CN215133427U - Robot for blending intravenous liquid medicine - Google Patents
Robot for blending intravenous liquid medicine Download PDFInfo
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- CN215133427U CN215133427U CN202022681678.4U CN202022681678U CN215133427U CN 215133427 U CN215133427 U CN 215133427U CN 202022681678 U CN202022681678 U CN 202022681678U CN 215133427 U CN215133427 U CN 215133427U
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Abstract
The utility model discloses a vein liquid medicine allotment robot, including frame one, frame one is installed mother liquor powder revolution and is shaken even assembly, ampoule handles assembly and drawing liquid manipulator, still including installing mother liquor powder on frame one and adding medicine to the assembly, ampoule adds medicine to the assembly, dissolve medicine ware material loading assembly, the syringe needle is handled the assembly, rubbish recovery processing assembly, frame one's outside still is fixed with casing one, with mother liquor powder revolution shake even assembly, ampoule handles the assembly, the drawing liquid manipulator, dissolve medicine ware material loading assembly, the syringe needle is handled the assembly, rubbish recovery processing assembly, mother liquor powder adds medicine to the assembly, ampoule adds medicine to the assembly encapsulation and is inside. The utility model discloses can realize high-efficient accurate safe automation and dispense.
Description
Technical Field
The utility model relates to the technical field of robots, concretely relates to vein liquid medicine allotment robot.
Background
At present, the preparation method of the intravenous liquid medicine is generally manually operated by medical staff, and the flow of manually preparing the intravenous liquid medicine is as follows: handheld aseptic medicine dissolving device, utilize the medicine dissolving device to take out the mother liquor from the mother liquor bottle, the mother liquor that will dissolve in the medicine device is injected into in the powder bottle that has disinfected, then the even powder bottle of manual shaking, the mixed liquid medicine of recycling in the medicine dissolving device will be the powder bottle is taken out, inject into the mother liquor bottle at last, later handheld emery wheel draws out one mar to the ampoule bottle bottleneck, break off ampoule bottle bottleneck upper portion manual breaking off with the fingers and thumb again, then utilize the liquid medicine in the medicine dissolving device extraction ampoule bottle equally, inject into in the mother liquor bottle. The drawback of manual intravenous drug solution preparation is that:
1) medical staff needs to manually perform a large amount of operations of sucking, dissolving and injecting liquid medicine every day, the labor intensity is high, the time consumption is long, the medical staff is easy to fatigue caused by long-time medicine preparation and dissolving, and the medicine preparation efficiency is reduced;
2) medical staff often need to go into and out of the medical dispensing room during work, air is difficult to meet the cleanliness requirement of the medical dispensing room, and the air contains a large amount of dust, fiber bacteria, viruses and particles, and easily enters an opened medicine bottle during the process of preparing liquid medicine, so that prepared medicine is polluted;
3) in the process of preparing the liquid medicine, medical staff manually operate the medicine dissolver, and frequently puncture, draw liquid and inject liquid between the powder bottle and the mother liquid bottle by using the medicine dissolver, so that hands of the medical staff directly pollute a piston in the medicine dissolver, and the polluted piston causes liquid medicine pollution when pushing and pressing the liquid medicine;
4) the chemotherapy drugs belong to cytotoxic drugs and are harmful to related workers through three ways of respiratory tract inhalation, dietary intake and skin contact, the preparation of the radiopharmaceuticals in actual work and manual operation of nursing personnel are always used by nursing personnel, the injury to the workers is extremely large in the preparation and distribution process of the drugs, the toxicity of the drugs can cause the damage of normal cells, and the reproductive toxicity caused by the damage of normal DNA can be damaged; can cause cancer; if the working personnel can influence the fetal development to cause teratogenicity during pregnancy;
5) many drugs are kept stable in the states of mother liquor and powder, but after the intravenous infusion solution is prepared, the stability is reduced under the influence of various factors such as the pH value and permeability of the mother liquor, and the longer the intravenous infusion solution is placed, the more the efficacy of the liquid medicine is reduced, and the adverse effect is generated on the curative effect.
In order to solve the problems, the applicant discloses a robot for efficiently and intelligently blending intravenous infusion medicines in a Chinese patent with application number of 201820058748.0 filed as 2018-01-15, but the robot still has the following problems:
1) the medicine dispensing working bin is not provided with a medicine conveying buffer area, only the single isolation door is arranged, the operation window door is opened to directly place the medicine into the medicine dispensing working bin and then close the medicine dispensing working bin, external pollution particles easily enter the working bin, the next batch of medicine dispensing can be performed after the air purification system is used for purification treatment for a period of time, the machine halt and the purification consume much time, and the medicine dispensing efficiency is low;
2) the medicine feeding device packaged by the powder bottle and the mother liquor bottle is not arranged, the powder jig and the mother liquor jig in which the medicine is placed need to be inserted into the mother powder rotating and shaking mechanism one by manpower, and the labor intensity of medical staff is high due to the fact that more medicine liquid is needed every day and the number of the inserted jigs is large;
3) the device is characterized in that a medicine dissolving device feeding assembly is not arranged, the existing medicine dissolving device fixing device cannot automatically feed and provide a plurality of medicine dissolving devices for pumping and injecting medicine dissolving device manipulators, the medicine dissolving devices need to be stopped and manually supplemented before next batch of medicine is dispensed, a plurality of batches of medicines cannot be continuously dispensed, the dispensing efficiency is low, meanwhile, due to different degree deviations of needle point concentricity, a medicine dissolving device needle point concentricity detection component is not arranged, the needle point concentricity cannot be automatically calibrated, the situation that a needle is bent when a rubber plug is punctured exists, or the situation that liquid leaks from a medicine liquid bottle after the needle punctures the rubber plug exists;
4) the mother powder rotary shaking mechanism is only provided with a batch of medicine fixture fixing positions, the fixture placing and the medicine dispensing can not be carried out simultaneously, the medicine melting device manipulator is in an idle state in the fixture placing process, the machine is required to be stopped for manually supplementing the fixture before the next batch of medicine dispensing, a plurality of batches of medicines can not be continuously dispensed, and the medicine dispensing efficiency is low;
5) a CCD drug dissolving device residual quantity detection device and a drug dissolving device weighing device are not arranged, so that the residual quantity cannot be compensated, and the dispensing accuracy is influenced;
6) the ampoule bottle processing mechanism keeps the position fixed and unchangeable, can not pull out the window, and the people need bore into clean contaminated area in the machine, appears the narrow and small staff in space and can't stretch into the operation even and clean the dead angle condition appears, because the working bin inner space is limited, clean maintenance difficulty, intensity of labour is big, influences cleanliness factor in the working bin and the safety of dispensing.
Disclosure of Invention
An object of the utility model is to provide a vein liquid medicine allotment robot to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an intravenous liquid medicine blending robot comprises a first frame, wherein the first frame is provided with a mother liquor powder revolution shaking assembly, an ampoule bottle treatment assembly and a liquid pumping manipulator, and further comprises a mother liquor powder medicine feeding assembly, an ampoule bottle medicine feeding assembly, a medicine dissolving device feeding assembly, a needle head treatment assembly and a garbage recycling treatment assembly which are arranged on the first frame, the first frame is further fixedly provided with a first machine shell outside, the mother liquor powder revolution shaking assembly, the ampoule bottle treatment assembly, the liquid pumping manipulator, the medicine dissolving device feeding assembly, the needle head treatment assembly, the garbage recycling treatment assembly, the mother liquor powder medicine feeding assembly and the ampoule bottle medicine feeding assembly are packaged inside, the mother liquor powder medicine feeding assembly is used for conveying a mother liquor bottle and a powder bottle for the mother liquor powder revolution shaking assembly, and the liquid pumping manipulator takes the medicine dissolving device from the medicine dissolving device feeding assembly, and through dissolving in the mother liquor suction of medicine ware in with the mother liquor bottle to the powder bottle, by mother liquor powder revolution shake even assembly drive and make mother liquor and powder mix in the powder bottle and shake evenly, ampoule handle the assembly and can follow ampoule go up the ampoule of taking on the medicine assembly to cut and break off with fingers and thumb the ampoule, the liquid medicine in the ampoule, mother liquor and the powder mixture suction that has mixed in proper order through dissolving the medicine ware of liquid pumping manipulator, mother liquor and powder mixture on the mother liquor bottle mix, the mother liquor powder on the medicine assembly retrieve the mother liquor bottle that has mixed in the ampoule, mother liquor, powder three, the syringe needle handle the assembly and be used for carrying out the syringe needle cutting to the medicine dissolving device after dispensing and handle, rubbish recovery handle assembly be used for retrieving medicine dissolving device after the cutting syringe needle, ampoule and powder bottle after the use.
As a further proposal of the utility model, the mother liquor powder revolution shaking assembly comprises a revolution base, a powder bottle rotation shaking device, a mother liquor bottle rotation shaking device, a harmonic reducer I, a synchronous belt transmission assembly I, a revolution shaft and a disinfection device I, the two sides of the revolution base are respectively and symmetrically provided with an upper supporting body and a lower supporting body, the two sides of the revolution base are respectively provided with a group of powder bottle rotating and shaking devices and mother liquor bottle rotating and shaking devices, the powder bottle rotating and shaking device is positioned on the upper support body, the mother liquor bottle rotating and shaking device is positioned on the lower support body, the revolution shaft is fixedly connected with the bottom of the revolution base, the first harmonic reducer drives the revolution shaft to rotate through the first synchronous belt transmission assembly, the revolution shaft drives the revolution base to rotate, and the first disinfection device is arranged at the top of the revolution base;
the powder bottle rotating and shaking device comprises a first rotating mechanism, a first powder bottle jig seat, a first powder bottle jig, a motor, a second synchronous belt transmission assembly and a first position sensor, wherein the first rotating mechanism is installed on the upper supporting body and is fixedly provided with a plurality of powder bottle jig seats, each powder bottle jig seat is detachably provided with a powder bottle jig for fixing a powder bottle, the first motor is arranged in the revolution base and drives the first rotating mechanism to rotate through the second synchronous belt transmission assembly, so that the powder bottle rotates around the first rotating mechanism, and the upper supporting body is provided with the first position sensor for controlling the rotating angle of the first rotating mechanism;
the mother liquid bottle rotating and shaking device comprises a mother liquid bottle jig seat, a mother liquid bottle jig, a second motor, a third synchronous belt transmission assembly and a second position sensor, wherein the mother liquid bottle jig seat is installed on the lower supporting body, the mother liquid bottle jig for fixing a mother liquid bottle is detachably installed on the mother liquid bottle jig seat, the second motor is arranged in the revolution base, the second motor drives the mother liquid bottle jig seat to rotate through the third synchronous belt transmission assembly, and the second position sensor for controlling the rotation angle of the mother liquid bottle jig seat is arranged on the lower supporting body;
the disinfection device comprises a solenoid valve, a first spray head and a first spray liquid control assembly, wherein the input end of the solenoid valve is connected with a disinfection liquid container, the output end of the solenoid valve is connected with the first spray head, and the first spray liquid control assembly controls the first spray head to be opened or closed so as to spray disinfection liquid to the powder bottle;
the mother liquor bottle tool translation device is used for conveying and assembling the mother liquor bottle tool to the mother liquor bottle tool seat, the powder bottle tool translation device is used for conveying and assembling the powder bottle tool to the powder bottle tool seat, and the medicine feeding translation supporting device is used for moving the mother liquor bottle tool translation device and the powder bottle tool translation device into a first machine shell or out of the first machine shell;
the mother liquid bottle jig translation device comprises a first base, an electromagnet pushing block, a third motor, a first screw translation assembly and a first RFID sensor, wherein a chute is formed in the upper surface of the first base;
the powder bottle jig translation device comprises a second base, a first translation plate, a fourth motor, a fifth motor, a second screw translation assembly, a third screw translation assembly, a fourth synchronous belt transmission assembly, a plug pin butt joint assembly, a first rotating shaft swinging assembly, an electric cylinder, a translation jacking shaft and a second RFID sensor, wherein the second base is arranged at the top of the first base through the first rotating shaft swinging assembly, the fourth motor is arranged on the upper surface of the second base, the first translation plate is arranged above the second base, the second motor drives the first translation plate to translate through the second screw translation assembly, the fifth motor is arranged on the lower surface of the first translation plate, the third screw translation assembly and the plug pin butt joint assembly are respectively provided with two groups, the third screw translation assemblies are respectively arranged on the upper surfaces of two sides of the first translation plate and are arranged in parallel to each other, the fifth motor drives the third screw translation assembly through the fourth synchronous belt transmission assembly, enabling the screw translation assembly III to drive the bolt butt joint assembly to translate, enabling the electric cylinder to be arranged on the side face of the base I, enabling the translation jacking shaft to be arranged on the side face of the base II, enabling the electric cylinder to adjust the inclination angle of the translation plate I to be consistent with the inclination angle of the powder bottle jig seat through the translation jacking shaft, enabling the translation plate I to be firstly moved to be attached to the powder bottle jig seat, and then enabling the powder bottle jig to be pushed onto the powder bottle jig seat through the bolt butt joint assembly;
the medicine feeding translation supporting device comprises a machine base III, a motor VI and a screw translation assembly IV, wherein the motor VI is arranged in the machine base III, and the motor VI drives the machine base I to translate through the screw translation assembly IV;
the ampoule bottle processing assembly consists of a case I, an ampoule bottle conveying device for conveying ampoule bottles, an ampoule bottle positioning and jacking device for positioning and jacking the ampoule bottles to enable the ampoule bottles to fall off, an ampoule bottle cutter device for cutting the tops of the ampoule bottles, a disinfection device II for disinfecting the ampoule bottles before cutting, and an ampoule bottle breaking device for breaking the cut ampoule bottles;
the ampoule bottle conveying device comprises a clamping conveying body and a first lifting rotating mechanism driving the clamping conveying body to lift and rotate, wherein the clamping conveying body comprises a first bearing seat, a first swinging arm and a clamping manipulator;
the ampoule bottle positioning and jacking device comprises a movable support, a motor seven, a synchronous belt transmission assembly five, a rotating arm, a motor eight, a motor nine, a synchronous belt transmission assembly six, an outer rotating cylinder, a three-jaw type rotating clamping jaw, an inner rotating cylinder, a mounting plate one, an adjusting turntable, a spring one, a swinging rod, a driving swinging arm, a screw rod stepping motor one, a jacking rod, a position sensor three and a position sensor four, wherein the movable support is arranged on the outer side surface of the case one, the motor seven is arranged in the case one, the motor seven drives the movable support to rotate through the synchronous belt transmission assembly five and the rotating arm, the outer rotating cylinder is rotatably arranged on the upper surface of the movable support, the three-jaw type rotating clamping jaw is fixed at the top of the outer rotating cylinder, the inner rotating cylinder is arranged in the outer rotating cylinder, the adjusting turntable is fixed at the top of the inner rotating cylinder, the outer side surface of the outer rotating cylinder is horizontally provided with the mounting plate one, a swing rod is horizontally fixed on the outer side surface of the inner rotary drum, the swing rod penetrates through the outer rotary drum and is fixedly connected with a first spring between the first spring and the mounting plate, a motor eight and a motor nine are respectively mounted on the movable support, the motor eight drives the outer rotary drum to rotate through a synchronous belt transmission assembly six, the movable support is further provided with a third position sensor for controlling the rotation angle of the outer rotary drum, when the motor nine drives the swing arm to horizontally push the swing rod to drive the inner rotary drum to rotate, the inner rotary drum drives three jaws in the three-jaw type rotary clamping jaws to respectively move outwards through the adjusting turntable, the three-jaw type rotary clamping jaws are in a state of loosening a bottle, and when the driving swing arm is not in contact with the swing rod of the ampoule, the three jaws in the three-jaw type rotary clamping jaws respectively approach to the center, the three-jaw type rotating clamping jaw is in a state of clamping an ampoule bottle, the first screw rod stepping motor is installed on the lower surface of the movable support, the output end of the first screw rod stepping motor is fixedly connected with a jacking rod extending to the center of the three-jaw type rotating clamping jaw, and the movable support is provided with a position sensor IV for providing a position signal of the jacking rod;
