problem of liquid leakage caused by multiple times of, compared with manual medicine dispensing, the medicine dispenser also has the advantage of reducing labor intensity.

Description

Powder dispensing robot

Technical Field

The utility model relates to a medicine filling field, in particular to powder dispensing robot.

Background

At present, over ten thousand injections are required to be prepared in a large hospital every day, but the preparation of the injection at present is still manually completed by medical personnel, so that the preparation efficiency is very low and the preparation is unsafe. At present, some hospitals also begin to use the dispensing robot for the injection, but the dispensing robot mainly increases the efficiency by improving the single mixing quantity, so that the efficiency is improved only in a limited way, and the safety problem caused by the fact that a needle passes in and out of a medicine bottle for multiple times is not solved.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a powder machine people that dispenses, this machine people that dispenses intelligent dispenses, dispenses in succession, and dispensing efficiency is high, low in labor strength.

In order to solve the technical problem, the utility model discloses a technical scheme does:

the utility model provides a powder dispensing robot, includes the base, be equipped with on the base and go up bottle mechanism, send bottle mechanism, dissolve medicine mechanism, reversing mechanism, three way syringe and infusion bag carousel mechanism, send bottle mechanism to set up in last bottle mechanism one side, it sets up in last bottle mechanism one side with reversing mechanism to dissolve medicine mechanism, and dissolves medicine mechanism and set up in the reversing mechanism rear side, three way syringe installs on reversing mechanism, infusion bag carousel mechanism sets up in dissolving medicine mechanism one side, the control box sets up in base up end rear side edge.

Preferably, the bottle feeding mechanism comprises a cylinder seat, an upper bottle driving cylinder is fixed at the lower end of the cylinder seat, the output end of the upper bottle driving cylinder penetrates through the cylinder seat and fixes a guide seat, a sliding block is arranged on one side face of the guide seat, the sliding block is slidably mounted on a linear guide rail, the linear guide rail is fixed on a base, the lower end of the guide seat is provided with a box seat through a round rod, a box body is obliquely arranged on one side of the upper end face of the box seat, a penicillin bottle is placed in the box body, an upper bottle sensor is arranged on the upper side of the box seat, and the upper bottle sensor is arranged between the box seat and the guide seat and fixed on.

Preferably, the bottle feeding mechanism comprises an inner shell and an outer shell, an outer shell driver is arranged at the upper end of the inner shell, the inner shell is mounted on a base through a manipulator, the output end of the outer shell driver is fixedly connected with the outer shell, an upper ring is fixed on the outer peripheral surface of the outer shell, a lower ring is arranged on the outer peripheral surface of the inner shell, the upper ring and the lower ring are fixed through a plurality of groups of connecting rods, a plurality of groups of clamping jaw drivers are uniformly arranged on the upper end surface of the inner shell, a plurality of groups of penicillin bottle clamping jaws are uniformly arranged between the upper ring and the lower ring, the plurality of groups of clamping jaw drivers correspond to the plurality of groups of penicillin bottle clamping jaws one by one, and a medicine feeding;

XiLin bottle gripper includes clamping jaw one and clamping jaw two that the central line is parallel, clamping jaw one and clamping jaw two all rotate the installation at last ring under and between the ring, clamping jaw one is equipped with torsional spring one, one of torsional spring one stretches out the end and fixes on clamping jaw one, another stretch out end of torsional spring one is fixed on last ring, clamping jaw two is equipped with torsional spring two, one of torsional spring two stretches out the end and fixes on clamping jaw two, another stretch out end of torsional spring two is fixed on last ring, the clamp has the xiLin bottle between clamping jaw one and the clamping jaw two, and through gradually opening the tooth mesh between clamping jaw one and the clamping jaw two, clamping jaw one is equipped with rocker one on the one side surface outward, clamping jaw two one side surface is equipped with rocker two on the surface, rocker two is corresponding with the clamping jaw driver.

Preferably, the medicine dissolving mechanism comprises a support arm and a guide rod, a servo motor is fixed on one side of the upper surface of the support arm, a first bevel gear is arranged at the output end of the servo motor, the lower end of the first bevel gear is meshed with a second bevel gear, the second bevel gear is rotatably installed on the front side of the upper end of the support arm through a middle idle shaft, the lower end of a hollow rotating shaft penetrates through the support arm and fixes a sucker through a small screw, an air pipe joint is rotatably installed at the upper end of the hollow rotating shaft, and the upper end of the air pipe joint;

the support frame is installed through slider and slide rail to the guide arm lower extreme, it drives actuating cylinder to be equipped with the lift on the support frame, the output that drives actuating cylinder to lift is fixed at a side edge department that bevel gear two was kept away from to the terminal surface under the support arm, and drives actuating cylinder setting on the base to lift, both sides are equipped with proximity switch and proximity switch down respectively about the support frame side, the slider sets up at last proximity switch under and between the proximity switch.

