CN217745057U - XiLin bottle encapsulation medicine allotment robot - Google Patents
XiLin bottle encapsulation medicine allotment robot Download PDFInfo
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- CN217745057U CN217745057U CN202123229720.XU CN202123229720U CN217745057U CN 217745057 U CN217745057 U CN 217745057U CN 202123229720 U CN202123229720 U CN 202123229720U CN 217745057 U CN217745057 U CN 217745057U
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Abstract
The utility model provides a xiLin bottle encapsulation medicine allotment robot, including the box that is used for fixed robot assembly, the inside centre of robot box is equipped with drawing liquid robot assembly, and drawing liquid robot assembly both sides are equipped with the xiLin bottle on the left side respectively, mother liquor bottle lift, rotatory assembly and the xiLin bottle on the right, mother liquor bottle lift, rotatory assembly, and the structure of the xiLin bottle on the left side, mother liquor bottle lift, rotatory assembly and the xiLin bottle on the right, mother liquor bottle lift, rotatory assembly is the structure of symmetry. The utility model discloses full intelligent xiLin bottle seals medicine allotment robot carries out scientific design according to "vein is used medicine and is concentrated allotment quality control standard" operation regulation, adopts intelligent robot and former manual operation to accord with the effectual medicine allotment mode of allotment quality control standard and combine together, and is small, simple installation, clean easy, easy and simple to handle.
Description
Technical Field
The utility model relates to a manufacturing field of high-end equipment especially relates to medicine blending device.
Background
The intravenous transfusion is a method of dripping the sterilized dissolved medicine liquid into human veins by medicine preparation and utilization, and is one of the important measures for clinical rescue and treatment of patients. For many years, a nursing staff always uses manual operation to prepare a large amount of intravenous infusion medicines, and still adopts the traditional method of holding the piston medicine dissolver by hands to extract the medicines. The medicine dissolving device is held by one hand, the solvent bottle (mother liquor bottle) and the penicillin bottle are held by the other hand for repeated suction, the cross infection of the medicine preparation is easy to occur when the medicine dissolving device is held by the hand and the bacteria are carried by the hand of a preparation worker, the hand is easy to fatigue, the labor intensity is high, and the preparation accuracy is difficult to control. At present, a medicine dispensing robot, auxiliary medicine dispensing instruments and a jig are disclosed, the original technical bottleneck is short in disinfection time of a medicine bottle mouth, slow in dispensing speed, complicated in manual medicine dispensing, difficult to adapt to specifications of a penicillin bottle, large in size, difficult to install and high in price, the technology before ten years is close to the bottleneck, no major breakthrough is achieved, and the use quality of the medicine dispensing for hospital care cannot be improved.
Meanwhile, chemotherapy drugs belong to cytotoxic drugs, and nursing staff always use manual operation, the blending of the drugs has great harm to workers, the toxicity of the drugs can cause the damage of normal cells, and the toxicity of reproduction caused by the damage of normal DNA can be caused; can cause cancer; in order to solve the problems, the quality and the efficiency of intravenous infusion dispensing work are improved, the pollution is reduced, and a full-intelligent medication dispensing robot which meets the operating regulation of intravenous medication centralized dispensing quality management standard, has no pollution and can enable nursing staff to easily and quickly complete the dispensing work is urgently needed in clinic.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems in the prior art, the utility model provides a penicillin bottle packaging medicine allocation robot, which comprises a box body, wherein a liquid pumping robot assembly is arranged in the middle of the interior of the box body, a left penicillin bottle, a mother liquid bottle lifting assembly, a rotating assembly, a right penicillin bottle, a mother liquid bottle lifting assembly and a rotating assembly are respectively arranged on two sides of the liquid pumping robot assembly, and the structures of the left penicillin bottle, the left mother liquid bottle lifting assembly, the rotating assembly, the right penicillin bottle, the left mother liquid bottle lifting assembly and the right penicillin bottle are symmetrical structures; the liquid pumping robot hand assembly can move up and down left and right to rotate, and is combined with a left penicillin bottle, a mother liquid bottle lifting, a rotating assembly, a right penicillin bottle, a mother liquid bottle lifting and rotating assembly to simulate a manual liquid pumping and injecting mode or an intelligent automatic mode to perform single-group liquid medicine and multiple-group liquid medicine; mixing single-group or double-group liquid medicine, dissolving and blending; a left mother liquid bottle storage box, a left penicillin bottle storage box, a drug dissolver storage box, a right penicillin bottle storage box and a right mother liquid bottle storage box are arranged outside the box body; platform is placed to the mother liquor bottle tool on the left side, platform is placed to the xiLin bottle tool on the right, platform is placed to the mother liquor bottle tool on the right is placed each medicine bottle case bottom in through the mechanism and is received and get each corresponding medicine bottle, and the bottom half is provided with the left side finished product medicine and deposits drawer, discarded object and deposit drawer, the right finished product medicine and deposit the drawer.