the ampoule bottle cutting knife device comprises a cutting knife body and a lifting and rotating mechanism II for driving the cutting knife body to lift and rotate, the cutting knife body comprises a bearing seat II, a swing arm II, a spring pressing component and a diamond knife wheel, the bearing seat II is installed at the top of the case I, the swing arm II is fixed at the top of the bearing seat II, the spring pressing component is fixed at the end part of the swing arm II, and the diamond knife wheel for cutting ampoule bottles is fixed on the side surface of the spring pressing component;
the second disinfection device comprises a disinfection sprayer and a second spray head, the disinfection sprayer is arranged at the top of the first case, the second spray head is mounted on the disinfection sprayer, and the second spray head corresponds to the ampoule bottle neck on the ampoule bottle positioning and jacking device;
the ampoule bottle breaking device comprises a bottle breaking body, a lifting mechanism for driving the bottle breaking body to lift and a bottle cap baffle assembly, the bottle breaking body comprises a third bearing seat, a third breaking box, a motor, a rotating disc, a rotating breaking rod, a fixed breaking rod and a protective cover, the bottle cap baffle assembly comprises a first steering engine, a locking part and a baffle, the third bearing seat is installed at the top of the first case, the top of the third bearing seat is fixedly provided with the breaking box, the breaking box is internally provided with the motor, the end face of the breaking box is rotatably provided with the rotating disc, the output end of the motor is fixedly connected with the center of the rotating disc, the eccentric position of the rotating disc is fixedly provided with the rotating breaking rod, the end face of the breaking box is fixedly provided with the fixed breaking rod parallel to the axis direction of the rotating breaking rod, the end face of the breaking box is fixedly provided with the protective cover, the first breaking box is internally provided with the first breaking machine, the first steering engine drives the baffle to move through the locking piece, and the baffle moves horizontally below the protective cover;
the ampoule bottle feeding assembly comprises a case II, a motor eleven, a screw translation assembly five and an ampoule bottle supporting jig, wherein the motor eleven is arranged on the case II and drives the ampoule bottle supporting jig for placing the ampoule bottle to translate through the screw translation assembly five so as to move to a position convenient for the clamping and conveying body to clamp and convey the ampoule bottle;
the drug dissolving device feeding assembly comprises a first door-shaped frame, a drug dissolving device clamping and lifting device, a drug dissolving device needle sleeve removing device, a CCD industrial camera and a needle point concentricity detection device, wherein the drug dissolving device clamping and lifting device is erected in the first door-shaped frame;
the medicine dissolver clamping and lifting device comprises a motor twelve, a synchronous belt transmission assembly seven and a plurality of medicine dissolver clamps, wherein the motor twelve drives the plurality of medicine dissolver clamps for clamping the medicine dissolver through the synchronous belt transmission assembly seven;
the needle sleeve removing device of the drug dissolving device comprises a guide rail I, a movable motor base I, a fixed motor base I, a motor thirteen, a screw rod translation assembly six, a nut base I, a left clamping piece, a right clamping piece, a spring II, a screw rod stepping motor II and a nut base II, wherein the guide rail I is horizontally arranged on the inner side surface of the door-shaped frame I, the movable motor base I is arranged on the guide rail I in a sliding manner, the movable motor base I is fixedly provided with the nut base I, the fixed motor base I is arranged on the inner side surface of the door-shaped frame I, the motor thirteen is arranged on the fixed motor base I, the motor thirteen drives the nut base I to translate through the screw rod translation assembly six, the left clamping piece and the right clamping piece are arranged on the movable motor base I, a clamping state is formed between the left clamping piece and the right clamping piece through the spring II, the screw rod stepping motor II is arranged on the movable motor base I, the nut base II is in threaded connection with the output end of the screw rod stepping motor II, a separation cone part is arranged on the side surface of the bottom of the nut seat II, the lead screw stepping motor moves the separation cone part through the nut seat II to enable the separation cone part to be inserted between the left clamping piece and the right clamping piece, so that the left clamping piece and the right clamping piece are separated, and the left clamping piece and the right clamping piece clamp needle sleeves of the medicine dissolver and enable the needle sleeves to be separated from the medicine dissolver;
the needle point concentricity detection device comprises a second mounting plate and an optical fiber sensor, wherein the second mounting plate is provided with a detection port, and the optical fiber sensor is arranged in the detection port;
the needle head processing assembly comprises a machine frame II, a waste box conveying and lifting device I for moving and lifting a waste box for recycling the needle head of the drug dissolver, a needle head shearing device for cutting the needle head of the drug dissolver, a waste box cover clamping device I for placing the waste box cover of the needle head of the drug dissolver, the first waste box conveying and lifting device is arranged at the bottom of the second rack, the needle shearing head device and the waste box cover clamping device are respectively arranged at the top of the second rack, a second machine shell is arranged outside the second machine frame, the needle shearing head device, the first waste box cover clamping device and the first waste box conveying and lifting device are respectively packaged inside the second machine shell, the upper surface of the second casing is provided with a first through hole which is convenient for the needle head shearing device to shear the needle head of the drug dissolving device, and the side surface of the second casing is provided with a first opening and closing door;
the first waste box conveying and lifting device comprises two guide rails II, a first supporting seat, a first rotating shaft, a limiting cover, a first cam, a second cam, a first waste box placing plate, a fourteen motor, a left-turning sliding block, a right-turning sliding block, a eight synchronous belt transmission assembly, a fifteen motor, a five position sensor, a wire passing plate and a six position sensor, wherein the two guide rails II are arranged on the bottom surface of the second frame in parallel, the first supporting seat is provided with two groups, the two groups of first supporting seats are respectively arranged between the two guide rails II, two ends of the first rotating shaft are respectively arranged on the two groups of first supporting seats, the end part of the first rotating shaft is fixedly connected with the output end of the fourteen motor, the limiting cover is arranged above the second guide rails, two ends of the first rotating shaft are respectively fixedly connected with the first cam and the second cam which penetrate out of the limiting cover upwards, the first waste box placing plate is arranged on the limiting cover, a left-turning connecting slide block and a right-turning connecting slide block which are parallel to each other are fixed at the bottom of the waste box placing plate I, the left-turning connecting slide block and the right-turning connecting slide block respectively penetrate through the limiting covers and are arranged on the two guide rails II in a sliding manner, a motor fifteen is arranged on the bottom surface of the rack II and drives the left-turning connecting slide block to move through a synchronous belt transmission assembly eight, a position sensor five for providing a self position signal is arranged on the inner side surface of the left-turning connecting slide block, the wire passing plate is vertically arranged on the bottom surface of the rack II, and a position sensor six for providing a position signal of the waste box placing plate I is arranged on the wire passing plate;
the needle shearing device comprises a fixed motor base II, a motor sixteen, a synchronous belt transmission component nine, a screw translation component seven, a screw translation component eight, a fixed blade, a movable blade, a nut base III, a nut base IV, a needle sealing pipe body, a rotary swing mechanism, a sealing door I and a position sensor seven, wherein the top of the frame II is fixed with the needle sealing pipe body which enables the needle sealing pipe body to be communicated up and down, the needle sealing pipe body is internally provided with the sealing door I, the top of the needle sealing pipe body is provided with the fixed blade, the fixed motor base II is arranged at the top of the frame II, the motor sixteen is arranged on the fixed motor base II, the motor sixteen respectively drives the screw translation component seven and the screw translation component eight through the synchronous belt transmission component nine, the screw translation component seven drives the nut base III to translate, and the nut base III is fixed with the movable blade, the movable blade is in butt joint with the fixed blade through translation, the movable blade and the fixed blade are staggered with each other to cut off the needle head of the drug dissolver, the screw translation assembly eighth drives the nut seat fourth to translate, the nut seat fourth drives the sealing door to be opened or closed through the rotary swing mechanism, and the lower surface of the top of the second rack is provided with a position sensor seventh for detecting whether a waste box for recovering the needle head of the drug dissolver is full of the needle head;
the waste box cover clamping device I comprises a second steering engine, a fixed clamping piece, a first movable clamping piece, a guide shaft, a third spring and a first bearing seat, the second steering engine is arranged at the top of the second rack, the fixed clamping piece is fixed on the lower surface of the top of the second rack, the output end of the second steering engine is fixedly connected with the guide shaft, the second steering engine pushes the first movable clamping piece through the guide shaft, the fixed clamping piece and the first movable clamping piece form a clamping or loosening waste box cover, the first bearing seat supports the guide shaft, and the third spring is arranged between the first bearing seat and the output end of the second steering engine;
the garbage recycling and processing assembly comprises a waste box conveying and lifting device II, a waste box cover clamping device II and a waste box sealing device, wherein the waste box conveying and lifting device II is respectively provided with two groups, two groups of waste box cover clamping devices are used for moving and lifting the waste box of the recycled ampoule bottle and the powder bottle and the waste box of the recycled medicine dissolver, the two groups of waste box cover clamping devices are respectively used for placing the waste box cover of the recycled ampoule bottle and the powder bottle and the waste box cover of the recycled medicine dissolver and releasing the box cover to seal the box when the box is full, the waste box sealing device is used for separating the waste boxes of the recycled medicine dissolver, the ampoule bottle and the powder bottle from the outside, three groups of waste box sealing devices are arranged, and the three groups of waste box sealing devices respectively correspond to the liquid pumping manipulator upwards, The ampoule bottle treatment assembly and the mother solution powder revolution shaking assembly are characterized in that when the medicine dissolving device, the ampoule bottle and the powder bottle are recycled, the waste box sealing device is in an open state, and otherwise, the waste box sealing device is in a closed state;
the waste bin conveying and lifting device comprises a guide rail III, a motor seventeen, a synchronous belt transmission assembly eleven, a translation plate II, a jacking placement body, a limiting block, a motor eighteen, a synchronous belt transmission assembly eleven and a cam III, wherein the two guide rails III are arranged on the bottom surface of the rack I in parallel, the motor seventeen is installed on the bottom surface of the rack I, the motor seventeen drives the translation plate II to move on the guide rail III through the synchronous belt transmission assembly ten, the jacking placement body is arranged above the translation plate II, the translation plate II limits the jacking placement body to synchronously move with the translation plate II through the limiting block, the motor eighteen drives the cam III to rotate through the synchronous belt transmission assembly eleven, and the cam III drives the jacking placement body to ascend or descend so as to realize the movement of the waste bin arranged on the jacking placement body;
the waste box cover clamping device comprises a supporting rod, a mounting plate III, a motor nineteen, a rotating hinge part, a pull rod, a turning clamping part I, a turning clamping part II and a rotating shaft II, wherein the mounting plate III is arranged above the waste box conveying and lifting device II and is supported by the supporting rod, the motor nineteen is arranged on the upper surface of the mounting plate III, the output end of the motor nineteen is fixedly connected with the rotating hinge part, the turning clamping part I and the turning clamping part II are respectively rotatably arranged on two sides of the mounting plate III through the rotating shaft II, one ends of the two pull rods are respectively hinged on the two rotating shafts II, and the motor nineteen pulls the other ends of the two pull rods through the rotating hinge part to drive the turning clamping part I and the turning clamping part II to do fan-shaped motion so as to release or clamp the waste box cover;
the waste box sealing device comprises a sealing box, a third screw rod stepping motor, a second sealing door, a fifth nut seat, two third sealing door guide supporting plates, a roller and a blanking hopper, wherein the sealing box is arranged in the third mounting plate, the sealing box is provided with a feeding channel which enables the third mounting plate to be communicated up and down, the third screw rod stepping motor is arranged in the sealing box, the fifth nut seat is screwed on the output end of the third screw rod stepping motor, the two sealing door guide supporting plates are respectively arranged at two sides of the fifth nut seat, the upper surfaces of the two sealing door guide supporting plates are provided with an inner concave part, the roller is positioned in the inner concave part, the bottom surface of the inner concave part is provided with a high position and a low position with height difference, a slope is arranged between the high position and the low position, the second sealing door is arranged in the sealing box, and the sealing door is arranged in the inner concave part in a rolling manner through the roller, when the nut seat five is close to the throwing channel, the sealing door II ascends and closes the throwing channel, when the nut seat five is far away from the throwing channel, the sealing door II descends and opens the throwing channel, and the dropping hopper is arranged in the throwing channel;
the drawing liquid manipulator adopt the technology and the structure of the medicine melt ware manipulator in the robot of a high-efficient intelligence allotment venous transfusion medicine that application number is 201820058748.0 disclosed, utilize it to realize accurate drawing liquid, pour into the mother liquor bottle with the solution in the ampoule and the mother liquor and the powder mixed solution that have mixed in proper order to this carries out the liquid medicine and mixes.
As a further aspect of the present invention, the first frame is provided with a loading buffer area and a dispensing working area, the mother liquor powder revolution shaking assembly, the ampoule bottle treatment assembly, the drug dissolving device loading assembly, the needle head treatment assembly and the garbage recycling assembly are located in the dispensing working area, the mother liquor powder loading assembly and the ampoule bottle loading assembly are located in the loading buffer area, the loading buffer area is provided with a third door-shaped frame, the third door-shaped frame is provided with an inner isolation gate assembly and an outer isolation gate assembly, the inner isolation gate assembly is used for isolating the loading buffer area from the dispensing working area, and the outer isolation gate assembly is used for isolating the loading buffer area from the outside;
the inner separation gate assembly comprises a first mounting support, a first motor, a third rotating shaft, a second driving pulley, a second driven pulley, a second synchronous belt, a second moving clamping piece, a first moving glass door, a ninth position sensor and a stop strip, wherein the first mounting support is fixedly connected to the inner side surface of the third door-shaped frame, the first motor is mounted on the first mounting support, the third rotating shaft is fixedly connected to the output end of the first motor, the first motor drives the second driving pulley through the third rotating shaft, the second driving pulley is connected with the second driven pulley through the second synchronous belt, a height difference is formed between the second driving pulley and the second driven pulley, the first moving glass door is mounted on the second synchronous belt through the second moving clamping piece, the second synchronous belt is used for driving the first moving glass door to move, and the top of the first mounting support is provided with a first driving pulley, a second synchronous belt, a second position sensor and a stop strip, A ninth position sensor for detecting the moving position of the first moving glass door is respectively arranged at the bottom of the first moving glass door, and a barrier strip is horizontally arranged on the first mounting bracket;
the external isolation gate assembly comprises a second mounting bracket, a second motor, a twelfth synchronous belt transmission assembly, a fourth rotating shaft, a third driving belt wheel, a third synchronous belt, a second moving glass door, a balancing weight, a third guide cylinder, a tenth position sensor and a reinforcing rib, wherein the second mounting bracket is fixedly connected to the outer side surface of the third door-shaped frame, the twenty-two motor is mounted at the top of the second mounting bracket, the twenty-two motor drives the fourth rotating shaft through the twelve synchronous belt transmission assembly, the four rotating shaft drives the third synchronous belt through the third driving belt wheel, the end part of the third synchronous belt drives the second moving glass door to move, the balancing weight is mounted at the bottom of the second moving glass door, the guide cylinder which can be sleeved with the balancing weight is mounted at the bottom of the second mounting bracket, and the tenth position sensor for detecting the moving position of the second moving glass door is mounted at the top and the bottom of the second mounting bracket respectively, and the second mounting bracket is horizontally provided with a reinforcing rib.