Preferably, reversing mechanism includes the switching-over base, the fixed medicine cylinder that dissolves of terminal surface under the base, the output of dissolving the medicine cylinder passes base and switching-over base fixed connection, the fixed linear driver of switching-over base trailing flank, the output of linear driver runs through the base and fixes the piston rod seat, switching-over base upper surface rear side is equipped with switching-over swing cylinder, switching-over swing cylinder's output runs through the switching-over base and installs the switching-over control rod, switching-over base upper end is equipped with spacing cylinder, the output of spacing cylinder passes the switching-over base and fixes pneumatic clamping jaw.

Preferably, three way syringe includes cylinder, needle valve, tee bend syringe needle and hose needle, the cylinder sets up at the base front end that commutates, and piston rod card on the cylinder is on the piston rod seat, the tee bend syringe needle sets up in the cylinder upper end, and in the xiLin bottle was inserted to an output of tee bend syringe needle, pneumatic clamping jaw rear end supports at tee bend syringe needle front end, the needle valve is installed on the tee bend syringe needle, the switching-over control rod blocks with the needle valve mutually, the hose needle is connected to another output of tee bend syringe needle.

Preferably, infusion bag carousel mechanism is including fixing the support on the base, the fixed bag swing cylinder that trades in support upper end, trade the output installation infusion bag carousel of bag swing cylinder, infusion bag carousel slope sets up, infusion bag carousel is equipped with two sets of storage tanks and infusion bag clamping jaws for central equidistance, and two sets of infusion bag clamping jaws installation direction are central symmetry, the both sides that lie in the storage tank central line on the infusion bag carousel are equipped with two sets of limit bumping posts, infusion bag carousel central point puts and is equipped with central bumping post.

Preferably, the infusion bag clamping jaw comprises a base, a left clamping jaw seat and a right clamping jaw seat are respectively installed inside the base through a left rotating shaft and a right rotating shaft, a left clamping jaw and a right clamping jaw are respectively installed at one end of the left clamping jaw seat and one end of the right clamping jaw seat through screws, a third torsion spring is sleeved on the right rotating shaft, two ends of the third torsion spring are respectively fixed on the right clamping jaw seat and the base, a clamping cylinder is installed at one side, close to the left clamping jaw seat, inside the base, a limiting end is arranged on one side face, away from the left clamping jaw, of the left clamping jaw seat, the output end of the clamping cylinder is arranged under the limiting end, a top column is arranged at one side, close to the right clamping jaw, of the lower end of the base, the upper end of the top column penetrates through the base and extends to the lower side of the right clamping jaw, the lower end of the top column, the spring-hidden type infusion bag rotary table is characterized in that grooves are formed in the lower end of the base and the upper end of the infusion bag rotary table, the spring is hidden in the grooves, and through holes are formed in the lower end of the infusion bag rotary table and communicated with the grooves.

Preferably, in the infusion bag carousel mechanism, still including two sets of prick needle cylinders and two sets of fixation clamps, two sets of prick needle cylinder symmetry is fixed terminal surface under the infusion bag carousel, and two sets of prick needle cylinders are central symmetry for the infusion bag carousel, the fixation clamp is fixed on the output of prick needle cylinder, it is two sets of openings that central symmetry is provided with on the infusion bag carousel, the fixation clamp sets up in the opening.

Adopt above-mentioned technical scheme, through last bottle mechanism, send bottle mechanism, dissolve medicine mechanism, reversing mechanism, infusion bag carousel cooperation work of mechanism, and carry out intelligent control by the control box, correspond different operating procedure in different stages, make the difference dispense the mechanized action that the action becomes the assembly line, go up the bottle, press from both sides the bottle, dispense, abandon the bottle, trade a bag continuous operation, not only dispensing efficiency is high, and can avoid the weeping problem that many times plug syringe needle brought, the manual work of contrast is dispensed and is still had the advantage that reduces intensity of labour.

The utility model discloses it is intelligent to dispense, dispenses in succession, and dispensing efficiency is high, low in labor strength.

Drawings

Fig. 1 is a perspective view of the present invention;

fig. 2 is a left side view of the present invention;

FIG. 3 is a perspective view of the bottle feeding mechanism of the present invention;

fig. 4 is a top view of the bottle feeding mechanism of the present invention;

FIG. 5 is a cross-sectional view taken along line A-A of FIG. 4;

FIG. 6 is a perspective view of the clamping jaw of the Chinese and Western forest bottle of the present invention;

fig. 7 is a perspective view of the medicine dissolving mechanism of the present invention;

FIG. 8 is a schematic view of the assembly of the second bevel gear and the suction cup in the drug dissolving mechanism of the present invention;

fig. 9 is a perspective view of the reversing mechanism of the present invention;

fig. 10 is a left side view of the reversing mechanism of the present invention;

FIG. 11 is a schematic structural view of the three-way syringe of the present invention;

fig. 12 is a perspective view of the infusion bag turntable mechanism of the present invention;

fig. 13 is a schematic structural view of a clamping jaw of an infusion bag in the utility model;

fig. 14 is an assembly schematic diagram of an infusion bag gripping disk, a bag changing swing cylinder, a bracket and an infusion bag clamping jaw;

FIG. 15 is an assembly plan view of an infusion bag turntable, a bag changing swing cylinder, and a pricking cylinder;

fig. 16 is a front view of the infusion bag turntable mechanism of the present invention;

fig. 17 is a cross-sectional view taken along line B-B of fig. 16.