As a further improvement, the left mother liquid bottle storage box, the left penicillin bottle storage box, the medicine dissolving device storage box, the right penicillin bottle storage box and the right mother liquid bottle storage box are arranged outside the box body in a buckling mode.
As a further improvement, the box body is provided with an internal circulation ventilation device, and clean air flows from top to bottom.
As a further improvement of the utility model, the left side finished product medicine storage drawer, the waste storage drawer and the right side finished product medicine storage drawer are arranged with slide rails and are opened or closed by manual operation or motor drive.
As a further improvement of the utility model, the penicillin bottle on the right and the mother liquid bottle are lifted and rotated to form a full-function penicillin bottle clamping manipulator, which comprises a penicillin bottle lifting device, a penicillin bottle rotating and swinging device and a penicillin bottle grabbing manipulator; the penicillin bottle lifting device controls the penicillin bottle rotating and swinging device to lift up and down, the penicillin bottle rotating and swinging device controls the penicillin bottle grabbing robot to rotate, penicillin bottle grabbing fingers are arranged on the penicillin bottle grabbing robot and comprise penicillin bottle clamping fingers, and the penicillin bottle grabbing fingers are driven by a built-in mechanism to clamp and place penicillin bottles and perform positioning injection and liquid pumping actions; the penicillin bottle grabbing device further comprises a bottle clamping finger, wherein a positioning groove of the bottle clamping finger is aligned to a movable positioning block on the penicillin bottle grabbing finger and is directly inserted to the end.
As a further improvement of the utility model, the automatic bottle-unloading mechanism also comprises a penicillin bottle clamping manipulator seat plate, a bottle-unloading push-assisting rod, a bottle-unloading push-assisting spring and a bottle-unloading push-assisting spring pressing plate; the vial unloading boosting rod is pre-compressed on the vial clamping robot seat plate through a vial unloading boosting spring and a vial unloading boosting spring pressing plate, the vial unloading boosting spring pressing plate is fixed on the vial clamping robot seat plate, the end part of the vial unloading boosting rod is abutted to the vial head cylindrical surface, when a vial is grabbed, the vial head cylindrical surface compresses the vial unloading boosting rod top back to a certain position, when the vial is unloaded, vial clamping fingers are opened, and under the action of the vial unloading boosting spring, the vial unloading boosting rod separates the vial from the vial clamping fingers, so that the vial is completely unloaded.
As a further improvement of the utility model, the device also comprises a positioning seat of the penicillin bottle clamping electric cylinder module, a positioning pin of the penicillin bottle clamping electric cylinder module, a bottle clamping finger link mechanism and a bottle clamping finger guide slide rail; the penicillin bottle clamping electric cylinder module positioning seat and the penicillin bottle clamping finger guide sliding rail are arranged on a penicillin bottle clamping robot seat plate, a penicillin bottle clamping electric cylinder module positioning pin is arranged on the penicillin bottle clamping electric cylinder module positioning seat, the fixed end of the penicillin bottle clamping electric cylinder module is fixed at the penicillin bottle clamping electric cylinder module positioning pin through a clamp spring, the movable end of the penicillin bottle clamping electric cylinder module is connected to a penicillin bottle clamping finger connecting rod mechanism through a pin shaft, connecting rods on two sides of the penicillin bottle clamping finger connecting rod mechanism are respectively connected to two fingers of a penicillin bottle clamping finger through pin shafts, and the penicillin bottle clamping finger is arranged on a sliding block of the penicillin bottle clamping finger guide sliding rail; when the penicillin bottle clamping electric cylinder module works, the movable end of the penicillin bottle clamping electric cylinder module pushes the two side connecting rods on the penicillin bottle clamping finger connecting rod mechanism, and the two side connecting rods on the penicillin bottle clamping finger connecting rod mechanism drive the two penicillin bottle clamping fingers arranged on the sliding blocks of the penicillin bottle clamping finger guide sliding rails to perform parallel opening and closing movement, so that penicillin bottles are grabbed and placed.