As a further proposal of the utility model, the powder bottle jig comprises a jig body I, a clamping jaw rotating shaft, a spring pressing block, a spring IV and a powder bottle clamping jaw, wherein the jig body I is of a hollow structure, a plurality of pairs of powder bottle clamping jaws used for clamping the bottleneck position of a powder bottle are hinged at one side position of the first jig body, each powder bottle clamping jaw is connected with a clamping jaw rotating shaft arranged in the first jig body, a spring pressing block is arranged between each pair of powder bottle clamping jaws, a spring IV is arranged at the bottom of the spring pressing block, two ends of the fixture body I are respectively provided with a bolt hole matched with the bolt butt joint component, the upper surface of the first jig body is provided with a plurality of powder bottle placing grooves matched with each pair of the powder bottle clamping jaws, and the powder bottle jig base is provided with a left clamping rail I and a right clamping rail I matched with the first jig body.
As the utility model discloses a further scheme again, mother liquor bottle tool including the tool body two, press from both sides the dress body, hold the piece, the gland, the latch hook, the spring is five, press from both sides the dress body setting and on the upper surface of the tool body two, press from both sides and install a plurality of piece that hold on the dress body, it has the gland to hold all movable mounting on the piece for the bottleneck position of fixed mother liquor bottle, the gland passes through the latch hook and accepts the piece and be connected, it still installs spring five in the piece to accept, the both ends of spring five are respectively in the mother liquor bottle and accept the piece contact, the upper surface of the tool body two is equipped with and puts groove with pressing from both sides the mother liquor bottle of dress body complex, mother liquor bottle tool seat be provided with tool body two complex about card rail two.
As a further proposal of the utility model, the first lifting and rotating mechanism and the second lifting and rotating mechanism are both composed of a lifting component and a rotating component, the lifting mechanism and the lifting component are the same in structural composition, the lifting component comprises a lifting motor, a first fixed support, a third screw rod, a lifting body, a rotating lifting shaft and a bearing disc, the first fixed support is arranged in the first case, the bottom of the first fixed support is provided with the lifting motor, the end part of the third screw rod is fixedly connected with the output end of the lifting motor, the lifting body and the third screw rod are matched to form a screw pair transmission, the lifting body and the first fixed support are in sliding fit, the top of the lifting body is provided with the rotating lifting shaft which is in running fit with the lifting body, the rotating lifting shaft penetrates out of the top of the first fixed support and is fixedly connected with the bearing disc, the rotating assembly comprises a second fixed support, a fourth driving belt wheel, a third driven belt wheel, a fourth synchronous belt and a rotating motor, the second fixed support is arranged on the side face of the first fixed support, the rotating motor is installed on the second fixed support, the four fixed connection of the driving belt wheel is arranged at the output end of the rotating motor, the third driven belt wheel is installed on the rotating lifting shaft and can drive the rotating lifting shaft to rotate, the fourth driving belt wheel is connected with the third driven belt wheel through the fourth synchronous belt, the first lifting rotating mechanism is fixedly connected with the first bearing seat, the second lifting rotating mechanism is fixedly connected with the second bearing seat, and the third lifting mechanism is fixedly connected with the second bearing seat.
As a further proposal of the utility model, the first frame is also provided with a weighing device, an air purification device and a computer control panel, and the first casing is provided with a second opening and closing door.
As a further aspect of the present invention, the ampoule bottle handling assembly further comprises an ampoule assembly rotation supporting component and a cam handle component, the first case can rotate around the ampoule assembly rotation supporting component, and the first case is released or fixed by the cam handle component;
the ampoule assembly rotary supporting component comprises a fixed pipe body, two groups of angular contact bearings, a bearing spacer sleeve, a rotary pipe body, a sealing cover and a top cover, wherein the fixed pipe body is vertically arranged on the upper surface of the first rack, the sealing cover is arranged at the top of the fixed pipe body, the top cover covers the sealing cover, the rotary pipe body is sleeved on the fixed pipe body, the two groups of angular contact bearings are arranged between the rotary pipe body and the fixed pipe body, and the bearing spacer sleeve is arranged between the two groups of angular contact bearings;
the cam handle subassembly include cam handle, ampoule assembly latch segment, handle fixing base, micro-gap switch drive block, micro-gap switch, ampoule assembly latch segment sets up the upper surface of frame one, the handle fixing base sets up ampoule assembly latch segment in, the cam handle install the lateral surface of handle fixing base, the cam handle pass through micro-gap switch drive block drive micro-gap switch, the side of machine case one be equipped with can with the joint hole of micro-gap switch joint.
The utility model has the advantages that:
1. automatic transport medicine bottle tool has been add to this robot, the function of medicine dissolving device, in the time of adding medicine, accomplish the drug treatment in advance, discernment, it is leading-in, check, allotment and output information of dispensing, the even assembly of mother liquor powder revolution is shaken and is provided with the fixed position of many batches of medicine tool, the operation of adding medicine and the operation of dispensing are mutually independent, and can go on simultaneously, it can place many medicine dissolving devices to dissolve the medicine assembly to dissolve the medicine ware, can automatic calibration medicine dissolving device needle point concentricity, provide the liquid extraction operation of liquid extraction manipulator, satisfy the demand of the accurate puncture plug of drawing and annotating the liquid medicine, it cuts medicine dissolving device syringe needle through syringe needle processing assembly after accomplishing to dispense, and store used medicine bottle and medicine dissolving device by rubbish recovery processing assembly, need not to shut down and handle used medicine dissolving device and dispose new medicine dissolving device, greatly improve the efficiency of dispensing and the precision.
2. This robot sets up the buffer zone of adding medicine and the workspace of dispensing, the buffer zone of adding medicine is the region of placeeing and carrying the medicine bottle tool, the workspace of dispensing is the region of carrying out the operation of dispensing, the buffer zone of adding medicine and the mutual isolation between the workspace of dispensing, can carry out air purification before mother liquor powder is added the medicine assembly and is carried the medicine, guarantee to dispense the workspace can keep clean aseptic environment always, also prevent simultaneously that medical staff from suffering the injury of medicine, ensure the security of dispensing and medical staff's healthy.
3. The CCD industrial camera and the weighing device are additionally arranged on the robot, the CCD industrial camera can shoot residual liquid medicine in the medicine dissolving device, the weighing device measures the weight of the medicine dissolving device, the liquid medicine residual amount in the medicine dissolving device is automatically calculated, deviation occurs to the medicine amount when the medicine liquid is prevented from being sucked, and accurate medicine dispensing is achieved.
4. The ampoule bottle processing assembly in the robot can realize rotary motion, and outside the working area for dispensing is pulled out in a rotary mode, medical staff can have enough space to clean the working area for dispensing by maintenance, so that cleaning of medicine bottle chips generated after dispensing is facilitated, cleanliness in the working area for dispensing is guaranteed, and dispensing safety is guaranteed.
Drawings
Fig. 1 is an overall schematic view of the intravenous drug solution preparing robot of the present invention.
Fig. 2 is a schematic view of the internal structure of the intravenous drug solution preparing robot of the present invention.
FIG. 3 is a schematic structural diagram of a mother liquor powder revolution shaking-up assembly.
Fig. 4 is a schematic structural diagram of a mother liquor powder medicine feeding assembly.
Fig. 5 is a schematic view of the internal structure of a translation device for a powder bottle jig in a mother liquor powder feeding assembly.
Fig. 6 is an overall schematic view of an ampoule handling assembly.
Fig. 7 is a schematic diagram of the internal structure of the first housing of the ampoule bottle processing assembly.
Fig. 8 is a schematic structural diagram of an ampoule bottle positioning and jacking device in an ampoule bottle processing assembly.
Fig. 9 is a side view of an ampoule positioning and jacking device in an ampoule handling assembly.
Fig. 10 is a cross-sectional view of an ampoule positioning and jacking device in an ampoule processing assembly.
FIG. 11 is a schematic diagram of a second embodiment of a sterilization device in an ampoule processing assembly.
Fig. 12 is a sectional view of the bottle-breaking body of the ampoule bottle-breaking apparatus.
Fig. 13 is a schematic structural view of a cap baffle assembly in the ampoule breaking apparatus.
Figure 14 is a cross-sectional view of an ampoule assembly rotation support assembly in an ampoule handling assembly.
Fig. 15 is a schematic structural diagram of an ampoule bottle medicine feeding assembly.
Fig. 16 is a front view of the drug dissolver loading assembly.
Fig. 17 is a rear view of the drug dissolver loading assembly.
Fig. 18 is a schematic view of the internal structure of the drug dissolver loading assembly.
Fig. 19 is a schematic structural view of a desolventizer needle-housing apparatus.
FIG. 20 is an overall schematic view of a needle handling assembly.
FIG. 21 is a schematic view of the internal structure of the needle handling assembly.
FIG. 22 is a schematic view of a hidden position-limiting cover of the waste bin transporting and lifting device.
FIG. 23 is a top plan view of a first needle shearing device and a first waste bin cover holding device of the needle disposal assembly.
FIG. 24 is a bottom view of the first needle shearing device and the first waste bin cover retaining device of the needle disposal assembly.
FIG. 25 is an overall schematic view of a waste recovery processing assembly.
FIG. 26 is a schematic structural view of a second waste bin conveying and lifting device in the garbage collection and treatment assembly.
FIG. 27 is a schematic view of a second waste bin cover clamping device in the garbage recycling assembly.
FIG. 28 is a top view of the waste bin sealing device in the garbage collection and disposal assembly.
FIG. 29 is a side view of the waste bin sealing device in the garbage collection and disposal assembly.
FIG. 30 is a schematic view of the structure of the drug delivery buffer.
FIG. 31 is a schematic view of the construction of the isolation gate assembly in the drug loading buffer.
FIG. 32 is a schematic view of the structure of the outer isolation gate assembly in the loading buffer area.
Fig. 33 is a schematic structural view of the powder bottle jig.
Fig. 34 is a schematic view of the internal structure of the powder bottle jig.
Fig. 35 is a schematic structural view of the mother liquid bottle jig.
Fig. 36 is a schematic structural view of the first lifting and rotating mechanism.
Detailed Description
The technical solution in the embodiment of the present invention will be described below with reference to the accompanying drawings.
Referring to fig. 1 to 36, in an embodiment of the present invention, an intravenous drug solution blending robot includes a frame 1, the frame 1 is provided with a mother solution powder revolution shaking assembly 2, an ampoule bottle handling assembly 3 and a fluid pumping manipulator 4, and further includes a mother solution powder feeding assembly 5, an ampoule bottle feeding assembly 6, a drug dissolver feeding assembly 7, a needle head handling assembly 8 and a garbage recycling handling assembly 9, the frame 1 is further fixed with a housing 10 outside, the mother solution powder revolution shaking assembly 2, the ampoule bottle handling assembly 3, the fluid pumping manipulator 4, the drug dissolver feeding assembly 7, the needle head handling assembly 8, the garbage recycling handling assembly 9, the mother solution powder feeding assembly 5 and the ampoule bottle feeding assembly 6 are packaged inside, the mother solution powder feeding assembly 5 is used for conveying a mother solution bottle and a powder bottle for the mother solution powder revolution shaking assembly 2, draw liquid manipulator 4 follow dissolve medicine ware material loading assembly 7 on take and dissolve the medicine ware to through dissolving the mother liquor suction in the medicine ware will mother liquor bottle to the powder bottle, by mother liquor powder revolution shake even assembly 2 drive make mother liquor and powder mix in the powder bottle and shake evenly, ampoule bottle handle assembly 3 can follow ampoule bottle 6 on take the ampoule bottle to cut and break off with fingers and thumb, draw liquid manipulator 4 through dissolving the medicine ware in with the ampoule bottle liquid medicine, the mother liquor that has mixed and powder mixture suction in the mother liquor bottle mix in proper order, mother liquor powder on the medicine assembly 5 retrieve the mother liquor bottle that has mixed in the ampoule bottle, mother liquor, powder three, needle handle assembly 8 and be used for carrying out the needle head cutting to the medicine ware after dispensing and handle, rubbish recovery processing assembly 9 be used for retrieving the medicine dissolving ware after the cutting needle head, solution ware, Used ampoule bottle and powder bottle.