In the figure, 1-base, 2-bottle feeding mechanism, 3-bottle feeding mechanism, 4-medicine dissolving mechanism, 5-reversing mechanism, 6-three-way injector, 7-infusion bag turntable mechanism, 8-control box, 9-PLC touch screen, 10-feeding station, 11-medicine dispensing station, 12-bottle abandoning station, 21-box seat, 22-upper bottle driving cylinder, 23-cylinder seat, 24-guide seat, 25-slide block, 26-linear guide rail, 27-upper bottle sensor, 28-penicillin bottle, 29-box body, 31-outer shell, 32-outer shell driver, 33-upper ring, 34-lower ring, 35-clamping jaw driver, 36-inner shell, 37-penicillin bottle clamping jaw, 51-linear driver, 52-reversing base, 53-medicine dissolving cylinder, 54-piston rod seat, 55-pneumatic clamping jaw, 56-limit cylinder, 57-reversing swing cylinder, 58-reversing operating rod, 61-needle cylinder, 62-needle valve, 63-three-way needle head, 64-hose needle, 71-infusion bag turntable, 72-infusion bag clamping jaw, 73-infusion bag storage tank, 74-side retaining column, 75-center retaining column, 76-bag changing swing cylinder, 77-bracket, 78-needle cylinder, 79-fixing clamp, 371-clamping jaw I, 372-rocking rod I, 373-torsion spring I, 374-rocking rod II, 375-torsion spring II, 376-clamping jaw II, 401 lifting driving cylinder, lower approach switch, 403-support frame and 404-upper approach switch, 405-guide rod, 406-support arm, 407-servo motor, 408-bevel gear I, 409-air pipe joint, 410-bevel gear II, 411-suction cup, 7201-clamping cylinder, 7202-base, 7203-left clamping jaw seat, 7204-left rotating shaft, 7205-screw, 7206-left clamping jaw, 7207-right clamping jaw, 7208-right clamping jaw seat, 7209-right rotating shaft, 7210-torsion spring III, 7211-top column, 7212-induction contact, 7213-spring and 7214-clamping jaw sensor.

Detailed Description

The following describes the present invention with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features related to the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Referring to the attached

drawings

1 and 2, the utility model provides a powder dispensing robot, which comprises a base 1, wherein a bottle feeding mechanism 2, a bottle feeding mechanism 3, a medicine dissolving mechanism 4, a reversing mechanism 5, a three-way injector 6, an infusion bag turntable mechanism 7 and a control box 8 are arranged on the base 1, the bottle feeding mechanism 3 is arranged on one side of the bottle feeding mechanism 2, the medicine dissolving mechanism 4 and the reversing mechanism 5 are arranged on one side of the bottle feeding mechanism 2, the medicine dissolving mechanism 4 is arranged on the rear side of the reversing mechanism 5, the three-way injector 6 is arranged on the reversing mechanism 5, the infusion bag turntable mechanism 7 is arranged on one side of the medicine dissolving mechanism 4, the control box 8 is arranged on the rear side edge of the upper end surface of the base 1, a PLC touch screen 9 is arranged at the corner of the base 1, and electric control and pneumatic control arranged in the control box 8 are electrically connected with electric elements in each mechanism, and are a circuit integrated control system of the whole robot, the whole equipment is controlled by the PLC touch screen 9, and dispensing intellectualization is realized.

Referring to fig. 3, the upper bottle mechanism 2 includes a cylinder block 23, an upper bottle driving cylinder 22 is fixed at the lower end of the cylinder block 23, the output end of the upper bottle driving cylinder 22 passes through the cylinder block 23 and fixes a guide block 24, a slide block 25 is arranged on one side surface of the guide block 24, the slide block 25 is slidably mounted on a linear guide rail 26, the linear guide rail 26 is fixed on the base 1, the lower end of the guide block 24 is mounted on a box base 21 through a round rod, a box body 29 is obliquely arranged on one side of the upper end surface of the box base 21, a penicillin bottle 28 is placed in the box body 29, an upper bottle sensor 27 is arranged on the upper side of the box base 21, the upper bottle sensor 27 is arranged between the box base 21 and the guide block 24 and fixed on the base 1, when the upper bottle driving cylinder 22 drives the guide block 24 to move, the guide block 24 drives the slide block 25 to slide on the linear guide rail 26, so, the upper bottle sensor 27 can sense the penicillin bottle 28 corresponding to the position of the upper bottle sensor.