As a further improvement of the utility model, the bottle clamping finger head is designed with an anti-leakage mechanism to completely wrap the penicillin bottle clamping finger and the movable groove where the penicillin bottle clamping finger is located.
As the utility model discloses a further improvement, xiLin bottle snatchs and sets up two rows of xiLin bottles on the robot and snatchs the finger, and two rows of xiLin bottles snatch finger independent motion, and one row of xiLin bottle snatchs and finishes, and xiLin bottle elevating gear control xiLin bottle snatchs the robot and rises a take the altitude, and xiLin bottle rotary swing device control xiLin bottle snatchs the robot rotation 180, and another row xiLin bottle snatchs the finger and is in perpendicular decurrent state, accomplishes another row xiLin bottle and snatchs.
As the utility model discloses a further improvement, the press pin is pressed to the press pin of double-layered bottle finger and press pin reset spring including the press pin of the double-layered bottle finger, and the press pin is pressed to the double-layered bottle finger and the buckle is just automatic chucking press pin finger under the effect of press pin reset spring at the double-layered bottle finger.
The utility model has the advantages that:
the utility model discloses full-intelligent xiLin bottle seals medicine allotment robot carries out scientific design according to the operation regulation of "quality management standard of centralized allotment for intravenous administration of drugs", adopts intelligent robot and former manual operation to accord with allotment quality management standard effectual medicine allotment mode and combines together, and is small, simple installation, and it is easy to clean, easy and simple to handle; the medicine dispensing speed is greatly improved, the problem of incomplete disinfection is effectively solved, centralized, classified and batched medicine dispensing can be realized, the flexibility, safety and accuracy of medicine dispensing are ensured, the error rate of manual operation is avoided, penicillin bottles with different specifications are filled into the container box by utilizing a full intelligent centralized, single-group, batched, classified, batched and continuous medicine feeding mode of dispensing, the dispensing structural mode is optimized, the specification structure of the container box is changed, the packaging of medicine bottles with different specifications can be dispensed, the adaptability is strong, no pollution is caused to medicine dispensing, the labor intensity of nursing and dispensing personnel is effectively reduced, and the manpower resource allocation is optimized.
Drawings
Fig. 1 is a schematic structural view of a vial-packed drug dispensing robot according to the present invention;
FIG. 2 is a schematic structural view of the vial-packed drug dispensing robot of the present invention with the outer frame removed;
FIG. 3 is a schematic structural view of the multifunctional medicine dispensing robot with weighing function of the present invention;
FIG. 4: FIG. 3 is an enlarged view of a portion of the components;
FIG. 5: FIG. 4 is an exploded view of a portion of the liquid withdrawal head apparatus;
FIG. 6: a perspective view of the internal structure of the liquid pumping head device;
FIG. 7: the exploded view of fig. 6;
FIG. 8: FIG. 6 is an exploded view from an alternate angle;
FIG. 9: a front view of the liquid withdrawal head apparatus portion;
FIG. 10: a side view of the fluid extraction head apparatus portion;
FIG. 11: a top view of the fluid extraction head apparatus portion;
FIG. 12: the structure schematic diagram of the full-function penicillin bottle clamping mechanical arm of the utility model is shown;
FIG. 13 is a schematic view of: FIG. 12 is a perspective view from another angle;
FIG. 14 is a schematic view of: the inner structure of the penicillin bottle grabbing robot hand is schematic;
FIG. 15 is a schematic view of: FIG. 14 is a top view;
FIG. 16: the exploded view of fig. 14;
FIG. 17: FIG. 14 is an exploded view from another angle;
FIG. 18 is a schematic view of: a structural schematic diagram of a penicillin bottle grabbing robot;
FIG. 19: FIG. 18 is a partially enlarged view;
FIG. 20: mounting bottle clamping fingers A13-511 in a perspective view;
FIG. 21: fig. 20 is an exploded view.