As a further embodiment of the present invention, the mother liquor powder revolution shaking assembly 2 comprises a revolution base 100, a powder bottle rotation shaking device 200, a mother liquor bottle rotation shaking device 300, a harmonic reducer 400, a synchronous belt transmission assembly 500, a revolution shaft 600 and a disinfection device 700, wherein the upper support 101 and the lower support 102 are symmetrically arranged on two sides of the revolution base 100 respectively, the powder bottle rotation shaking device 200 and the mother liquor bottle rotation shaking device 300 are respectively arranged on two sides of the revolution base 100, the powder bottle rotation shaking device 200 is arranged on the upper support 101, the mother liquor bottle rotation shaking device 300 is arranged on the lower support 102, the revolution shaft 600 is fixedly connected to the bottom of the revolution base 100, the harmonic reducer 400 drives the revolution shaft 600 to rotate through the synchronous belt transmission assembly 500, the revolution shaft 600 drives the revolution base 100 to rotate, and the first disinfection device 700 is arranged at the top of the revolution base 100;
the powder bottle rotating and shaking device 200 comprises a first rotating mechanism 201, a first powder bottle jig seat 202, a first powder bottle jig 203, a first motor 204, a second synchronous belt transmission assembly 205 and a first position sensor 206, wherein the first rotating mechanism 201 is installed on the upper support body 101, the first rotating mechanism 201 is fixedly provided with a plurality of powder bottle jig seats 202, each powder bottle jig seat 202 is detachably provided with the powder bottle jig 203 for fixing a powder bottle, the first motor 204 is arranged in the revolution base 100, the first rotating mechanism 201 is driven to rotate by the first motor 204 through the second synchronous belt transmission assembly 205, the powder bottle rotates around the first rotating mechanism 201, and the upper support body 101 is provided with the first position sensor 206 for controlling the rotating angle of the first rotating mechanism 201;
the mother liquid bottle rotary shaking-up device 300 comprises a mother liquid bottle jig seat 301, a mother liquid bottle jig 302, a second motor 303, a synchronous belt transmission assembly III 304 and a second position sensor 305, wherein the mother liquid bottle jig seat 301 is installed on the lower support 102, the mother liquid bottle jig 302 for fixing a mother liquid bottle is detachably installed on the mother liquid bottle jig seat 301, the second motor 303 is arranged in the revolution base 100, the second motor 303 drives the mother liquid bottle jig seat 301 to rotate through the synchronous belt transmission assembly III 304, and the lower support 102 is provided with the second position sensor 305 for controlling the rotation angle of the mother liquid bottle jig seat 301;
the first disinfection device 700 comprises an electromagnetic valve 701, a first spray head 702 and a first spray liquid control component 703, wherein the input end of the electromagnetic valve 701 is connected with a disinfection liquid container, the output end of the electromagnetic valve 701 is connected with the first spray head 702, and the first spray liquid control component 703 controls the first spray head 702 to be opened or closed, so that disinfection liquid is sprayed on the powder bottle;
the mother liquor bottle and powder medicine feeding assembly 5 comprises a mother liquor bottle jig translation device 800 which can convey and assemble the mother liquor bottle jig 302 to the mother liquor bottle jig seat 301, a powder bottle jig translation device 900 which can convey and assemble the powder bottle jig 203 to the powder bottle jig seat 202, and a medicine feeding translation supporting device 1000 which can move the mother liquor bottle jig translation device 800 and the powder bottle jig translation device 900 into the first enclosure 10 or out of the first enclosure 10;
the mother liquid bottle jig translation device 800 comprises a first base 801, an electromagnet pushing block 802, a third motor 803, a first screw translation assembly 804 and a first RFID sensor 805, wherein a sliding groove 806 is formed in the upper surface of the first base 801, the electromagnet pushing block 802 is arranged in the sliding groove 806, the third motor 803 is arranged in the first base 801, the third motor 803 drives the electromagnet pushing block 802 to translate through the first screw translation assembly 804, the mother liquid bottle jig 302 is pushed onto the mother liquid bottle jig base 301 through the electromagnet pushing block 802, the top of the first base 801 is of an inclined structure, and the first RFID sensor 805 is arranged on the bottom surface of the sliding groove 806;
the powder bottle jig translation device 900 comprises a second base 901, a first translation plate 902, a fourth motor 903, a fifth motor 904, a second screw translation component 905, a third screw translation component 906, a fourth synchronous belt transmission component 907, a plug butt joint component 908, a first rotating shaft swinging component 909, an electric cylinder 910, a translation jacking shaft 911 and a second RFID sensor 912, wherein the second base 901 is installed at the top of the first base 801 through the first rotating shaft swinging component 909, the fourth motor 903 is arranged on the upper surface of the second base 901, the first translation plate 902 is arranged above the second base 901, the second motor 303 drives the first translation plate 902 to translate through the second screw translation component 905, the fifth motor 904 is arranged on the lower surface of the first translation plate 902, two sets of the third screw translation components 906 and the plug butt joint component 908 are arranged, the two sets of the third screw translation components 906 are respectively arranged on the upper surfaces of two sides of the first translation plate 902, the electric cylinder 910 adjusts the inclination angle of the first translation plate 902 to be consistent with the inclination angle of the powder bottle jig seat 202 through the translation jacking shaft 911, so that the first translation plate 902 is firstly moved to be attached to the powder bottle jig seat 202, and then the powder bottle jig 203 is pushed to the powder bottle jig seat 202 through the bolt docking assembly 908;
the medicine feeding translation supporting device 1000 comprises a machine base three 1001, a motor six 1002 and a screw translation assembly four 1003, wherein the motor six 1002 is arranged in the machine base three 1001, and the motor six 1002 drives the machine base one 801 to translate through the screw translation assembly four 1003;
the ampoule bottle processing assembly 3 comprises a case I1100, an ampoule bottle conveying device 1200 for conveying ampoule bottles, an ampoule bottle positioning and jacking device 1300 for positioning and jacking ampoule bottles to enable the ampoule bottles to fall off, an ampoule bottle cutter device 1400 for cutting the tops of the ampoule bottles, a disinfection device II 1500 for disinfecting the ampoule bottles before cutting, and an ampoule bottle breaking device 1600 for breaking the cut ampoule bottles;
the ampoule bottle conveying device 1200 comprises a clamping conveying body 1201 and a lifting rotating mechanism I1202 for driving the clamping conveying body 1201 to lift and rotate, wherein the clamping conveying body 1201 comprises a bearing seat I1203, a swing arm I1204 and a clamping mechanical arm 1205, the bearing seat I1203 is installed at the top of a case I1100, the swing arm I1204 is fixed at the top of the bearing seat I1203, and the clamping mechanical arm 1205 is fixedly connected to the end part of the swing arm I1204;
the ampoule bottle positioning and jacking device 1300 comprises a movable support 1301, a motor seven 1302, a synchronous belt transmission assembly five 1303, a rotating arm 1304, a motor eight 1305, a motor nine 1306, a synchronous belt transmission assembly six 1307, an outer rotary drum 1308, a three-jaw rotating clamping jaw 1309, an inner rotary drum 1310, a mounting plate one 1311, an adjusting rotary disc 1312, a spring one 1313, a swinging rod 1314, a driving swinging arm 1315, a screw rod stepping motor one 1316, a jacking rod 1317, a position sensor three 1318 and a position sensor four 1319, wherein the movable support 1301 is arranged on the outer side face of the case one 1100, the motor seven 1302 is arranged in the case one 1100, the motor seven is used for driving the movable support 1301 to rotate through the synchronous belt transmission assembly five 1303 and the rotating arm 1304, the outer rotary drum 1308 is arranged on the upper surface of the movable support 1301 in a rotating manner, the three-jaw rotating clamping jaw 1309 is fixed at the top of the outer rotary drum 1308, the inner rotary drum 1310 is arranged in the outer rotary drum 1308, an adjusting turntable 1312 is fixed at the top of the inner rotary drum 1310, a first mounting plate 1311 is horizontally arranged on the outer side surface of the outer rotary drum 1308, a swinging rod 1314 is horizontally fixed on the outer side surface of the inner rotary drum 1310, the swinging rod 1314 penetrates out of the outer rotary drum 1308 and is fixedly connected with a first spring 1313 between the first mounting plate 1311, a motor eight 1305 and a motor nine 1306 are respectively mounted on the movable bracket 1301, the motor eight 1305 drives the outer rotary drum 1308 to rotate through a synchronous belt transmission assembly six 1307, the movable bracket 1301 is further mounted with a position sensor three 1312 8 for controlling the rotating angle of the outer rotary drum 1308, when the motor nine 1306 drives the swinging rod 1314 to drive the inner rotary drum 1310 to rotate through a swinging arm 1315, the inner rotary drum 1310 drives three claws 1309 to respectively move outwards through the adjusting claws, the three-jaw type rotating clamping jaw 1309 is in a state of loosening the ampoule bottle, when the driving swing arm 1315 is not in contact with the swing rod 1314, three jaws in the three-jaw type rotating clamping jaw 1309 are respectively close to the center, the three-jaw type rotating clamping jaw 1309 is in a state of clamping the ampoule bottle, a screw rod stepping motor 1316 is installed on the lower surface of the movable support 1301, a jacking rod 1317 extending to the center of the three-jaw type rotating clamping jaw 1309 is fixedly connected to the output end of the screw rod stepping motor 1316, and a position sensor four 1319 for providing a position signal of the jacking rod 1317 is installed on the movable support 1301;
the ampoule bottle cutter device 1400 comprises a cutter body 1401 and a second lifting and rotating mechanism 1402 which drives the cutter body 1401 to lift and rotate, wherein the cutter body 1401 comprises a second bearing seat 1403, a second swing arm 1404, a spring pressing component 1405 and a diamond cutter wheel 1406, the second bearing seat 1403 is installed on the top of the first case 1100, the second swing arm 1404 is fixed on the top of the second bearing seat 1403, the spring pressing component 1405 is fixed on the end part of the second swing arm 1404, and the diamond cutter wheel 1406 which is used for cutting an ampoule bottle is fixed on the side surface of the spring pressing component 1405;
the second disinfection device 1500 comprises a disinfection sprayer 1501 and a second spray head 1502, the disinfection sprayer 1501 is arranged at the top of the first case 1100, the second spray head 1502 is arranged on the disinfection sprayer 1501, and the second spray head 1502 corresponds to the ampoule bottle neck on the ampoule bottle positioning and jacking device 1300;
the ampoule bottle breaking device 1600 comprises a bottle breaking body 1601, a lifting mechanism 1613 for driving the bottle breaking body 1601 to lift and a bottle cap baffle assembly 1602, wherein the bottle breaking body 1601 comprises a receiving seat three 1603, a breaking box 1604, a motor ten 1605, a rotating disc 1606, a rotating breaking rod 1607, a fixed breaking rod 1608 and a protective cover 1609, the bottle cap baffle assembly 1602 comprises a steering engine one 1610, a locking member 1611 and a baffle 1612, the receiving seat three 1603 is installed at the top of the case one 1100, the top of the receiving seat three 1603 is fixedly provided with the breaking box 1604, the breaking box 1604 is internally provided with the motor ten 1605, the end surface of the breaking box 1604 is rotatably provided with the rotating disc 1606, the output end of the motor ten 1605 is fixedly connected with the center of the rotating disc 1606, the eccentric position of the rotating disc 1606 is fixedly provided with the rotating rod 1607, the end surface of the breaking box 1604 is fixedly provided with the fixed rod 1607, the fixed with the fixed rod 1608, the direction of which is parallel to the rotating disc 1608, a protective cover 1609 is fixed on the end face of the breaking-off box 1604, a first steering engine 1610 is installed in the breaking-off box 1604, the first steering engine 1610 drives a baffle 1612 to move through a locking member 1611, and the baffle 1612 moves horizontally below the protective cover 1609;
the ampoule bottle feeding assembly 6 comprises a case II 1700, a motor eleven 1800, a screw translation component five 1900 and an ampoule bottle supporting jig 2000, wherein the motor eleven 1800 is arranged on the case II 1700, and the motor eleven 1800 drives the ampoule bottle supporting jig 2000 for placing ampoule bottles to translate through the screw translation component five 1900 so as to move to be convenient for the clamping and conveying body 1201 to clamp and convey ampoule bottles;
the medicine dissolver feeding assembly 7 comprises a first portal frame 2100, a medicine dissolver clamping and lifting device 2200, a medicine dissolver needle sleeve removing device 2300, a CCD industrial camera 2400 and a needle point concentricity detection device 2500, wherein the medicine dissolver clamping and lifting device 2200 is erected in the first portal frame 2100, the medicine dissolver needle sleeve removing device 2300 is arranged in the first portal frame 2100, the CCD industrial camera 2400 and the needle point concentricity detection device 2500 are respectively arranged on the outer side surface of the first portal frame 2100, a waste box placing groove 2600 is arranged on the outer side surface of the first portal frame 2100, and a needle sleeve discharging pipeline 2700 communicated with the waste box placing groove 2600 is arranged on the inner side of the first portal frame 2100;
the device 2200 for clamping and lifting the medicine dissolver comprises a motor twelve 2201, a synchronous belt transmission assembly seven 2202 and a plurality of medicine dissolver clamps 2203, wherein the motor twelve 2201 drives the plurality of medicine dissolver clamps 2203 for clamping the medicine dissolver through the synchronous belt transmission assembly seven 2202;
the needle sleeve removing device 2300 for the drug dissolver comprises a first guide rail 2301, a first movable motor base 2302, a first fixed motor base 2303, a thirteen motor 2304, a six screw rod translation assembly 2305, a first nut base 2306, a left clamping piece and a right clamping piece 2307, a second spring 2308, a second screw rod stepping motor 2309 and a second nut base 2310, wherein the first guide rail 2301 is horizontally arranged on the inner side surface of the first door-shaped frame 2100, the first movable motor base 2302 is arranged on the first guide rail 2301 in a sliding manner, the first movable motor base 2302 is fixed with the first nut base 2306, the first fixed motor base 2303 is arranged on the inner side surface of the first door-shaped frame 2100, the motor thirteen motor 2304 is arranged on the first fixed motor base 2303, the thirteen motor base 2304 drives the first nut base 2306 to translate through the six screw rod translation assembly 2305, the left clamping piece and the right clamping piece 2307 are arranged on the first movable motor base 2302, and the left clamping piece 2307 and the right clamping piece 2308 form a clamping state, a second lead screw stepping motor 2309 is installed on a first moving motor seat 2302, a second nut seat 2310 is screwed on the output end of the second lead screw stepping motor 2309, a separation cone 2311 is arranged on the side surface of the bottom of the second nut seat 2310, and the second lead screw stepping motor 2309 enables the separation cone 2311 to move through the second nut seat 2310 and enable the separation cone 2311 to be inserted between the left clamping piece 2307 and the right clamping piece 2307, so that the left clamping piece 2307 and the right clamping piece 2307 are separated, and the needle sleeve of the medicine dissolver is clamped by the left clamping piece 2307 and enabled to be separated from the medicine dissolver;
the needle point concentricity detection device 2500 comprises a second mounting plate 2501 and an optical fiber sensor 2502, wherein the second mounting plate 2501 is provided with a detection port 2503, and the optical fiber sensor 2502 is arranged in the detection port 2503;
the needle head processing assembly 8 comprises a machine frame II 2800, a waste box conveying and lifting device I2900 used for moving and lifting a waste box for recycling a medicine dissolver needle head, a needle shearing device 3000 used for cutting off the medicine dissolver needle head, and a waste box cover clamping device I3100 used for placing a waste box cover of the medicine dissolver needle head, wherein the waste box conveying and lifting device I2900 is arranged at the bottom of the machine frame II 2800, the needle shearing device 3000 and the waste box cover clamping device I3100 are respectively arranged at the top of the machine frame II 2800, a machine shell II 3200 is arranged outside the machine frame II 2800, the needle shearing device 3000, the waste box cover clamping device I3100 and the waste box conveying and lifting device I2900 are respectively packaged inside the machine shell II 3200, a through hole I3300 convenient for the needle shearing device 3000 of the medicine dissolver needle shearing device is arranged on the upper surface of the machine shell II 3200, the side surface of the second casing 3200 is provided with a first opening and closing door 3400;
the waste box conveying and lifting device 2900 comprises two guide rails 2901, a supporting seat 2902, a rotating shaft 2903, a limiting cover 2904, a cam 2905, a cam 2906, a waste box placing plate 2907, a motor fourteen 2908, a left-turning slider 2909, a right-turning slider 2910, a synchronous belt transmission assembly eight 2911, a motor fifteen 2912, a position sensor five 2913, a wire passing plate 2914 and a position sensor six 2915, wherein the two guide rails 2901 are arranged on the bottom surface of the rack II 2800 in parallel, the supporting seat I2902 is provided with two groups, the two groups of supporting seat I2902 are respectively arranged between the two guide rails 2901, two ends of the rotating shaft I2903 are respectively arranged on the two groups of the 2901, the end part of the rotating shaft I2903 is fixedly connected with the output end part of the motor fourteen 2908, the limiting cover 2904 is arranged above the guide rails 2901, and the two ends of the rotating shaft I2903 are respectively fixedly connected with a cam 2905 and a cam 6 which upwards penetrates out of the limiting cover 2904, a first waste box placing plate 2907 is arranged on the limiting cover 2904, a left rotating slider 2909 and a right rotating slider 2910 which are parallel to each other are fixed at the bottom of the first waste box placing plate 2907, the left rotating slider 2909 and the right rotating slider 2910 respectively pass through the limiting cover 2904 and are arranged on the two guide rails 2901 in a sliding manner, a motor pentadec 2912 is arranged on the bottom surface of the rack II 2800, the motor pentadec 2912 drives the left rotating slider 2909 to move through the synchronous belt transmission assembly octa 2911, a position sensor penta 2913 for providing a position signal of the motor pentadec 2913 is arranged on the inner side surface of the left rotating slider 2909, the line passing board 2914 is vertically arranged on the bottom surface of the rack II 2800, and a position sensor hexa 2915 for providing a position signal of the first waste box placing plate 2907 is arranged on the line passing board 2914;