Referring to fig. 4-5, the bottle feeding mechanism 3 includes an inner shell 36 and an outer shell 31, the upper end of the inner shell 36 is provided with an outer shell driver 32, the inner shell 36 is mounted on the base 1 through a manipulator, the output end of the outer shell driver 32 is fixedly connected with the outer shell 31, the outer peripheral surface of the outer shell 31 is fixed with an upper ring 33, the outer peripheral surface of the inner shell 36 is provided with a lower ring 34, the upper ring 33 and the lower ring 34 are fixed through a plurality of groups of connecting rods, the upper end surface of the inner shell 36 is uniformly provided with a plurality of groups of clamping jaw drivers 35, the connecting rods support the upper ring 33 and the lower ring 34 to form a certain distance therebetween, the outer shell driver 32 and the clamping jaw drivers 35 are conveniently arranged, a plurality of groups of penicillin bottle clamping jaws 37 are uniformly arranged between the upper ring 33 and the lower ring 34, the plurality of clamping jaw drivers 35 correspond to the plurality of penicillin bottles 37 one, A dispensing station 11 and a bottle reject station 12.

Referring to fig. 6, the penicillin bottle clamping jaw 37 includes a first clamping jaw 371 and a second clamping jaw 376 which have parallel center lines, the first clamping jaw 371 and the second clamping jaw 376 are rotatably installed between an upper circular ring 33 and a lower circular ring 34, a first torsion spring 373 is arranged on the first clamping jaw 371, an extending end of the first torsion spring 373 is fixed on the first clamping jaw 371, the other extending end of the first torsion spring 373 is fixed on the upper circular ring 33, a second torsion spring 375 is arranged on the second clamping jaw 376, an extending end of the second torsion spring 375 is fixed on the second clamping jaw 376, the other extending end of the second torsion spring 375 is fixed on the upper circular ring 33, a penicillin bottle 28 is clamped between the first clamping jaw 371 and the second clamping jaw 376, the first clamping jaw 371 and the second clamping jaw 376 are engaged with each other through gradually-opened teeth, the engaged first clamping jaw 371 and the second clamping jaw 376 facilitate simultaneous rotation of the first clamping jaw 371 and the clamping jaw, the outer surface of one side of the second clamping jaw 376 is provided with a second rocker 374, the second rocker 374 corresponds to the clamping jaw driver 35, when the second clamping jaw 376 returns and clamps the penicillin bottle 28 together with the first clamping jaw 371, the first clamping jaw 371 and the second clamping jaw 376 rotate under the torque action of the first torsion spring 373 and the second torsion spring 375 until the torques of the first torsion spring 373 and the second torsion spring 375 are the same, and the central line of the penicillin bottle 28 is always located between the first clamping jaw 371 and the second clamping jaw 376.

Referring to fig. 7-8, the drug dissolving mechanism 4 includes a supporting arm 406 and a guide rod 405, a servo motor 407 is fixed on one side of the upper surface of the supporting arm 406, a first bevel gear 408 is disposed at an output end of the servo motor 407, a second bevel gear 410 is engaged with a lower end of the first bevel gear 408, the second bevel gear 410 is rotatably mounted on the front side of the upper end of the supporting arm 406 through a hollow rotating shaft 411, the lower end of the hollow rotating shaft 411 penetrates through the supporting arm 406 and fixes a suction cup 412 through a small screw, an air pipe joint 409 is rotatably mounted on the upper end of the hollow rotating shaft 411, the upper end of the air pipe joint 409 is connected with the control box 8, and the rotation is decelerated after the power steering of the first bevel gear 408 and the second bevel gear.

The lower end of the guide rod 405 is provided with a support frame 403 through a sliding block 25 and a sliding rail, the support frame 403 is provided with a lifting driving cylinder 401, the output end of the lifting driving cylinder 401 is fixed at one side edge of the lower end surface of the support arm 406 far away from the bevel gear II 410, the lifting driving cylinder 401 is arranged on the base 1, the upper side and the lower side of the side surface of the support frame 403 are respectively provided with an upper proximity switch 404 and a lower proximity switch 402, the sliding block 25 is arranged between the upper proximity switch 404 and the lower proximity switch 402, when the lifting driving cylinder 401 drives the support arm 406 to move up and down, the guide rod 405 drives the sliding block 25 to slide on the sliding rail, the upper proximity switch 404 and the lower proximity switch 402 realize a monitoring feedback function, when the upper proximity switch 404 or the lower proximity switch 402 detects the sliding block 25, the upper proximity switch 404 or the lower proximity, the elevation driving cylinder 401 is controlled to stop the extension or the contraction.