The names of the components in the figure are as follows:
a box body A is 1-000;
the left finished medicine storage drawer A1-200;
a waste storage drawer A1-300;
the right finished medicine storage drawer A1-400;
a placing table A2-000 for the mother liquid bottle jig on the left;
a left mother liquid bottle storage box A3-000;
a left penicillin bottle jig placing table A4-000;
a left penicillin bottle storage box A5-000;
a liquid pumping manipulator assembly A6-000;
lifting and rotating assembly A7-000 of the left penicillin bottle and the mother liquor bottle; a medicine dissolver storage box A8-000;
a penicillin bottle storage box A9-000 at the right side;
a right penicillin bottle jig placing table A is 10-000;
a right mother liquid bottle jig placing table A11-000;
the right mother liquid bottle storage box A is 12 to 000;
the lifting and rotating assembly A of the penicillin bottle on the right side and the mother liquid bottle is 13-000; a Y-direction device A6-100 of a liquid pumping hand;
a liquid pumping hand X-direction device A6-200;
a Z-direction device A6-300 of a liquid pumping hand;
a liquid pumping hand rotating device A6-400;
a liquid medicine preparing translation device A6-500;
a liquid medicine preparing device A6-600;
a medicine dissolver weighing platform A6-610;
a medicine dissolver clamping jaw A6-620;
the axial clamping device A6-630 of the medicine dissolver;
the plunger pushes and pulls the finger A6-640;
load cell A6-611;
a medicine dissolver clamping jaw guide post A6-621;
a load cell mount A6-622;
a guide bearing A6-623 for a guide column of a medicine dissolver clamping jaw;
a medicine dissolver clamping jaw opening and closing device A6-624;
a control block A6-625 for the medicine clamping and dissolving device tightness;
a driving module A6-626 for clamping and loosening the medicine dissolver;
plunger push-pull lead screw fixing seat A6-641;
a plunger push-pull screw rod A6-642;
the plunger pushes and pulls the feed screw nut A6-643;
a plunger push-pull lead screw positioning seat A6-644;
a plunger push-pull lead screw coupling A6-645;
preparing a robot hand seat plate A6-650;
a plunger push-pull guide rail A6-651;
the medicine dissolver axial clamping block guide rail A6-652;
a first drug dissolver positioning seat A6-653;
the plunger pushes and pulls the driving motor A6-654;
a second dissolver positioning seat A6-655;
a penicillin bottle lifting device A13-300;
a penicillin bottle rotary swing device A13-400;
a penicillin bottle grabbing robot A13-500;
grabbing a finger A13-600 by a penicillin bottle;
a penicillin bottle clamping robot hand seat board A13-501;
positioning seats A13-502 of the penicillin bottle clamping electric cylinder module; a locating pin A13-503 of a penicillin bottle clamping electric cylinder module; a penicillin bottle clamping electric cylinder module A13-504;
a bottle clamping finger link mechanism A13-505;
a vial clamping finger A13-506;
bottle clamping finger guide slide rails A13-507;
a bottle unloading push-assisting rod A13-508;
a bottle unloading boosting spring A13-509;
a bottle unloading boosting spring pressure plate A13-510;
bottle clamping fingers A13-511;
a bottle clamping finger head main body A13-511-01;
a bottle clamping finger head gland A13-511-02;
pressing the pin shaft gland A13-511-03 by a bottle clamping finger;
the finger pressing pin A13-511-04 of the bottle clamping;
the bottle clamping fingers press the pin return spring A13-511-05.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
The penicillin bottle packaging medicine allocation robot comprises a left mother liquid bottle storage box A3-000, a left penicillin bottle storage box A5-000, a medicine dissolver storage box A8-000, a right penicillin bottle storage box A9-000 and a right mother liquid bottle storage box A12-000 which are arranged outside a box body A1-000 in a buckling and non-limiting buckling mode.
The left mother liquid bottle jig placing table A2-000, the left penicillin bottle jig placing table A4-000, the right penicillin bottle jig placing table A10-000 and the right mother liquid bottle jig placing table A11-000 can be placed at the bottoms of the material storage boxes through mechanisms to receive and take corresponding materials.