the needle shearing device 3000 comprises two fixed motor bases 3001, sixteen motors 3002, nine synchronous belt transmission assemblies 3003, seven screw translation assemblies 3004, eight screw translation assemblies 3005, fixed blades 3006, moving blades 3007, three nut bases 3008, four nut bases 3009, a needle sealing tube 3010, a rotary swing mechanism 3011, a first sealing door 3012 and seven position sensors 3013, wherein the needle sealing tube 3010 for communicating the two fixed motor bases is fixed at the top of the second frame 2800, the first sealing door 3012 is installed in the needle sealing tube 3010, the needle sealing tube 3010 is provided with the fixed blades 3006 at the top, the two fixed motor bases 3001 are arranged at the top of the second frame 2800, the sixteen motors 3002 are installed on the two fixed motor bases 3001, the sixteen motors 3002 respectively drive the seven screw translation assemblies 3004 and the eight screw translation assemblies 3005 through the nine synchronous belt transmission assemblies 3003, the screw translation assembly seven 3004 drives a nut seat three 3008 to translate, a moving blade 3007 is fixed on the nut seat three 3008, the moving blade 3007 is in butt joint with the fixed blade 3006 through translation, the moving blade 3007 and the fixed blade 3006 are staggered with each other to cut off the needle head of the drug dissolver, the screw translation assembly eight 3005 drives a nut seat four 3009 to translate, the nut seat four 3009 drives the sealing door one 3012 to open or close through a rotary swing mechanism 3011, and the lower surface of the top of the rack two 2800 is provided with a position sensor seven 3013 for detecting whether a waste needle box of the drug dissolver needle is full of needles or not;
the waste box cover clamping device I3100 comprises a second steering engine 3101, a fixed clamping member 3102, a first movable clamping member 3103, a guide shaft 3104, a third spring 3105 and a first bearing seat 3106, wherein the second steering engine 3101 is arranged at the top of the second rack 2800, the fixed clamping member 3102 is fixed on the lower surface of the top of the second rack 2800, the guide shaft 3104 is fixedly connected to the output end of the second steering engine 3101, the second steering engine 3101 pushes the first movable clamping member 3103 through the guide shaft 3104, the fixed clamping member 3102 and the first movable clamping member 3103 form a clamping or loosening waste box cover, the first bearing seat 3106 supports the guide shaft 3104, and the third spring 3105 is arranged between the first fixed clamping member 3101 and the output end of the second steering engine 3101;
the garbage recycling and processing assembly 9 comprises a waste box conveying and lifting device II 3500, a waste box cover clamping device II 3600 and a waste box sealing device 3700, wherein the waste box conveying and lifting device II 3500 and the waste box cover clamping device II 3600 are respectively provided with two groups, the two groups of waste box conveying and lifting devices II 3500 are used for moving and lifting a waste box for recycling ampoule bottles and powder bottles and a waste box for recycling a chemical dissolver, the two groups of waste box cover clamping devices II 3600 are respectively used for placing a waste box cover for recycling ampoule bottles and powder bottles and a waste box cover for recycling a chemical dissolver and releasing the box covers for sealing when the boxes are full, the waste box sealing device 3700 is used for separating the waste boxes for recycling the chemical dissolver, ampoule bottles and powder bottles from the outside, the three groups of waste box sealing devices 3700 are arranged, and the three groups of waste box sealing devices 3700 respectively correspond to the liquid pumping manipulator 4, the liquid pump manipulator, the powder bottle and the waste box sealing device 3700 upwards, The ampoule bottle treatment assembly 3 and the mother liquor powder revolution shaking assembly 2 are characterized in that when the medicine dissolving device, the ampoule bottle and the powder bottle are recovered, the waste box sealing device 3700 is in an open state, and otherwise, the waste box sealing device 3700 is in a closed state;
the waste bin conveying and lifting device II 3500 comprises a guide rail III 3501, a motor seventeen 3502, a synchronous belt transmission assembly ten 3503, a translation plate II 3504, a jacking placing body 3505, a limiting block 3506, a motor eighteen 3507, a synchronous belt transmission assembly eleven 3508 and a cam III 3509, wherein the two guide rail III 3501 are arranged on the bottom surface of the rack I1 in parallel, the motor seventeen 3502 is arranged on the bottom surface of the rack I1, the motor seventeen 3502 drives the translation plate II 3504 to move on the guide rail III 3501 through the synchronous belt transmission assembly ten 3503, the jacking placing body 3505 is arranged above the translation plate II 3504, the second translating plate 3504 limits the synchronous displacement of the jacking placement body 3505 and the second translating plate 3504 through a limiting block 3506, an eighteen motor 3507 drives a third cam 3509 to rotate through an eleventh synchronous belt transmission assembly 3508, and the third cam 3509 drives the jacking placement body 3505 to ascend or descend, so that the waste bin placed on the jacking placement body 3505 can move;
the waste box cover clamping device II 3600 comprises a supporting rod 3601, a mounting plate III 3602, a motor nineteen 3603, a rotating hinge element 3604, a pull rod 3605, a turnover clamping piece I3606, a turnover clamping piece II 3607 and a rotating shaft II 3608, wherein the mounting plate III 3602 is arranged above the waste box conveying and lifting device II 3500 and is supported by the supporting rod 3601, the motor nineteen 3603 is arranged on the upper surface of the mounting plate III 3602, the output end of the motor nineteen 3603 is fixedly connected with the rotating hinge element 3604, the turnover clamping piece I3606 and the turnover clamping piece II 3607 are respectively and rotatably arranged at two sides of the mounting plate III 3602 through the rotating shaft II 3608, one ends of the two pull rods 3605 are respectively and hingedly arranged on the two rotating shaft II 3608, the motor nineteen 3603 pulls the other ends of the two pull rods 5 through the rotating hinge element 3604 to drive the turnover clamping piece I3606 and the turnover clamping piece II 3607 to perform sector motion, the opening or clamping of the cover of the waste box is realized;
the waste box sealing device 3700 comprises a sealing box 3701, a lead screw stepping motor three 3702, a sealing door two 3703, a nut seat five 3704, two sealing door guide support plates 3705, a roller 3706 and a blanking hopper 3707, wherein the sealing box 3701 is arranged in the mounting plate three 3602, the sealing box 3701 is provided with a throwing channel 3708 which enables the mounting plate three 3602 to be communicated up and down, the lead screw stepping motor three 3702 is arranged in the sealing box 3701, the nut seat five 3704 is screwed on the output end of the lead screw stepping motor three 3702, the two sealing door guide support plates 3705 are respectively arranged at two sides of the nut seat five 3704, the upper surfaces of the two sealing door guide support plates 3705 are provided with an inner concave part 3709, the roller 3706 is arranged in the inner concave part 3709, the bottom surface of the inner concave part 3709 is provided with a high position 3710 and a low position 3711 with a high-low difference, and a slope 3712 is arranged between the high position 3710 and the low position 3711, a second sealing gate 3703 is arranged in a sealing box 3701, the second sealing gate 3703 is arranged in the inner concave part 3709 in a rolling manner through a roller 3706, when the nut seat five 3704 is close to the throwing channel 3708, the second sealing gate 3703 is raised to close the throwing channel 3708, when the nut seat five 3704 is far away from the throwing channel 3708, the second sealing gate 3703 is lowered to open the throwing channel 3708, and a dropping hopper 3707 is arranged in the throwing channel 3708;
the drawing liquid manipulator 4 adopt the technology and the structure of a medicine melter manipulator in the robot that the application number is 201820058748.0 discloses a high-efficient intelligence allotment venous transfusion medicine, utilize it to realize accurate drawing liquid, pour into the mother liquor bottle with the solution in the ampoule and the mother liquor and the powder mixed solution that have mixed in proper order to this carries out the liquid medicine and mixes.
As a further proposal of the utility model, the first frame 1 is provided with a medicine feeding buffer area 11 and a medicine dispensing working area 12, the mother liquor powder revolution shaking assembly 2, the ampoule bottle treatment assembly 3, the medicine dissolver feeding assembly 7, the needle treatment assembly 8 and the garbage recovery treatment assembly 9 are positioned in the dispensing working area 12, the mother liquor powder medicine feeding assembly 5 and the ampoule bottle medicine feeding assembly 6 are positioned in the medicine feeding buffer zone 11, the medicine feeding buffer area 11 is provided with a door-shaped frame III 4300, the door-shaped frame III 4300 is provided with an inner isolation gate assembly 4400 and an outer isolation gate assembly 4500, the inner isolation gate assembly 4400 is used for isolating the medicine feeding buffer area 11 from the medicine dispensing working area 12, the outer isolation gate assembly 4500 is used for isolating the medicine feeding buffer zone 11 from the outside;
the inner separation gate assembly 4400 comprises a first mounting bracket 4401, a twenty-one motor 4402, a third rotating shaft 4403, a second driving pulley 4404, a second driven pulley 4405, a second synchronous belt 4406, a second movable clamping piece 4407, a first moving glass door 4408, a nine position sensor 4409 and a blocking strip 4410, wherein the first mounting bracket 4401 is fixedly connected to the inner side surface of the third gantry 4300, the twenty-one motor 4402 is mounted on the first mounting bracket 4401, the third rotating shaft 4403 is fixedly connected to the output end of the twenty-one motor 4402, the twenty-one motor 4402 drives the second driving pulley 4404 through the third rotating shaft 4403, the second driving pulley 4404 is connected with the second driven pulley 4405 through the second synchronous belt 4406, a high-low difference is formed between the second driving pulley 4404 and the second driven pulley 4405, the first moving glass door 4408 is mounted on the second driving pulley 4406 through the second synchronous belt 4407, and the second synchronous belt 4406 is used for driving the first moving glass door 4408 to move, the top and the bottom of the first mounting bracket 4401 are respectively provided with a position sensor nine 4409 for detecting the movable position of the first moving glass door 4408, and the first mounting bracket 4401 is horizontally provided with a barrier strip 4410;
the outer isolation gate assembly 4500 comprises a second mounting bracket 4501, a second motor 4502, a synchronous belt transmission assembly twelve 4503, a fourth rotating shaft 4504, a third driving belt wheel 4505, a third synchronous belt 4506, a second moving glass door 4507, a balancing weight 4508, a guide cylinder 4509, a position sensor ten 4510 and a reinforcing rib 4511, the second mounting bracket 4501 is fixedly connected to the outer side surface of the third gantry 4500, the second motor twenty 4502 is mounted at the top of the second mounting bracket 4501, the twelfth motor 4502 drives the fourth rotating shaft 4504 through the synchronous belt transmission assembly 4503, the fourth rotating shaft 4504 drives the third synchronous belt 4506 through the third driving belt wheel 4505, the end part of the third synchronous belt 4506 drives the second moving glass door 4507 to move, the balancing weight 4508 is mounted at the bottom of the second moving glass door 4507, the guide cylinder 4509 which can be sleeved with the balancing weight 4508 is mounted at the bottom of the second mounting bracket 4501, and a position sensor ten 4510 for detecting the moving position of the second moving glass door 4507 is respectively installed at the top and the bottom of the second mounting bracket 4501, and a reinforcing rib 4511 is horizontally arranged on the second mounting bracket 4501.
As a further proposal of the utility model, the powder bottle jig 203 comprises a jig body one 2031, a clamping jaw rotating shaft 2032, a spring pressing block 2033, a spring four 2034 and a powder bottle clamping jaw 2035, wherein the jig body one 2031 is a hollow structure, a plurality of pairs of powder bottle clamping jaws 2035 for clamping the bottleneck of a powder bottle are hinged at one side of the first jig body 2031, each powder bottle clamping jaw 2035 is connected with a clamping jaw rotating shaft 2032 arranged in the first jig body 2031, a spring pressing block 2033 is arranged between each pair of powder bottle clamping jaws 2035, a spring four 2034 is arranged at the bottom of the spring pressing block 2033, two ends of the first jig 2031 are respectively provided with a bolt hole 2036 matched with the bolt butt joint component 908, the upper surface of the first jig 2031 is provided with a plurality of powder bottle placing grooves 2037 which are matched with each pair of the powder bottle clamping jaws 2035, the powder bottle jig base 202 is provided with a left clamping rail and a right clamping rail 2038 which are matched with the jig body I2031.
As a further proposal of the present invention, the mother liquor bottle jig 302 includes two 3021 of the jig body, a clamp body 3022, a bearing block 3023, a gland 3024, a latch hook 3025, a five spring 3026, the clamp body 3022 is disposed on the upper surface of the two 3021 of the jig body, the clamp body 3022 is provided with a plurality of bearing blocks 3023, the bearing block 3023 is provided with a gland 3024 for fixing the position of the bottle mouth of the mother liquor bottle, the gland 3024 is connected with the bearing block 3023 through the latch hook 3025, the bearing block 3023 is further provided with a five spring 3026, the two ends of the five spring 3026 are respectively in the mother liquor bottle and in contact with the bearing block 3023, the upper surface of the two jig body 3021 is provided with a mother liquor bottle placing groove 3027 cooperating with the two jig body 3021, the two jig body 3021 is provided with a left clamp rail 3028 cooperating with the two jig body 3021.
As a further aspect of the present invention, each of the first lifting and rotating mechanism 1202 and the second lifting and rotating mechanism 1402 comprises a lifting component 4600 and a rotating component 4700, the lifting mechanism 1613 and the lifting component 4600 are structurally the same, the lifting component 4600 comprises a lifting motor 4601, a first fixed support 4602, a third screw 4603, a lifting body 4604, a rotating lifting shaft 4605 and a receiving disc 4606, the first fixed support 4602 is disposed in the first case 1100, the lifting motor 4601 is mounted at the bottom of the first fixed support 4602, the end of the third screw 4603 is fixed to the output end of the lifting motor 4601, the lifting body 4604 is matched with the third screw 4603 to form a screw pair transmission, the lifting body 4604 is in sliding fit with the first fixed support 4602, the rotating lifting shaft 4605 in rotating fit with the lifting body 4604 is mounted at the top, the rotating lifting shaft 4605 penetrates through the top of the first fixed support 4602 and is connected to the receiving disc 4606, the rotating component 4700 comprises a second fixed support 4701, a fourth driving pulley 4702, a third driven pulley 4703, a fourth synchronous belt 4704 and a rotating motor 4705, wherein the second fixed support 4701 is arranged on the side surface of the first fixed support 4602, the rotating motor 4705 is arranged on the second fixed support 4701, the fourth driving pulley 4702 is fixedly connected with the output end of the rotating motor 4705, the third driven pulley 4703 is arranged on the rotating lifting shaft 4605, and can drive the rotating lifting shaft 4605 to rotate, the driving pulley four 4702 is connected with the driven pulley three 4703 through a synchronous belt four 4704, the bearing disc 4606 of the lifting and rotating mechanism 1202 is fixedly connected with the bearing seat 1203, the bearing disc 4606 in the second lifting and rotating mechanism 1402 is fixedly connected with the second bearing seat 1403, the receiving disc 4606 of the lifting mechanism 1613 is fixedly connected with the receiving seat three 1603.
As a further embodiment of the present invention, the frame 1 further has a weighing device 13, an air purification device 14 and a computer control panel 15, and the first casing 10 has a second opening/closing door 16.
As a further aspect of the present invention, the ampoule bottle handling assembly 3 further comprises an ampoule assembly rotation supporting component 4800 and a cam handle component 4900, the first enclosure 1100 can rotate around the ampoule assembly rotation supporting component 4800, and the first enclosure 1100 can be released or fixed by the cam handle component 4900;
the ampoule assembly rotary support component 4800 comprises a fixed pipe 4801, angular contact bearings 4802, a bearing spacer 4803, a rotary pipe 4804, a sealing cover 4805 and a top cover 4806, wherein the fixed pipe 4801 is vertically arranged on the upper surface of the rack 1, the sealing cover 4805 is arranged on the top of the fixed pipe 4801, the top cover 4806 is covered on the sealing cover 4805, the rotary pipe 4804 is sleeved on the fixed pipe 4801, two sets of angular contact bearings 4802 are arranged between the rotary pipe 4804 and the fixed pipe 4801, and the bearing spacer 4803 is arranged between the two sets of angular contact bearings 4802;
the cam handle assembly 4900 comprises a cam handle 4901, an ampoule assembly locking block 4902, a handle fixing seat 4903, a microswitch driving block 4904 and a microswitch 4905, wherein the ampoule assembly locking block 4902 is arranged on the upper surface of the rack I1, the handle fixing seat 4903 is arranged in the ampoule assembly locking block 4902, the cam handle 4901 is arranged on the outer side surface of the handle fixing seat 4903, the cam handle 4901 drives the microswitch 4905 through the microswitch driving block 4904, and a clamping hole 4906 which can be clamped with the microswitch 4905 is formed in the side surface of the case I1100.