Referring to fig. 9-10, the reversing mechanism 5 includes a reversing base 52, a medicine dissolving cylinder 53 is fixed on the lower end surface of the base 1, the output end of the medicine dissolving cylinder 53 passes through the base 1 and is fixedly connected with the reversing base 52, the back side surface of the reversing base 52 is fixed with the linear driver 51, the output end of the linear driver 51 penetrates through the base 1 and fixes the piston rod seat 54, the reversing swing cylinder 57 is arranged on the rear side of the upper surface of the reversing base 52, the output end of the reversing swing cylinder 57 penetrates through the reversing base 52 and is provided with a reversing operating rod 58, the upper end of the reversing base 52 is provided with a limiting cylinder 56, the output end of the limiting cylinder 56 penetrates through the reversing base 52 and fixes the pneumatic clamping jaw 55, the medicine dissolving cylinder 53 can drive the reversing base 52 and all parts on the reversing base 52 to integrally move, and the reversing swing cylinder 57 drives the reversing operating rod 58 to switch between 0 degree and 180 degrees back and forth.

Referring to fig. 11, the three-way syringe 6 includes a needle cylinder 61, a needle valve 62, a three-way needle 63 and a hose needle 64, the needle cylinder 61 is disposed at the front end of the reversing base 52, a piston rod of the needle cylinder 61 is clamped on the piston rod seat 54, the three-way needle 63 is disposed at the upper end of the needle cylinder 61, an output end of the three-way needle 63 is inserted into the vial 28, the rear end of the pneumatic clamping jaw 55 abuts against the front end of the three-way needle 63, the needle valve 62 is mounted on the three-way needle 63, the reversing control lever 58 is engaged with the needle valve 62, and another output end of the three-way needle 63 is connected with the hose needle.

Referring to fig. 12 and 14, the infusion bag rotating disc mechanism 7 comprises a support 77 fixed on the base 1, a bag changing swing cylinder 76 is fixed at the upper end of the support 77, an infusion bag rotating disc 71 is installed at the output end of the bag changing swing cylinder 76, the bag changing swing cylinder 76 drives the infusion bag rotating disc 71 to switch back and forth between 0 ° and 180 °, the infusion bag rotating disc 71 is obliquely arranged, two groups of storage grooves 73 and infusion bag clamping jaws 72 are equidistantly arranged relative to the center of the infusion bag rotating disc 71, the installation directions of the two groups of infusion bag clamping jaws 72 are centrosymmetric, the obliquely arranged infusion bag rotating disc 71 facilitates that the internal liquid medicine is always positioned at the lower side in the infusion bag when the infusion bag is placed, so that the situation that liquid leakage and liquid medicine backflow into the hose needles 64 is avoided, two groups of side blocking columns 74 are arranged on two sides of the central line of the storage grooves 73 on, the side retaining column 74 and the central retaining column 75 limit and shield the infusion bags in the two groups of storage grooves 73, and stability of the infusion bags is improved.

Referring to fig. 13, the infusion bag clamping jaw 72 includes a base 7202, a left clamping jaw seat 7203 and a right clamping jaw seat 7208 are respectively installed inside the base 7202 through a left rotating shaft 7204 and a right rotating shaft 7209, a left clamping jaw 7206 and a right clamping jaw 7207 are respectively installed at one end of the left clamping jaw seat 7203 and one end of the right clamping jaw seat 7208 through a screw 7205, a torsion spring third 7210 is sleeved on the right rotating shaft 7209, two ends of the torsion spring third 7210 are respectively fixed on the right clamping jaw seat 7208 and the base 7202, a clamping cylinder 7201 is installed at one side of the base 7202 close to the left clamping jaw seat 7203, a limiting end is arranged on one side of the left clamping jaw 7203 far away from the left clamping jaw 7206, an output end of the clamping cylinder 7201 is arranged under the limiting end, a top column 7211 is arranged at one side of the lower end of the base 7202 close to the right clamping jaw 7207, the upper end of the top column 7211 passes through the base 7202 and extends to the lower side of the right clamping jaw, a clamping jaw sensor 7214 is arranged under the induction contact 7212, a spring 7213 is sleeved on the induction contact 7212, grooves are formed in the lower end of the base 7202 and the upper end of the infusion bag rotating disc 71, the spring 7213 is hidden in the grooves, a through hole is formed in the lower end of the infusion bag rotating disc 71 and is communicated with the grooves, when an infusion bag is clamped, only the neck of the infusion bag needs to be placed in a gap between the left clamping jaw 7206 and the right clamping jaw 7207 and presses the infusion bag downwards, the infusion bag moves in the left clamping jaw 7206 and the right clamping jaw 7207, the right clamping jaw 7207 drives the right clamping jaw 7208 to rotate, the top column 7211 moves downwards under the extrusion of the right clamping jaw 7208, meanwhile, the torque of the torsion spring third 7210 is increased, the top column 7211 drives the induction contact 7212 to move downwards and compresses the spring 7213, the potential energy of the spring 7213 is increased until the induction contact 7212 passes through the base 7202 and the infusion bag rotating disc 71, the clamp cylinder 7201 extends and abuts a stop on the left jaw 7206, the bag is held in the left and

right jaws

7206, 7207, and the grooves and holes are designed to facilitate the inductive contacts 7212 passing through the bag carousel 71 and approaching the jaw sensor 7214.