The box body A1-000 is provided with an internal circulation ventilation device, clean air flows from top to bottom, and various medicine bottles are lifted to a certain height through a corresponding mechanism to be configured in the medicine configuration process, so that the risk of secondary pollution can be effectively reduced.
The bottom of the box body A1-000 is provided with a left finished medicine storage drawer A1-200, a waste storage drawer A1-300 and a right finished medicine storage drawer A1-400, and the finished product storage drawer and the waste storage drawer are independently separated, so that the finished medicine can be effectively prevented from being polluted by the waste, and meanwhile, the checking of the dosage number by a worker is facilitated.
The left finished medicine storage drawer A1-200, the waste storage drawer A1-300 and the right finished medicine storage drawer A1-400 are provided with slide rails which can be opened or closed manually or driven by a motor.
A multifunctional medicine preparation manipulator with weighing function, comprises a liquid drawing hand Y-direction device A6-100, a liquid drawing hand X-direction device A6-200, a liquid drawing hand Z-direction device A6-300, a liquid drawing hand rotating device A6-400, a liquid medicine preparing translation device A6-500, a liquid medicine preparing device A6-600, a medicine dissolver weighing platform A6-610, a medicine dissolver clamping jaw A6-620, a medicine dissolver axial clamping device A6-630, a plunger push-pull finger A6-640, a weighing sensor A6-611, a medicine dissolver clamping jaw guide post A6-621, a weighing sensor mounting seat A6-622, a medicine dissolver clamping jaw guide post guide bearing A6-623, a medicine dissolver clamping jaw opening and closing device A6-624, a medicine dissolver clamping jaw guide post A6-621 the device comprises a medicine dissolver clamping tightness control block A6-625, a medicine dissolver clamping tightness driving module A6-626, a plunger push-pull screw rod fixing seat A6-641, a plunger push-pull screw rod A6-642, a plunger push-pull screw rod nut A6-643, a plunger push-pull screw rod positioning seat A6-644, a plunger push-pull screw rod coupling A6-645, a preparation machine hand seat plate A6-650, a plunger push-pull guide rail A6-651, a medicine dissolver axial clamping block guide rail A6-652, a first medicine dissolver positioning seat A6-653, a plunger push-pull driving motor A6-654 and a second medicine dissolver positioning seat A6-655.
The X-direction device A6-200 of the liquid suction hand moves back and forth on the Y-direction device A6-100 of the liquid suction hand, wherein the back and forth directions are the directions of two rails on the Y-direction device A6-100 of the liquid suction hand Y in FIG. 3, and the direction is also the Y direction; the Z-direction device A6-300 of the liquid drawing hand moves on the X-direction device A6-200 of the liquid drawing hand in the left-right direction, the left-right direction is the track direction of the X-direction device A6-200 of the liquid drawing hand, and the direction is also the X direction; the liquid-pumping hand rotating device A6-400 moves up and down on the liquid-pumping hand Z-direction device A6-300, and the up-down direction is the Z direction; the liquid medicine blending translation devices A6-500 do rotary motion through the liquid drawing hand rotating devices A6-400, and each device moves to a corresponding position, so that the medicine dissolver can be controlled to the corresponding position required, and actions such as liquid drawing, liquid injection, needle head sleeve removal, waste medicine dissolver loss and the like can be realized.
The liquid medicine preparing device A6-600 moves along the axial direction of the medicine dissolver on the liquid medicine preparing translation device A6-500, and can control the needle head of the medicine dissolver to be inserted into the mother liquid bottle and the penicillin bottle head sealing soft rubber plug.
The medicine dissolving device weighing platform A6-610, the medicine dissolving device clamping jaw A6-620, the medicine dissolving device axial clamping device A6-630 and the plunger push-pull finger A6-640 are arranged on the medicine liquid blending device A6-600, the medicine dissolving device weighing platform A6-610 is in a horizontal position in the process of preparing medicine liquid, the medicine dissolving device clamping jaw A6-620 loosens the medicine dissolving device, the medicine dissolving device axial clamping device A6-630 and the plunger push-pull finger A6-640 move to a non-contact medicine dissolving device state, and the medicine dissolving device is in a free state on the medicine dissolving device weighing platform A6-610, so that the medicine liquid in the medicine dissolving device can be weighed quickly and accurately, the feedback of medicine liquid amount configuration information can be achieved, and the intelligent liquid blending process can be achieved.