The working principle of the robot is as follows: the robot is in an initial state, a plurality of groups of mother liquid bottle jigs 302 with mother liquid bottles are respectively placed on a mother liquid bottle jig translation device 800 in a medicine feeding buffer area 11, a plurality of groups of powder bottle jigs 203 with powder bottles are placed on a powder bottle jig translation device 900, an ampoule bottle supporting jig 2000 with a plurality of ampoule bottles is placed on an ampoule bottle medicine feeding assembly 6, a plurality of medicine dissolving devices are placed on a medicine dissolving device feeding assembly 7, a waste box placing groove 2600 in the medicine dissolving device feeding assembly 7, a waste box placing plate 2907 in a needle head processing assembly 8 and a jacking placing body 3505 in a garbage recycling processing assembly 9 are placed with corresponding waste boxes, then an opening and closing door 3400 and an opening and closing door two 16 are closed, a movable glass door two 4507 in an external isolation gate 4500 is closed at the same time, a medicine feeding buffer area 11 is sealed, an air purifying device 14 starts to respectively carry out air purification on the medicine feeding buffer area 11 and a medicine dispensing work area 12, after the air purification is finished, a movable glass door 4408 in the inner isolation gate assembly 4400 is opened, a drug dissolving device feeding assembly 7 enables the ampoule bottle supporting jig 2000 to move and approach to the ampoule bottle processing assembly 3, the medicine feeding translation supporting device 1000 enables the mother liquid bottle jig translation device 800 and the powder bottle jig translation device 900 to move and approach to the mother liquid and powder revolution shaking-up assembly 2, the mother liquid bottle jig translation device 800 pushes the mother liquid bottle jig 302 to the mother liquid bottle jig seat 301, the powder bottle jig translation device 900 pushes the powder bottle jig 203 to the powder bottle jig seat 202, the mother liquid and powder shaking-up assembly 2 revolves integrally, the side, without medicine feeding, of the mother liquid and powder revolution shaking-up assembly 2 faces the mother liquid and powder feeding assembly 5, the other side, with medicine feeding, faces the liquid pumping manipulator 4, the mother liquid pumping manipulator 5 repeats the medicine feeding operation, the liquid pumping manipulator 4 takes the drug dissolving device from the drug dissolving device feeding assembly 7, the needle head of the drug dissolving device is inserted into the detection port 2503, the concentricity offset of the needle point is detected, the weight of the drug dissolving device is measured by the weighing device 13, then the drug dissolving device is moved to the front of the mother liquid bottle jig 302 according to a preset motion track, the drug dissolving device is inserted into the mother liquid bottle and liquid is accurately pumped, and the drug dissolving device carried by the liquid pumping manipulator 4 is returned to a safe position for standby;
the powder bottle jig base 202 rotates to a position to be injected according to a set angle in a self-rotation mode, a first disinfection device 700 is utilized for disinfection operation, all extracted mother liquid is injected into a powder bottle by the liquid extraction manipulator 4, the powder bottle jig base 202 in the powder bottle rotation shaking device 200 starts to rotate, powder and mother liquid in the powder bottle are shaken and dissolved, then the liquid extraction manipulator 4 extracts the mother liquid bottle and injects the powder bottle, and the ampoule bottle treatment assembly 3 is used for ampoule bottle treatment operation while the powder bottle rotation shaking device 200 shakes the powder bottle uniformly;
an ampoule bottle conveying device 1200 in the ampoule bottle processing assembly 3 clamps an ampoule bottle from the ampoule bottle supporting jig 2000, conveys the ampoule bottle to the position of a three-jaw type rotating clamping jaw 1309 in an ampoule bottle positioning and jacking device 1300, clamps the ampoule bottle by the three-jaw type rotating clamping jaw 1309, firstly, a motor eight 1305 in the ampoule bottle positioning and jacking device 1300 acts to enable the ampoule bottle to integrally rotate, a disinfection device two 1500 disinfects the bottleneck of the ampoule bottle 1401 while the ampoule bottle rotates, then a cutter body starts to act, a diamond cutter wheel 1406 on the cutter body 1401 is driven to be close to the bottleneck of the ampoule bottle, the ampoule bottle rotates again, the diamond cutter wheel 1406 cuts a cutting trace on the bottleneck of the ampoule bottle, then a motor seven 1302 in the ampoule bottle positioning and jacking device 1300 acts to enable a movable support 1301 to drive the ampoule bottle to rotate, swings the ampoule bottle to the ampoule bottle breaking device 1600, and the ampoule bottle breaking device acts, breaking the ampoule bottle along the cutting trace of the bottle neck; the medicine dissolving device carried by the liquid pumping manipulator 4 is inserted into the bottle mouth of the ampoule bottle in an aligning manner and accurately pumps liquid, meanwhile, the movable support 1301 can rotate to incline the ampoule bottle and match the liquid pumping work of the liquid pumping manipulator 4, a first screw rod stepping motor 1316 in the ampoule bottle positioning jacking device 1300 acts, the ampoule bottle which has pumped liquid medicine is pushed out of the three-jaw type rotating clamping jaw 1309 by the jacking rod 1317, and the pushed-out ampoule bottle and the broken ampoule bottle cap can fall into the blanking hopper 3707 and are discarded into a group of waste boxes in the garbage recycling assembly 9; after the powder bottle rotating and shaking device 200 finishes shaking actions, standby is carried out at positions to be extracted and injected, a medicine dissolver carried by a liquid pumping manipulator 4 injects an ampoule extraction solution into a mother liquid bottle, then extracts a dissolved powder bottle mixed solution and injects the dissolved powder bottle mixed solution into the mother liquid bottle, after a series of actions such as liquid pumping, liquid injection and the like are finished, the medicine dissolver carried by the liquid pumping manipulator 4 moves to the front of a lens of a CCD industrial camera 2400, residual liquid medicine in the medicine dissolver is shot, a weighing device is used for measuring the current weight of the medicine dissolver, the residual amount of the liquid medicine in the medicine dissolver is automatically calculated, deviation of the amount of the liquid medicine during medicine suction is prevented, and accurate medicine dispensing is realized;
the second motor 303 in the mother liquid bottle rotating and shaking device 300 acts to rotate the mother liquid bottle jig base 301 to shake and dissolve the mixed solution in the mother liquid bottle, the powder bottle rotating and shaking device 200 rotates the powder bottle jig base 202 downwards, then the powder bottle clamping jaws 2035 loosen the powder bottle, the spring pressing block 2033 pushes the powder bottle out of the powder bottle clamping jaws 2035, the powder bottle falls into the blanking hopper 3707 and is discarded into one group of waste boxes in the garbage recovery processing assembly 9, the medicine dissolver carried by the liquid pumping manipulator 4 performs needle cutting processing through the needle processing assembly 8, and the cut medicine dissolver is discarded into the other group of waste boxes in the garbage recovery processing assembly 9 and is separately recovered from the used ampoule bottles and powder bottles; and finally, carrying out overall revolution of the mother liquor and powder revolution shaking-up assembly 2, wherein the positions of the powder bottle rotation shaking-up device 200 and the mother liquor bottle rotation shaking-up device 300 on the two sides are exchanged again, the liquid pumping manipulator 4 continues to carry out the dispensing operation, the electromagnet pushing block 802 in the mother liquor bottle jig translation device 800 adsorbs the mother liquor bottle jig 301, the mother liquor bottle which is finished by dispensing is recovered, and the vacant powder bottle jig 203 is recovered by the powder bottle jig translation device 900.
It should be pointed out here that the mother liquor powder revolution shaking assembly 2, the ampoule bottle treatment assembly 3, the liquid pumping manipulator 4, the mother liquor powder medicine feeding assembly 5, the ampoule bottle medicine feeding assembly 6, the medicine dissolver medicine feeding assembly 7, the needle treatment assembly 8, the garbage recovery treatment assembly 9, the medicine feeding buffer zone 11 and other machines are all controlled by the computer, and the circuit connection relationship is not specifically expressed here, and the completeness of the technical scheme is not influenced.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. The utility model provides an intravenous liquid medicine allotment robot, includes frame one (1), frame one (1) install mother liquor powder revolution and shake even assembly (2), ampoule and handle assembly (3) and drawing liquid manipulator (4), its characterized in that: the injection device is characterized by further comprising a mother liquor powder feeding assembly (5), an ampoule bottle feeding assembly (6), a medicine dissolving device feeding assembly (7), a needle treatment assembly (8) and a garbage recycling treatment assembly (9) which are arranged on the first rack (1), wherein a first machine shell (10) is fixed outside the first rack (1) and encapsulates the mother liquor powder revolution shaking assembly (2), the ampoule bottle treatment assembly (3), the liquid pumping manipulator (4), the medicine dissolving device feeding assembly (7), the needle treatment assembly (8), the garbage recycling treatment assembly (9), the mother liquor powder feeding assembly (5) and the ampoule bottle feeding assembly (6) inside, the mother liquor powder feeding assembly (5) is used for conveying a mother liquor bottle and a powder medicine bottle for the mother liquor powder revolution shaking assembly (2), and the liquid pumping manipulator (4) takes the medicine dissolving device from the medicine dissolving device feeding assembly (7), mother liquor in the mother liquor bottle is pumped into the powder bottle through the medicine dissolver, the mother liquor and the powder are mixed and shaken uniformly in the powder bottle under the drive of the mother liquor and powder revolution shaking assembly (2), the ampoule bottle processing assembly (3) can take the ampoule bottle from the ampoule bottle medicine feeding assembly (6), the ampoule bottle is cut and broken off, the liquid pumping mechanical arm (4) pumps the liquid medicine in the ampoule bottle, the mixed mother liquor and powder mixture into the mother liquor bottle for mixing in turn through the medicine dissolver, the mother liquor powder feeding assembly (5) recovers a mother liquor bottle which is mixed with the liquid medicine, the mother liquor and the powder in the ampoule bottle, the needle head processing assembly (8) is used for carrying out needle head cutting processing on the medicine dissolver after medicine preparation, the garbage recycling and treating assembly (9) is used for recycling the medicine dissolver behind the cutting needle head, the ampoule bottle and the powder bottle after use.
2. The intravenous drug solution preparing robot according to claim 1, wherein: the mother liquor and powder revolution shaking assembly (2) comprises a revolution base (100), a powder bottle rotation shaking device (200), a mother liquor bottle rotation shaking device (300), a harmonic reducer (400), a synchronous belt transmission assembly (500), a revolution shaft (600) and a disinfection device (700), wherein an upper support body (101) and a lower support body (102) are symmetrically arranged on two sides of the revolution base (100) respectively, a group of powder bottle rotation shaking device (200) and a mother liquor bottle rotation shaking device (300) are respectively arranged on two sides of the revolution base (100), the powder bottle rotation shaking device (200) is positioned on the upper support body (101), the mother liquor bottle rotation shaking device (300) is positioned on the lower support body (102), the revolution shaft (600) is fixedly connected to the bottom of the revolution base (100), the harmonic reducer (400) drives the revolution shaft (600) to rotate through the synchronous belt transmission assembly (500), the revolution shaft (600) drives the revolution base (100) to rotate, and the first disinfection device (700) is arranged at the top of the revolution base (100);
rotatory even device (200) of shaking of powder bottle include slewing mechanism (201), powder bottle tool seat (202), powder bottle tool (203), motor (204), synchronous belt drive subassembly two (205) and position sensor one (206), slewing mechanism (201) install last supporter (101) on, slewing mechanism (201) be fixed with a plurality of powder bottle tool seats (202), every powder bottle tool seat (202) on equal detachably install powder bottle tool (203) that are used for fixed powder bottle, motor (204) set up revolution base (100) in, motor (204) pass through synchronous belt drive subassembly two (205) drive slewing mechanism (201) and rotate, realize the powder bottle round slewing mechanism (201) carry out the rotation, last supporter (101) be provided with the position that is used for controlling the turned angle of slewing mechanism (201) and pass A first sensor (206);
the mother liquid bottle rotating and shaking-up device (300) comprises a mother liquid bottle jig seat (301), a mother liquid bottle jig (302), a second motor (303), a synchronous belt transmission assembly III (304) and a second position sensor (305), wherein the mother liquid bottle jig seat (301) is installed on the lower supporting body (102), the mother liquid bottle jig (302) used for fixing a mother liquid bottle is detachably installed on the mother liquid bottle jig seat (301), the second motor (303) is arranged in the revolution base (100), the second motor (303) drives the mother liquid bottle jig seat (301) to rotate through the synchronous belt transmission assembly III (304), and the second position sensor (305) used for controlling the rotation angle of the mother liquid bottle jig seat (301) is arranged on the lower supporting body (102);
the first disinfection device (700) comprises an electromagnetic valve (701), a first spray head (702) and a first spray control assembly (703), wherein the input end of the electromagnetic valve (701) is connected with a disinfection solution container, the output end of the electromagnetic valve (701) is connected with the first spray head (702), and the first spray control assembly (703) controls the first spray head (702) to be opened or closed, so that disinfection solution is sprayed to the powder bottle;
the mother liquor bottle powder feeding assembly (5) comprises a mother liquor bottle jig translation device (800) capable of conveying and assembling the mother liquor bottle jig (302) to the mother liquor bottle jig seat (301), a powder bottle jig translation device (900) capable of conveying and assembling the powder bottle jig (203) to the powder bottle jig seat (202), and a feeding translation supporting device (1000) capable of moving the mother liquor bottle jig translation device (800) and the powder bottle jig translation device (900) into the first machine shell (10) or out of the first machine shell (10);
the mother liquid bottle jig translation device (800) comprises a first base (801), an electromagnet pushing block (802), a third motor (803), a first screw translation assembly (804) and a first RFID sensor (805), wherein a sliding groove (806) is formed in the upper surface of the first base (801), the electromagnet pushing block (802) is arranged in the sliding groove (806), the third motor (803) is arranged in the first base (801), the third motor (803) drives the electromagnet pushing block (802) to translate through the first screw translation assembly (804), the mother liquid bottle jig (302) is pushed onto the mother liquid bottle jig base (301) through the electromagnet pushing block (802), the top of the first base (801) is of an inclined structure, and the first RFID sensor (805) is arranged on the bottom surface of the sliding groove (806);
the powder bottle jig translation device (900) comprises a second base (901), a first translation plate (902), a fourth motor (903), a fifth motor (904), a second screw translation assembly (905), a third screw translation assembly (906), a fourth synchronous belt transmission assembly (907), a plug pin butt joint assembly (908), a first rotating shaft swinging assembly (909), an electric cylinder (910), a translation jacking shaft (911) and a second RFID sensor (912), wherein the second base (901) is installed at the top of the first base (801) through the first rotating shaft swinging assembly (909), the fourth motor (903) is arranged on the upper surface of the second base (901), the first translation plate (902) is arranged above the second base (901), the second motor (303) drives the first translation plate (902) to translate through the second screw translation assembly (905), and the fifth motor (904) is arranged on the lower surface of the first translation plate (902), two sets of screw translation assemblies three (906) and pin butt joint assemblies (908) are respectively arranged, the two sets of screw translation assemblies three (906) are respectively arranged on the upper surfaces of the two sides of the translation plate I (902) and are arranged in parallel, the motor five (904) drives the screw translation assemblies three (906) through a synchronous belt transmission assembly four (907) to enable the screw translation assemblies three (906) to drive the pin butt joint assemblies (908) to translate, an electric cylinder (910) is arranged on the side surface of the base I (801), a translation jacking shaft (911) is arranged on the side surface of the base II (901), the electric cylinder (910) adjusts the inclination angle of the translation plate I (902) to be consistent with the inclination angle of the powder bottle jig base (202) through the translation jacking shaft (911), and the translation plate I (902) is moved firstly to be attached to the powder bottle jig base (202), then, pushing the powder bottle jig (203) to the powder bottle jig seat (202) through a plug pin butt joint component (908);