Referring to fig. 15-17, in the infusion bag turntable mechanism 7, two groups of needle inserting air cylinders 78 and two groups of fixing clamps 79 are further included, the two groups of needle inserting air cylinders 78 are symmetrically fixed on the lower end face of the infusion bag turntable 71, the two groups of needle inserting air cylinders 78 are centrosymmetrically arranged relative to the infusion bag turntable 71, the fixing clamps 79 are fixed on the output ends of the needle inserting air cylinders 78, the fixing clamps 79 are used for clamping and fixing the hose needles 64, two groups of openings are centrosymmetrically arranged on the infusion bag turntable 71, the fixing clamps 79 are arranged in the openings, when the control box 8 controls the needle inserting air cylinders 78 to shorten or extend, the fixing clamps 79 clamping the hose needles 64 do reciprocating motion relative to the openings, so that automatic needle inserting and needle pulling actions are realized, the openings achieve the purpose of avoiding, a reserved space is provided for the fixing clamps 79, when in actual use, a group of hose needles 64 is clamped on one group of fixing clamps 71 in advance, when the infusion bag is inflated, the corresponding needle inserting air cylinder 78 is controlled to work, so that the needle inserting air cylinder 78 drives the fixing clamp 79 and the hose needle 64 to be inserted into the infusion bag, and the infusion bag is deflated.

The working principle is as follows:

inserting the box body 29 filled with the penicillin bottle 28 into the box base 21, installing the three-way injector 6 on the reversing base 52, and pressing the infusion bag on the infusion bag clamping jaw 72;

the infusion bag turntable mechanism 7 and the reversing mechanism 5 work, the clamping cylinder 7201 extends and abuts against the limiting end on the left clamping jaw 7206 after the clamping jaw sensor 7214 senses the sensing contact 7212, and the infusion bag is clamped in the infusion bag clamping jaw 72.

The needle inserting cylinder 78 contracts to drive the fixing clamp 79 to approach to the direction of the infusion bag turntable 71, the hose needle 64 is inserted into the infusion bag, the limiting cylinder 56 in the reversing mechanism 5 drives the pneumatic clamping jaw 55 to abut against the three-way needle 63, and the flowing direction of the three-way needle 63 is between the needle cylinder 61 and the infusion bag;

meanwhile, an upper bottle driving cylinder 22 in the upper bottle mechanism 2 drives the guide seat 24, the sliding block 25, the box seat 21 and the box body 29 to rise sequentially to finish the action of feeding bottles, meanwhile, a clamping jaw driver 35 of the bottle feeding mechanism 3, which is positioned at the upper medicine feeding station 10 on the upper side of each penicillin bottle 28, extends to abut against a rocker 374 and drive the rocker 374 to move, so that the clamping jaw 376 rotates, the penicillin bottle clamping jaw 37 opens, the torque of the torsion spring 375 increases, when the box body 29 rises to the upper bottle sensor 27 to sense each penicillin bottle 28, the clamping jaw driver 35 contracts, the clamping jaw 376 and the rocker 374 return to the original position under the action of the torque of the torsion spring 375, so that the penicillin bottle clamping jaw 37 is closed to clamp the corresponding penicillin bottle 28, and the upper bottle driving cylinder 22 drives the box body 29 to.

The shell driver 32 drives the shell 31, the upper ring 33, the lower ring 34 and the penicillin bottle clamping jaw 37 to synchronously rotate to the dispensing station 11;

meanwhile, the reversing mechanism 5 works, the piston rod at the lower end of the needle cylinder 61 is driven to do drawing motion through the piston rod seat 54, and the liquid medicine in the infusion bag is sucked into the needle cylinder 61.

The reversing swing cylinder 57 drives the fastened reversing control lever 58 and the needle valve 62 to switch the flow direction of the three-way needle 63 between the penicillin bottle 28 and the needle cylinder 61.

The lifting driving cylinder 401 drives the suction cup 412 on the supporting arm 406 to move downwards and wrap the tail of the penicillin bottle 28, the medicine dissolving cylinder 53 drives the reversing base 52 to move upwards integrally, and the three-way needle 63 is inserted into the penicillin bottle 28.

The control box 8 vacuums the suction cup 412 through the air pipe joint 409 and the middle idle shaft 411, and the penicillin bottle 28 is fixed inside the suction cup 412.