The medicine dissolving device weighing platform A6-610 is installed on the bearing end of the weighing sensor A6-611 through screws, the fixed end of the weighing sensor A6-611 is installed on the weighing sensor installation seat A6-622 through screws, when the liquid pumping head receives a new medicine dissolving device, the medicine dissolving device falls on the medicine dissolving device weighing platform A6-610, and at the moment, the weight of the medicine dissolving device can be measured.
The medicine dissolver clamping jaw A6-620 is installed on one end head of the medicine dissolver clamping jaw guide column A6-621 through a screw, the medicine dissolver clamping jaw opening and closing device A6-624 is installed on the other end head of the medicine dissolver clamping jaw guide column A6-621 through a screw, the two medicine dissolver clamping jaw guide columns A6-621 penetrate through the medicine dissolver clamping jaw guide column guide bearings A6-623, the medicine dissolver clamping jaw A6-620 can make linear motion along the axial direction of the medicine dissolver clamping jaw guide column A6-621, the medicine dissolver axial clamping device A6-630 is installed on the medicine dissolver axial clamping block guide rail slide block A6-652 through a screw, the medicine dissolver axial clamping device A6-630 can make axial motion along the medicine dissolver, the medicine dissolver elastic clamping control block A6-625 and the medicine dissolver clamping jaw opening and closing device A6-624 are designed with inclined opening and closing structures matched with each other, meanwhile, one end of the medicine dissolver elastic control block A6-625 is designed with a push-pull structures matched with the medicine dissolver axial clamping device A6-630, and the medicine dissolver axial clamping device A6-626 can realize axial clamping and axial clamping device.
The plunger push-pull guide rail A6-651, the dissolver axial clamping block guide rail A6-652, the first dissolver positioning seat A6-653, the second dissolver positioning seat A6-655, the plunger push-pull lead screw A6-641 fixing seat and the plunger push-pull lead screw positioning seat A6-644 are arranged at corresponding positions of the allocating robot hand seat plate A6-650 through screws, the plunger push-pull driving motor A6-654 is arranged at a corresponding positioning hole of the first dissolver positioning seat A6-653 through screws, the plunger push-pull lead screw A6-642 is connected with the plunger push-pull driving motor A6-654 through a plunger push-pull lead screw coupling A6-645, the plunger push-pull finger A6-640 is connected with the plunger push-pull lead screw nut A6-643 and the plunger push-pull guide rail sliding block A6-651 through screws, the plunger push-pull driving motor A6-654 can do reciprocating motion along the radial direction of the dissolver, and the plunger push-pull finger A6-pull end socket 640 is designed, thereby realizing the control of the actions of the dissolver plunger, the piston pumping, the injecting liquid and the like.
The medicine dissolver clamping jaw A6-620, the first medicine dissolver positioning seat A6-653 and the second medicine dissolver positioning seat A6-655 are designed with a medicine dissolver V-shaped positioning structure, and the medicine dissolver can be separated from the medicine dissolver weighing platform A6-610 by a certain distance when the medicine dissolver is clamped by the V-shaped structure.
When liquid extraction needs to be accurately controlled in the working process of a liquid extraction head, the liquid extraction head is placed in a horizontal position, a medicine dissolver tightness driving module A6-626 controls a medicine dissolver clamping jaw A6-620 and a medicine dissolver axial clamping device A6-630 to loosen the medicine dissolver, the medicine dissolver is separated from the medicine dissolver clamping jaw A6-620, a first medicine dissolver positioning seat A6-653, a second medicine dissolver positioning seat A6-655 and other V-shaped positioning ports, and meanwhile, a plunger push-pull driving motor A6-654 controls a plunger push-pull finger A6-640 to walk at a certain position, so that a plunger of the medicine dissolver is in a non-contact state in the plunger push-pull finger A6-640 clamping slot, the medicine dissolver freely falls on a medicine dissolver weighing platform A6-610, the medicine carrying state of the medicine dissolver is weighed, intelligent calculation is carried out on the weight of the medicine in a medicine dissolver cavity and the weight of the medicine dissolver, the medicine in-cavity and the intelligent calculation is carried out, the medicine extraction by a machine hand to repeatedly and accurately adjust the medicine extraction according to achieve the purpose of quickly and accurately extracting the medicine amount.