the medicine feeding translation supporting device (1000) comprises a machine base III (1001), a motor VI (1002) and a screw translation assembly IV (1003), wherein the motor VI (1002) is arranged in the machine base III (1001), and the motor VI (1002) drives the machine base I (801) to translate through the screw translation assembly IV (1003);
the ampoule bottle processing assembly (3) consists of a case I (1100), an ampoule bottle conveying device (1200) for conveying ampoule bottles, an ampoule bottle positioning and jacking device (1300) for positioning and jacking ampoule bottles to enable the ampoule bottles to fall off, an ampoule bottle cutter device (1400) for cutting the tops of the ampoule bottles, a second disinfection device (1500) for disinfecting the ampoule bottles before cutting, and an ampoule bottle breaking device (1600) for breaking the cut ampoule bottles;
the ampoule bottle conveying device (1200) comprises a clamping conveying body (1201) and a first lifting rotating mechanism (1202) for driving the clamping conveying body (1201) to lift and rotate, wherein the clamping conveying body (1201) comprises a first bearing seat (1203), a first swing arm (1204) and a clamping mechanical arm (1205), the first bearing seat (1203) is installed at the top of the first case (1100), the first swing arm (1204) is fixed at the top of the first bearing seat (1203), and the clamping mechanical arm (1205) is fixedly connected to the end part of the first swing arm (1204);
the ampoule bottle positioning and jacking device (1300) comprises a movable support (1301), a motor seven (1302), a synchronous belt transmission assembly five (1303), a rotating arm (1304), a motor eight (1305), a motor nine (1306), a synchronous belt transmission assembly six (1307), an outer rotary drum (1308), a three-jaw type rotating clamping jaw (1309), an inner rotary drum (1310), a mounting plate I (1311), an adjusting rotary disc (1312), a spring I (1313), a swinging rod (1314), a driving swinging arm (1315), a screw rod stepping motor I (1316), a jacking rod (1317), a position sensor III (1318) and a position sensor IV (1319), wherein the movable support (1301) is arranged on the outer side surface of the case I (1100), the motor seven (1302) is arranged in the case I (1100), and the motor seven (1302) drives the movable support (1301) to rotate through the synchronous belt transmission assembly five (1302) and the rotating arm (1304), an outer rotary drum (1308) is rotatably arranged on the upper surface of the movable support (1301), a three-jaw type rotating clamping jaw (1309) is fixed at the top of the outer rotary drum (1308), an inner rotary drum (1310) is arranged in the outer rotary drum (1308), an adjusting rotary disc (1312) is fixed at the top of the inner rotary drum (1310), a first mounting plate (1311) is horizontally arranged on the outer side surface of the outer rotary drum (1308), a swinging rod (1314) is horizontally fixed on the outer side surface of the inner rotary drum (1310), the swinging rod (1314) penetrates out of the outer rotary drum (1308) and is fixedly connected with the first mounting plate (1311) through a first spring (1313), a motor eight (1305) and a motor nine (1306) are respectively arranged on the movable support (1301), and the motor eight (1305) drives the outer rotary drum (1308) to rotate through a synchronous belt transmission component six (1307), the movable support (1301) is further provided with a position sensor III (1318) for controlling the rotation angle of the outer rotary cylinder (1308), when the motor nine (1306) horizontally pushes the swing rod (1314) through a driving swing arm (1315) to drive the inner rotary cylinder (1310) to rotate, the inner rotary cylinder (1310) drives three claws in the three-claw type rotary clamping jaws (1309) to move outwards respectively through the adjusting turntable (1312), the three-claw type rotary clamping jaws (1309) are in a state of releasing the ampoule bottles, when the driving swing arm (1315) is not in contact with the swing rod (1314), the three claws in the three-claw type rotary clamping jaws (1309) approach towards the center respectively, the three-claw type rotary clamping jaws (1309) are in a state of clamping the ampoule bottles, and a stepping motor I (1316) is arranged on the lower surface of the movable support (1301), the output end of the screw rod stepping motor I (1316) is fixedly connected with a jacking rod (1317) extending to the center of the three-jaw type rotating clamping jaw (1309), and the movable support (1301) is provided with a position sensor IV (1319) for providing a position signal of the jacking rod (1317);
the ampoule bottle cutter device (1400) comprises a cutter body (1401) and a second lifting rotating mechanism (1402) which drives the cutter body (1401) to lift and rotate, wherein the cutter body (1401) comprises a second bearing seat (1403), a second swing arm (1404), a spring pressing component (1405) and a diamond cutter wheel (1406), the second bearing seat (1403) is installed at the top of the first case (1100), the second swing arm (1404) is fixed at the top of the second bearing seat (1403), the spring pressing component (1405) is fixed at the end part of the second swing arm (1404), and the diamond cutter wheel (1406) used for cutting the ampoule bottle is fixed on the side surface of the spring pressing component (1405);
the second disinfection device (1500) comprises a disinfection sprayer (1501) and a second spray head (1502), the disinfection sprayer (1501) is arranged at the top of the first case (1100), the second spray head (1502) is installed on the disinfection sprayer (1501), and the second spray head (1502) corresponds to the ampoule bottle neck on the ampoule bottle positioning and jacking device (1300);
the ampoule bottle breaking device (1600) comprises a bottle breaking body (1601), a lifting mechanism (1613) for driving the bottle breaking body (1601) to lift and a bottle cap baffle plate assembly (1602), wherein the bottle breaking body (1601) comprises a bearing seat III (1603), a breaking box (1604), a motor ten (1605), a rotating disc (1606), a rotating breaking rod (1607), a fixed breaking rod (1608) and a protective cover (1609), the bottle cap baffle plate assembly (1602) comprises a steering engine I (1610), a locking part (1611) and a baffle plate (1612), the bearing seat III (1603) is installed at the top of the case I (1100), the breaking box (1604) is fixed at the top of the bearing seat III (1603), the motor ten (1605) is installed in the breaking box (1604), a rotating disc (1606) is arranged on the end face of the breaking box (1604) in a rotating manner, and the output end of the motor ten (1605) is fixedly connected with the center of the rotating disc (1606), the eccentric position of the rotating disc (1606) is fixedly connected with a rotating breaking-off rod (1607), the end face of the breaking-off box (1604) is fixedly provided with a fixed breaking-off rod (1608) parallel to the axial direction of the rotating breaking-off rod (1607), the end face of the breaking-off box (1604) is fixedly provided with a protective cover (1609), a first steering engine (1610) is installed in the breaking-off box (1604), the first steering engine (1610) drives a baffle (1612) to move through a locking piece (1611), and the baffle (1612) horizontally moves below the protective cover (1609);
the ampoule bottle feeding assembly (6) comprises a case II (1700), a motor eleven (1800), a screw translation component five (1900) and an ampoule bottle supporting jig (2000), wherein the motor eleven (1800) is arranged on the case II (1700), and the motor eleven (1800) drives the ampoule bottle supporting jig (2000) for placing ampoule bottles to translate through the screw translation component five (1900) and moves to a position convenient for the clamping and conveying body (1201) to clamp and convey ampoule bottles;
the medicine dissolver feeding assembly (7) comprises a first door-shaped frame (2100), a medicine dissolver clamping and lifting device (2200), a medicine dissolver needle sleeve removing device (2300), a CCD industrial camera (2400) and a needle point concentricity detection device (2500), wherein the medicine dissolver clamping and lifting device (2200) is erected in the first door-shaped frame (2100), the medicine dissolver needle sleeve removing device (2300) is arranged in the first door-shaped frame (2100), the CCD industrial camera (2400) and the needle point concentricity detection device (2500) are respectively arranged on the outer side surface of the first door-shaped frame (2100), a waste box placing groove (2600) is arranged on the outer side surface of the first door-shaped frame (2100), and a needle sleeve discharging pipeline (2700) communicated with the waste box placing groove (2600) is arranged on the inner side of the first door-shaped frame (2100);
the medicine dissolver clamping and lifting device (2200) comprises a motor twelve (2201), a synchronous belt transmission assembly seven (2202) and a plurality of medicine dissolver clamps (2203), wherein the motor twelve (2201) drives the plurality of medicine dissolver clamps (2203) for clamping the medicine dissolver through the synchronous belt transmission assembly seven (2202);
the needle sleeve removing device (2300) of the drug dissolver comprises a first guide rail (2301), a first movable motor base (2302), a first fixed motor base (2303), a thirteen motor (2304), a sixth screw translation component (2305), a first nut base (2306), a left clamping piece (2307), a right clamping piece (2307), a second spring (2308), a second screw rod stepping motor (2309) and a second nut base (2310), wherein the first guide rail (2301) is horizontally arranged on the inner side surface of the first door-shaped frame (2100), the first movable motor base (2302) is arranged on the first guide rail (2301) in a sliding manner, the first movable motor base (2302) is fixedly provided with the first nut base (2306), the first fixed motor base (2303) is arranged on the inner side surface of the first door-shaped frame (2100), the thirteen motor (2304) is arranged on the first fixed motor base (2303), and the thirteen motor (2304) drives the first nut base (2306) to translate through the sixth screw translation component (2305), the left clamping piece and the right clamping piece (2307) are arranged on the first movable motor base (2302), the left clamping piece and the right clamping piece (2307) form a clamping state through a second spring (2308), the second lead screw stepping motor (2309) is installed on the first movable motor base (2302), the second nut base (2310) is in threaded connection with the output end of the second lead screw stepping motor (2309), a separation cone part (2311) is arranged on the side surface of the bottom of the second nut base (2310), and the second lead screw stepping motor (2309) enables the separation cone part (2311) to move through the second nut base (2310) and enables the separation cone part to be inserted between the left clamping piece and the right clamping piece (2307), so that the left clamping piece and the right clamping piece (2307) form a separation state, and the left clamping piece and the right clamping piece (2307) clamp a needle sleeve of the medicine dissolver and enable the needle sleeve to be separated from the medicine dissolver;
the needle point concentricity detection device (2500) comprises a second mounting plate (2501) and an optical fiber sensor (2502), wherein the second mounting plate (2501) is provided with a detection port (2503), and the optical fiber sensor (2502) is arranged in the detection port (2503);
the needle head processing assembly (8) comprises a machine frame II (2800), a waste box conveying and lifting device I (2900) for moving and lifting a waste box for recycling a medicine dissolver needle head, a needle shearing device (3000) for cutting the medicine dissolver needle head, and a waste box cover clamping device I (3100) for placing a waste box cover of the medicine dissolver needle head, wherein the waste box conveying and lifting device I (2900) is arranged at the bottom of the machine frame II (2800), the needle shearing device (3000) and the waste box cover clamping device I (3100) are respectively arranged at the top of the machine frame II (2800), a machine shell II (3200) is arranged outside the machine frame II (2800), and the needle shearing device (3000), the waste box cover clamping device I (3200) and the waste box conveying and lifting device I (2900) are respectively packaged inside the machine shell II (3200), the upper surface of the second casing (3200) is provided with a first through hole (3300) which is convenient for the needle head shearing device (3000) to shear the needle head of the drug dissolver, and the side surface of the second casing (3200) is provided with a first opening and closing door (3400);
the waste box conveying and lifting device (2900) comprises two guide rails II (2901), a supporting seat I (2902), a rotating shaft I (2903), a limiting cover (2904), a cam I (2905), a cam II (2906), a waste box placing plate I (2907), a motor fourteen (2908), a left-turning sliding block (2909), a right-turning sliding block (2910), a synchronous belt transmission assembly eight (2911), a motor fifteen (2912), a position sensor five (2913), a wire passing plate (2914) and a position sensor six (2915), wherein the two guide rails II (2901) are arranged on the bottom surface of the rack II (2800) in parallel, two groups of the supporting seats I (2902) are arranged between the two guide rails II (2901) respectively, two ends of the rotating shaft I (2903) are arranged on the two groups of the supporting seats I (2902) respectively, and the end part of the rotating shaft I (2903) is fixedly connected with the output end part of the motor fourteen (2908), the limiting cover (2904) is arranged above the second guide rail (2901), a first cam (2905) and a second cam (2906) which upwards penetrate out of the limiting cover (2904) are fixedly connected to two ends of the first rotating shaft (2903) respectively, a first waste box placing plate (2907) is arranged on the limiting cover (2904), a left transfer sliding block (2909) and a right transfer sliding block (2910) which are parallel to each other are fixed to the bottom of the first waste box placing plate (2907), the left transfer sliding block (2909) and the right transfer sliding block (2910) respectively penetrate through the limiting cover (2904) and are arranged on the two second guide rails (2901) in a sliding mode, a fifteenth motor (2912) is arranged on the bottom surface of the second rack (2800), a fifteenth motor (2912) drives the eighth motor (2911) to drive the left transfer sliding block (2909) to move through the synchronous belt transmission assembly, and a sensor (2913) is arranged on the inner side surface of the left transfer sliding block (2909), the wire passing plate (2914) is vertically arranged on the bottom surface of the second rack (2800), and a position sensor six (2915) for providing a position signal of the first waste box placing plate (2907) is installed on the wire passing plate (2914);
the needle shearing device (3000) comprises a second fixed motor base (3001), a sixteenth motor (3002), a ninth synchronous belt transmission assembly (3003), a seventh screw translation assembly (3004), an eighth screw translation assembly (3005), a first fixed blade (3006), a movable blade (3007), a third nut base (3008), a fourth nut base (3009), a needle sealing tube body (3010), a rotary swing mechanism (3011), a first sealing door (3012) and a seventh position sensor (3013), wherein a needle sealing tube body (3010) which enables the needle sealing tube body to be communicated up and down is fixed at the top of the second rack (2800), a first sealing door (3012) is installed in the needle sealing tube body (3010), the top of the needle sealing tube body (3010) is provided with the fixed blade (3006), the second fixed motor base (3001) is arranged at the top of the second rack (2800), and the sixteenth motor (3002) is installed on the second fixed motor base (3001), sixteen motors (3002) respectively drive a seven screw translation assembly (3004) and an eight screw translation assembly (3005) through a nine synchronous belt transmission assembly (3003), the screw translation assembly seven (3004) drives the nut seat three (3008) to translate, the nut seat three (3008) is fixed with a movable blade (3007), said moving blade (3007) coming into abutment with said fixed blade (3006) by translation, the moving blade (3007) and the fixed blade (3006) are staggered with each other to cut off the needle of the drug dissolver, the screw translation assembly eight (3005) drives the nut seat four (3009) to translate, the nut seat four (3009) drives the first sealing door (3012) to be opened or closed through the rotary swing mechanism (3011), a seventh position sensor (3013) for detecting whether a waste needle box for recovering the needle of the medicine dissolver is full of needles is arranged on the lower surface of the top of the second rack (2800);
the waste box cover clamping device I (3100) comprises a second steering engine (3101), a first fixed clamping piece (3102), a first movable clamping piece (3103), a guide shaft (3104), a third spring (3105) and a first bearing seat (3106), wherein the second steering engine (3101) is arranged at the top of the second rack (2800), the first fixed clamping piece (3102) is fixed on the lower surface of the top of the second rack (2800), the guide shaft (3104) is fixedly connected with the output end of the second steering engine (3101), the first steering engine (3103) is pushed by the guide shaft (3104) to move the first movable clamping piece (3103), the first fixed clamping piece (3102) and the first movable clamping piece (3103) form a clamping or loosening the waste box cover, the first bearing seat (3106) supports the guide shaft (3104), and the third spring (3105) is arranged between the first fixed clamping piece (3102) and the output end of the second steering engine (3101);