The linear driver 51 in the reversing mechanism 5 drives the piston rod seat 54 to move, so as to push the piston rod in the syringe 61, and push the liquid medicine from the syringe 61 into the penicillin bottle 28 through the three-way needle 63.

The servo motor 407 in the drug dissolving mechanism 4 works, the power output of the servo motor 407 is turned by the power of the bevel gear I408 and the bevel gear II 410, the sucker 412 is driven to rotate through the hollow rotating shaft 411, the rotation of the penicillin bottle 28 is realized, the drug mixing is accelerated, the linear driver 51 pulls the piston rod to draw the mixed drug liquid, the drug dissolving cylinder 53 contracts, the three-way needle 63 is gradually drawn out from the penicillin bottle 28, and the drawing of the mixed drug liquid is completed.

The reversing swing cylinder 57 in the reversing mechanism 5 operates to switch the flow direction of the three-way needle 63 between the syringe 61 and the infusion bag by the reversing operation lever 58 and the needle valve 62 which are engaged with each other.

The linear actuator 51 drives the piston rod seat 54 to push the piston rod, so as to push the liquid medicine in the syringe 61 into the infusion bag.

The shell driver 32 in the bottle conveying mechanism 3 works, the penicillin bottle clamping jaws 37 are rotated to the bottle abandoning station 12, the clamping jaw driver 35 drives the clamping jaws 376 to open, the penicillin bottle 28 loses clamping force and naturally falls off, containers such as a sharp box and the like are placed below the bottle abandoning station 11 on the base 1 in advance, and abandoned bottles are directly collected;

when the infusion bag turntable mechanism 7 works, the needle inserting air cylinder 78 extends to drive the fixing clamp 79 to move towards the direction far away from the infusion bag turntable 71, and the hose needle 64 is drawn out of the infusion bag.

The infusion bag rotary table 71 is driven by the bag changing swing cylinder 76 to change the direction, the infusion bag with the prepared liquid medicine rotates to the lower side, and the infusion bag without the prepared liquid medicine rotates to the upper side to prepare for the next preparation.

The limiting cylinder 56 in the reversing mechanism 5 extends to drive the pneumatic clamping jaw 55 to separate from the three-way needle 63, meanwhile, the clamping cylinder 7201 in the infusion bag turntable mechanism 7 contracts, the left clamping jaw seat 7203 is not limited any more, the right clamping jaw 7207 and the right clamping jaw seat 7208 open under the torque action of the third torsion spring 7210, the infusion bag is released, and one-time dispensing is finished.

Repeating the steps from one to thirteen until all the preparation of the same liquid medicine is finished.

Cleaning the dispensing environment, and taking out and storing the infusion bag.

The utility model discloses a control by the PLC touch screen, through the cooperation work of control box intelligent control last bottle mechanism, send bottle mechanism, dissolve medicine mechanism, reversing mechanism, infusion bag carousel mechanism, correspond different operating procedure in the stage of difference, make the difference dispense the mechanized action that becomes the assembly line, go up the bottle, press from both sides the bottle, dispense, abandon the bottle, trade a bag continuous operation, not only dispense efficiently, and can avoid the weeping problem that many times plug syringe needle brought, the artifical advantage that still has reduction intensity of labour that dispenses of contrast.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in the embodiments without departing from the principles and spirit of the invention, and the scope of the invention is to be accorded the full scope of the claims.

Claims

1. The utility model provides a powder machine people that dispenses which characterized in that: the automatic bottle-feeding device comprises a base, be equipped with bottle mechanism, bottle-feeding mechanism, medicine dissolving mechanism, reversing mechanism, three-way syringe and infusion bag carousel mechanism on the base in proper order, bottle-feeding mechanism sets up in bottle-feeding mechanism one side, medicine dissolving mechanism and reversing mechanism set up in bottle-feeding mechanism one side, and medicine dissolving mechanism sets up in the reversing mechanism rear side, three-way syringe installs on reversing mechanism, infusion bag carousel mechanism sets up and is dissolving medicine mechanism one side.

2. A powder dispensing robot as recited in claim 1, wherein: the bottle feeding mechanism comprises a cylinder seat, an upper bottle driving cylinder is fixed at the lower end of the cylinder seat, the output end of the upper bottle driving cylinder penetrates through the cylinder seat and fixes a guide seat, a sliding block is arranged on one side face of the guide seat, the sliding block is slidably mounted on a linear guide rail, the linear guide rail is fixed on a base, the lower end of the guide seat is provided with a box seat through a round rod, a box body is obliquely arranged on one side of the upper end face of the box seat, a penicillin bottle is placed in the box body, an upper bottle sensor is arranged on the upper side of the box seat, and the upper bottle sensor is arranged between the box seat and the guide seat and fixed.