When needing accurate control drawing liquid in the first course of working of drawing liquid, arrange the drawing liquid head in horizontal position, press from both sides medicine dissolving device elasticity drive module (press from both sides medicine dissolving device elasticity drive electric jar) control medicine dissolving device clamping jaw and the centre gripping dissolves the ware and presss from both sides tight piece of clamp and loosen the centre gripping and dissolve the ware, it breaks away from the medicine dissolving device clamping jaw, first medicine dissolving device positioning seat, V type location mouth such as second medicine dissolving device positioning seat, a plunger push-and-pull driving motor control plunger push-and-pull finger walking certain position simultaneously, make medicine dissolving device plunger be in plunger push-and-pull finger draw-in groove in contactless state, consequently, medicine dissolving device just freely falls on medicine dissolving device weighing table, thereby realize weighing medicine dissolving device area medicine state, carry out intelligent operation to medicine dissolving device intracavity extraction liquid medicine weight and medicine dissolving device self weight through the computer, the medicine weight in the medicine dissolving device intracavity is calculated accurately, according to the operation result, the machine hand is adjusted medicine dissolving device extraction liquid repeatedly, thereby reach the purpose of convenient accurate extraction dose.
Full-function xiLin bottle presss from both sides a bottle manipulator: the penicillin bottle clamping mechanism comprises a penicillin bottle lifting device A13-300, a penicillin bottle rotating and swinging device A13-400, a penicillin bottle grabbing robot hand A13-500, a penicillin bottle grabbing finger A13-510, a penicillin bottle clamping robot hand seat plate A13-501, a penicillin bottle clamping electric cylinder module positioning seat A13-502, a penicillin bottle clamping electric cylinder module positioning pin A13-503, a penicillin bottle clamping electric cylinder module A13-504, a penicillin bottle clamping finger link mechanism A13-505, a penicillin bottle clamping finger A13-506, a bottle clamping finger guide sliding rail A13-507, a bottle unloading push-assisting rod A13-508, a bottle unloading push-assisting spring A13-509, a bottle unloading push-assisting spring pressing plate A13-510, a bottle clamping finger A13-511, a bottle clamping finger main body A13-511-01, a bottle clamping finger pressing cover A13-511-02, a bottle clamping finger pressing cover A13-511-03, a bottle clamping finger pressing pin A13-04, and a bottle clamping finger pressing pin A13-511-05-reset spring pin A05-511-05.
Two rows of penicillin bottle gripping fingers A13-510 are preferably arranged on the penicillin bottle gripping robot hand A13-500, the penicillin bottle gripping fingers A13-510 can be driven by a built-in mechanism to enable the penicillin bottle gripping fingers A13-510 to clamp and release penicillin bottles, and the two rows of penicillin bottle gripping fingers A13-510 move independently; the penicillin bottle grabbing robot hand A13-500 moves to a position corresponding to a pre-grabbing penicillin bottle through the penicillin bottle lifting device A13-300 and the penicillin bottle rotating and swinging device A13-400, a penicillin bottle grabbing finger A13-510 is vertically downward when grabbing the penicillin bottle and is controlled to be in an opening state through an internal mechanism, then the penicillin bottle lifting device A13-300 controls the penicillin bottle grabbing finger A13-510 to descend to the position corresponding to the grabbing penicillin bottle, the penicillin bottle grabbing finger A13-510 controls the penicillin bottle grabbing finger A13-510 to clamp the penicillin bottle through the driving of the internal mechanism, a row of penicillin bottles can be grabbed, then the penicillin bottle lifting device A13-300 controls the penicillin bottle grabbing robot hand A13-500 to ascend to a certain height, the other penicillin bottle rotating and swinging device A13-400 controls the penicillin bottle grabbing robot hand A13-500 to rotate 180 degrees, the other penicillin bottle grabbing finger A13-510 is in a vertically downward state, and the actions are repeated.