the garbage recycling and treating assembly (9) comprises a second waste box conveying and lifting device (3500), a second waste box cover clamping device (3600) and a sealing device (3700) for the waste boxes, wherein the second waste box conveying and lifting device (3500) and the second waste box cover clamping device (3600) are respectively provided with two groups, the two groups of the second waste box conveying and lifting devices (3500) are used for moving and lifting the waste boxes of the recycled ampoule bottles and the powder bottles and the waste boxes of the recycled drug dissolvers, the two groups of the second waste box cover clamping devices (3600) are respectively used for placing the waste box cover of the recycled ampoule bottles and the powder bottles and the waste box cover of the recycled drug dissolvers and releasing the box covers to seal the boxes when the boxes are full, the sealing device (3700) for the waste boxes of the recycled drug dissolvers, the ampoules and the powder bottles are separated from the outside, and the sealing device (3700) is provided with three groups, the three groups of waste box sealing devices (3700) respectively correspond to the liquid pumping manipulator (4), the ampoule bottle treatment assembly (3) and the mother liquid powder revolution shaking assembly (2) upwards, and when the medicine dissolver, the ampoule bottle and the powder bottle are recovered, the waste box sealing devices (3700) are in an open state, and on the contrary, the waste box sealing devices are in a closed state;
the waste bin conveying and lifting device II (3500) comprises a guide rail III (3501), a motor seventeen (3502), a synchronous belt transmission assembly ten (3503), a translation plate II (3504), a jacking placement body (3505), a limiting block (3506), a motor eighteen (3507), a synchronous belt transmission assembly eleven (3508) and a cam III (3509), wherein the two guide rail III (3501) are arranged on the bottom surface of the rack I (1) in parallel, the motor seventeen (3502) is arranged on the bottom surface of the rack I (1), the motor seventeen (3502) drives the translation plate II (3504) to move on the guide rail III (3501) through the synchronous belt transmission assembly ten (3503), a jacking placement body (3505) is arranged above the translation plate II (3504), the translation plate II (3504) limits the jacking placement body (3505) to move in the same step with the jacking placement body (3505) through the limiting block (3506), and the motor eighteen (7) drives the cam assembly eleven (3509) to rotate through the synchronous belt transmission assembly (3508), the cam III (3509) drives the jacking placing body (3505) to ascend or descend, so that the waste box placed on the jacking placing body (3505) can move;
the waste box cover clamping device II (3600) comprises a supporting rod (3601), a mounting plate III (3602), a motor nineteen (3603), a rotating hinge element (3604), a pull rod (3605), a turning clamping piece I (3606), a turning clamping piece II (3607) and a rotating shaft II (3608), wherein the mounting plate III (3602) is arranged above the waste box conveying and lifting device II (3500) and is supported by the supporting rod (3601), the motor nineteen (3603) is arranged on the upper surface of the mounting plate III (3602), the output end of the motor nineteen (3603) is fixedly connected with the rotating hinge element (3604), the turning clamping piece I (3606) and the turning clamping piece II (3607) are respectively rotatably arranged on two sides of the mounting plate III (3602) through the rotating shaft II (3608), one ends of the two pull rods (3605) are respectively and hingedly arranged on the two rotating shaft II (3608), and the motor nineteen (3603) pulls the other ends of the two pull rods (3605) through the rotating hinge element (3604), the first overturning clamping piece (3606) and the second overturning clamping piece (3607) are driven to do sector motion, and the releasing or clamping of the cover of the waste box is realized;
the waste box sealing device (3700) comprises a sealing box (3701), a screw rod stepping motor III (3702), a sealing door II (3703), a nut seat V (3704), two door sealing guide support plates (3705), rollers (3706) and a blanking hopper (3707), wherein the sealing box (3701) is arranged in the mounting plate III (3702), the sealing box (3701) is provided with a feeding channel (3708) which enables the mounting plate III (3702) to be communicated up and down, the screw rod stepping motor III (3702) is arranged in the sealing box (3701), the nut seat V (3704) is screwed on the output end of the screw rod stepping motor III (3702), the two door sealing guide support plates (3705) are respectively arranged on two sides of the nut seat V (3704), the inner concave parts (3709) are arranged on the upper surfaces of the two door sealing guide support plates (3705), and the rollers (6) are positioned in the inner concave parts (3709), the bottom surface of the inner concave part (3709) is provided with a high position (3710) and a low position (3711) with a height difference, a slope (3712) is arranged between the high position (3710) and the low position (3711), a second sealing door (3703) is arranged in a sealing box (3701), the second sealing door (3703) is arranged in the inner concave part (3709) in a rolling mode through a roller (3706), when a nut seat five (3704) is close to the throwing channel (3708), the second sealing door (3703) ascends and closes the throwing channel (3708), when the nut seat five (3704) is far away from the throwing channel (3708), the second sealing door (3703) descends and opens the throwing channel (3708), and a dropping hopper (3707) is arranged in the throwing channel (3708).
3. The intravenous drug solution preparing robot according to claim 2, wherein: frame one (1) be equipped with medicine loading buffer zone (11) and the workspace (12) of making up a prescription, mother liquor powder revolution shake even assembly (2), ampoule handle assembly (3), medicine dissolving device material loading assembly (7), the needle handle assembly (8), rubbish recovery processing assembly (9) be located workspace (12) of making up a prescription in, mother liquor powder go up medicine assembly (5), ampoule go up medicine assembly (6) and be located medicine loading buffer zone (11) in, medicine loading buffer zone (11) install door type frame three (4300), door type frame three (4300) install interior isolation gate assembly (4400) and outer isolation gate assembly (4500), interior isolation gate assembly (4400) be used for making medicine loading buffer zone (11) and workspace (12) of making up a prescription keep apart, the outer isolation gate assembly (4500) is used for isolating the medicine feeding buffer area (11) from the outside;
the inner separation gate assembly (4400) comprises a first mounting bracket (4401), a twenty-first motor (4402), a third rotating shaft (4403), a second driving pulley (4404), a second driven pulley (4405), a second synchronous belt (4406), a second movable clamping piece (4407), a first movable glass door (4408), a nine position sensor (4409) and a barrier strip (4410), wherein the first mounting bracket (4401) is fixedly connected to the inner side surface of the third gantry frame (4300), the twenty-first motor (4402) is mounted on the first mounting bracket (4401), the third rotating shaft (4403) is fixedly connected to the output end of the twenty-first motor (4402), the twenty-first motor (4402) drives the second driving pulley (4404) through the third rotating shaft (4403), the second driving pulley (4404) is connected with the second driven pulley (4405) through the second synchronous belt (4406), and a height difference is formed between the second driving pulley (4404) and the second driven pulley (4405), the movable glass door I (4408) is arranged on a synchronous belt II (4406) through a movable clamping piece II (4407), the synchronous belt II (4406) is used for driving the movable glass door I (4408) to move, a position sensor nine (4409) used for detecting the movable position of the movable glass door I (4408) is arranged at the top and the bottom of the mounting support I (4401) respectively, and a blocking strip (4410) is horizontally arranged on the mounting support I (4401);
the outer isolation gate assembly (4500) comprises a second mounting bracket (4501), a twenty-two motor (4502), a synchronous belt transmission assembly twelve (4503), a fourth rotating shaft (4504), a third driving belt wheel (4505), a third synchronous belt (4506), a second moving glass door (4507), a balancing weight (4508), a guide cylinder (4509), a tenth position sensor (4510) and a reinforcing rib (4511), wherein the second mounting bracket (4501) is fixedly connected to the outer side surface of the third gantry frame (4300), the twenty-two motor (4502) is mounted at the top of the second mounting bracket (4501), the twenty-two motor (4502) drives the fourth rotating shaft (4504) through the twelve synchronous belt transmission assembly (4503), the four rotating shaft (4504) drives the third synchronous belt wheel (4506) through the third driving belt wheel (4505), the end of the three synchronous belt (4506) drives the second moving glass door (4507) to move, and the balancing weight (4508) is mounted at the bottom of the second moving glass door (4507), the bottom of the second mounting bracket (4501) is provided with a guide cylinder (4509) which can be sleeved with the balancing weight (4508), the top and the bottom of the second mounting bracket (4501) are respectively provided with a position sensor (4510) used for detecting the moving position of the second moving glass door (4507), and the second mounting bracket (4501) is horizontally provided with a reinforcing rib (4511).
4. The intravenous drug solution preparing robot according to claim 3, wherein: the powder bottle jig (203) comprises a jig body I (2031), a clamping jaw rotating shaft (2032), a spring pressing block (2033), a spring IV (2034) and a powder bottle clamping jaw (2035), wherein the jig body I (2031) is of a hollow structure, one side position of the jig body I (2031) is hinged with a plurality of pairs of powder bottle clamping jaws (2035) used for clamping the bottleneck of the powder bottle, each powder bottle clamping jaw (2035) is connected with the clamping jaw rotating shaft (2032) arranged in the jig body I (2031), the spring pressing block (2033) is arranged between each pair of powder bottle clamping jaws (2035), the spring IV (2034) is arranged at the bottom of the spring pressing block (2033), the two ends of the jig body I (2031) are respectively provided with a bolt hole (2036) matched with the bolt butt joint component (908), the upper surface of the jig body I (2031) is provided with a plurality of bolt placing grooves (7) matched with each pair of powder bottle clamping jaws (2035), the powder bottle jig base (202) is provided with a left clamping rail I (2038) and a right clamping rail I (2031) which are matched with the jig body I (2031).
5. The intravenous drug solution preparing robot according to claim 4, wherein: the mother liquor bottle jig (302) comprises a jig body II (3021), a clamping body (3022), a bearing block (3023), a gland (3024), a lock hook (3025) and a spring five (3026), wherein the clamping body (3022) is arranged on the upper surface of the jig body II (3021), the clamping body (3022) is provided with a plurality of bearing blocks (3023), the bearing blocks (3023) are movably provided with glands (3024), the bottle mouth position for fixing the mother liquor bottle, the gland (3024) is connected with the bearing block (3023) through the lock hook (3025), the bearing block (3023) is internally provided with a spring five (3026), two ends of the spring five (3026) are respectively contacted with the mother liquor bottle and the bearing block (3023), the upper surface of the second jig body (3021) is provided with a mother liquor bottle placing groove (3027) matched with the clamping body (3022), the mother liquor bottle jig base (301) is provided with a left clamping rail II (3028) and a right clamping rail II (3028) which are matched with the jig body II (3021).
6. The intravenous drug solution preparing robot according to claim 5, wherein: the lifting and rotating mechanism I (1202) and the lifting and rotating mechanism II (1402) both comprise a lifting component (4600) and a rotating component (4700), the lifting mechanism (1613) and the lifting component (4600) are structurally the same, the lifting component (4600) comprises a lifting motor (4601), a fixed support I (4602), a screw rod III (4603), a lifting body (4604), a rotating lifting shaft (4605) and a bearing disc (4606), the fixed support I (4602) is arranged in the case I (1100), the lifting motor (4601) is installed at the bottom of the fixed support I (4602), the end part of the screw rod III (4603) is fixedly connected to the output end of the lifting motor (4601), the lifting body (4604) and the screw rod III (4603) are matched to form a spiral pair transmission, and the lifting body (4604) and the fixed support I (4602) are in sliding fit, the top of the lifting body (4604) is provided with a rotating lifting shaft (4605) which is in running fit with the lifting body, the rotating lifting shaft (4605) penetrates through the top of the first fixed support (4602) and is fixedly connected with the receiving disc (4606), the rotating assembly (4700) comprises a second fixed support (4701), a fourth driving pulley (4702), a third driven pulley (4703), a fourth synchronous belt (4704) and a rotating motor (4705), the second fixed support (4701) is arranged on the side surface of the first fixed support (4602), the rotating motor (4705) is arranged on the second fixed support (4701), the fourth driving pulley (4702) is fixedly connected with the output end of the rotating motor (4705), the third driven pulley (4703) is arranged on the rotating lifting shaft (4605) and can drive the rotating lifting shaft (4605) to rotate, and the fourth driving pulley (4702) is connected with the third driven pulley (4703) through the fourth synchronous belt (4704), the bearing disc (4606) in the first lifting and rotating mechanism (1202) is fixedly connected with the first bearing seat (1203), the bearing disc (4606) in the second lifting and rotating mechanism (1402) is fixedly connected with the second bearing seat (1403), and the bearing disc (4606) in the lifting and rotating mechanism (1613) is fixedly connected with the third bearing seat (1603).
7. The intravenous drug solution preparing robot according to claim 6, wherein: the frame I (1) is also provided with a weighing device (13), an air purification device (14) and a computer control panel (15), and the shell I (10) is provided with a second opening and closing door (16).
8. The intravenous drug solution preparing robot according to claim 7, wherein: the ampoule bottle processing assembly (3) further comprises an ampoule assembly rotating support component (4800) and a cam handle component (4900), the first case (1100) can rotate around the ampoule assembly rotating support component (4800), and the first case (1100) is released or fixed through the cam handle component (4900);
the ampoule assembly rotating support component (4800) comprises a fixed pipe body (4801), angular contact bearings (4802), a bearing spacer sleeve (4803), a rotating pipe body (4804), a sealing cover (4805) and a top cover (4806), wherein the fixed pipe body (4801) is vertically arranged on the upper surface of the first rack (1), the sealing cover (4805) is arranged at the top of the fixed pipe body (4801), the top cover (4806) covers the sealing cover (4805), the rotating pipe body (4804) is sleeved on the fixed pipe body (4801), the angular contact bearings (4802) are provided in two groups, the two groups of angular contact bearings (4802) are arranged between the rotating pipe body (4804) and the fixed pipe body (4801), and the bearing spacer sleeve (4803) is arranged between the two groups of angular contact bearings (4802);
the ampoule assembly locking device is characterized in that the cam handle assembly (4900) comprises a cam handle (4901), an ampoule assembly locking block (4902), a handle fixing seat (4903), a microswitch driving block (4904) and a microswitch (4905), the ampoule assembly locking block (4902) is arranged on the upper surface of the rack I (1), the handle fixing seat (4903) is arranged in the ampoule assembly locking block (4902), the cam handle (4901) is arranged on the outer side surface of the handle fixing seat (4903), the cam handle (4901) drives the microswitch (4905) through the microswitch driving block (4904), and a clamping hole (4906) which can be clamped with the microswitch (4905) is formed in the side surface of the case I (1100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022681678.4U CN215133427U (en) | 2020-11-19 | 2020-11-19 | Robot for blending intravenous liquid medicine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022681678.4U CN215133427U (en) | 2020-11-19 | 2020-11-19 | Robot for blending intravenous liquid medicine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215133427U true CN215133427U (en) | 2021-12-14 |
Family
ID=79350337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022681678.4U Active CN215133427U (en) | 2020-11-19 | 2020-11-19 | Robot for blending intravenous liquid medicine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215133427U (en) |
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2020
- 2020-11-19 CN CN202022681678.4U patent/CN215133427U/en active Active
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Effective date of registration: 20240108 Address after: 528222 Factory Building 2, No. 54 Industrial Avenue, Danzao Town, Nanhai District, Foshan City, Guangdong Province (Residence Declaration) Patentee after: Guangdong Sanggu Medical Robot Co.,Ltd. Address before: 518103 2nd floor, building 15, COFCO (Fu'an) robot industrial park, 90 Dayang Road, Fuyong street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN SANGGU MEDICAL ROBOT Co.,Ltd. |