3. A powder dispensing robot as recited in claim 1, wherein: the bottle conveying mechanism comprises an inner shell and an outer shell, an outer shell driver is arranged at the upper end of the inner shell, the inner shell is installed on a base through a manipulator, the output end of the outer shell driver is fixedly connected with the outer shell, an upper ring is fixed on the outer peripheral surface of the outer shell, a lower ring is arranged on the outer peripheral surface of the inner shell, the upper ring and the lower ring are fixed through a plurality of groups of connecting rods, a plurality of groups of clamping jaw drivers are uniformly arranged on the upper end surface of the inner shell, a plurality of groups of penicillin bottle clamping jaws are uniformly arranged between the upper ring and the lower ring, the plurality of groups of clamping jaw drivers correspond to the plurality of groups of penicillin bottle clamping jaws one by one, and a medicine;

4. A powder dispensing robot as recited in claim 1, wherein: the medicine dissolving mechanism comprises a supporting arm and a guide rod, a servo motor is fixed on one side of the upper surface of the supporting arm, a first bevel gear is arranged at the output end of the servo motor, the lower end of the first bevel gear is meshed with a second bevel gear, the second bevel gear is rotatably installed on the front side of the upper end of the supporting arm through a middle idle shaft, a sucker is fixed at the lower end of the hollow rotating shaft, and the lower end of the hollow rotating shaft penetrates through the supporting arm and is fixed with the sucker through;

5. A powder dispensing robot as recited in claim 1, wherein: reversing mechanism is including the switching-over base, the fixed medicine cylinder that dissolves of terminal surface under the base, the output of dissolving the medicine cylinder passes base and switching-over base fixed connection, the fixed linear driver of switching-over base trailing flank, the output of linear driver runs through base and fixed piston rod seat, switching-over base upper surface rear side is equipped with switching-over swing cylinder, switching-over swing cylinder's output runs through the switching-over base and installs the switching-over control rod, switching-over base upper end is equipped with spacing cylinder, the output of spacing cylinder passes the switching-over base and fixes pneumatic clamping jaw.

6. A powder dispensing robot as recited in claim 5, wherein: the three-way syringe comprises a needle cylinder, a needle valve, a three-way needle head and a hose needle, wherein the needle cylinder is arranged at the front end of a reversing base, a piston rod on the needle cylinder is clamped on a piston rod seat, the three-way needle head is arranged at the upper end of the needle cylinder, an output end of the three-way needle head is inserted into a penicillin bottle, the rear end of a pneumatic clamping jaw supports the front end of the three-way needle head, the needle valve is arranged on the three-way needle head, a reversing control lever is clamped with the needle valve, and the hose needle is connected with another output end of the three.

7. A powder dispensing robot as recited in claim 1, wherein: infusion bag carousel mechanism is including fixing the support on the base, the fixed bag swing cylinder that trades in support upper end, trade the output installation infusion bag carousel of bag swing cylinder, infusion bag carousel slope sets up, infusion bag carousel is equipped with two sets of storage tanks and infusion bag clamping jaw for central equidistance, and two sets of infusion bag clamping jaw installation directions are central symmetry, the both sides that lie in the storage tank central line on the infusion bag carousel are equipped with two sets of limit bumping posts, infusion bag carousel central point puts and is equipped with central bumping post.

8. A powder dispensing robot as recited in claim 7, wherein: the infusion bag clamping jaw comprises a base, a left clamping jaw seat and a right clamping jaw seat are respectively installed in the base through a left rotating shaft and a right rotating shaft, a left clamping jaw and a right clamping jaw are respectively installed at one end of the left clamping jaw seat and one end of the right clamping jaw seat through screws, a third torsion spring is sleeved on the right rotating shaft, two ends of the third torsion spring are respectively fixed on the right clamping jaw seat and the base, a clamping cylinder is installed at one side, close to the left clamping jaw seat, in the base, a limiting end is arranged on one side face, away from the left clamping jaw, of the left clamping jaw seat, the output end of the clamping cylinder is arranged under the limiting end, a top column is arranged at one side, close to the right clamping jaw, of the lower end of the base, the upper end of the top column penetrates through the base and extends to the lower side of the right clamping jaw, an induction contact is connected with the lower end of the top column through threads, a, the spring is hidden in the groove, a through hole is formed in the lower end of the infusion bag turntable and communicated with the groove.

9. A powder dispensing robot as recited in claim 7, wherein: the infusion bag turntable mechanism comprises an infusion bag turntable mechanism and is characterized by further comprising two groups of needle inserting air cylinders and two groups of fixing clamps, the two groups of needle inserting air cylinders are symmetrically fixed on the lower end face of the infusion bag turntable, the two groups of needle inserting air cylinders are centrosymmetrically arranged relative to the infusion bag turntable, the fixing clamps are fixed on the output ends of the needle inserting air cylinders, two groups of openings are symmetrically arranged on the infusion bag turntable, and the fixing clamps are arranged in the openings.