A plurality of groups of independent motor-driven bottle clamping fingers are arranged on the penicillin bottle clamping robot hand, and penicillin bottles at corresponding positions can be clamped and discarded according to requirements. Due to the requirements of industry, uncontrollable factors and the like, penicillin bottles at different positions sometimes need to be left on a robot arm, and penicillin bottles which do not need to be left can be selectively discarded by bottle clamping fingers driven by independent motors.
The locating seat A13-502 of the penicillin bottle clamping electric cylinder module and the clamping finger guide sliding rail A13-507 are installed on the penicillin bottle clamping robot seat plate A13-501 through screws, the locating pin A13-503 of the penicillin bottle clamping electric cylinder module is installed on the locating seat A13-502 of the penicillin bottle clamping electric cylinder module through screws, the fixed end of the penicillin bottle clamping electric cylinder module A13-504 is fixed at the locating pin A13-503 of the penicillin bottle clamping electric cylinder module through a snap spring, the movable end of the penicillin bottle clamping electric cylinder module A13-504 is connected to the clamping finger link mechanism A13-505 through a pin shaft, connecting rods on two sides of the clamping finger link mechanism A13-505 are respectively connected to two fingers of the penicillin bottle clamping fingers A13-506 through pin shafts, and the penicillin bottle clamping finger A13-506 is installed on a sliding block of the clamping finger guide sliding rail A13-507 through a screw; when the penicillin bottle gripping device works, the movable end of the electric cylinder pushes the connecting rods on two sides of the bottle gripping finger link mechanism A13-505, the connecting rods on two sides of the bottle gripping finger link mechanism A13-505 drive the penicillin bottle gripping fingers A13-506 arranged on the sliding blocks of the bottle gripping finger guide sliding rails A13-507 to perform parallel opening and closing movement, so that the penicillin bottle gripping and placing purpose is achieved, and when penicillin bottles of different specifications are gripped, the central points of the heads of the penicillin bottles can be kept consistent, so that when the needle of the medicine dissolver pierces the penicillin bottles of different specifications, the central point of the penicillin bottles does not need to be searched again, and the aim of rapidly allocating penicillin medicines is achieved.
The center points of the vial heads of the penicillin bottles can be kept consistent, and the description is as follows: the bottles with different sizes and specifications only have the clamps which move in parallel and relatively to ensure that the centers are not changed, and the centers of the swing arm type clamps are inconsistent when the swing arm type clamps the bottles with different sizes and specifications.
The vial unloading push assisting rod A13-508 is pre-compressed on a corresponding position of the vial unloading pushing assisting spring A13-501 through a vial unloading pushing spring A13-509 and a vial unloading pushing spring pressing plate A13-510, the vial unloading pushing spring pressing plate A13-510 is fixed on the vial clamping robot seat plate A13-501 through screws, the position of the vial unloading push assisting rod A13-508 corresponds to the position of the cylindrical surface of the vial head, when the vial is grabbed, the vial unloading push assisting rod A13-508 is pressed and retracted to a certain position through the cylindrical surface of the vial head, when the vial is unloaded, the vial clamping fingers A13-506 are opened, and under the action of the vial unloading pushing spring A13-509, the vial unloading push assisting rod A13-508 can assist in separating the vial from the vial clamping fingers A13-506, so that the vial is completely unloaded.
Design background of bottle unloading boost lever a 13-508: when preparing a penicillin bottle for packaging a medicament, a lysozyme (mother liquor) liquid medicine is required to be injected into the penicillin bottle for dissolving, and most of the lysozyme (mother liquor) liquid medicine mainly comprises sodium chloride lysozyme and glucose lysozyme; because the penicillin medicine is packaged in the sealed penicillin bottle, after the lysozyme medicine is injected into the penicillin bottle, the pressure in the penicillin bottle is increased, and when the injection needle head is pulled out, the problem of leakage is avoided; when the penicillin medicine is dissolved by the glucose lysozyme liquid, the viscosity of the glucose lysozyme liquid is high after water is volatilized, if the glucose lysozyme liquid overflows from a position where penicillin bottle clamping fingers A13-506 clamp the penicillin bottle and the penicillin medicine is insoluble, the penicillin bottle clamping fingers A13-506 clamp the penicillin bottle for a long time to wait for dissolution, after the water of the overflowing liquid is volatilized, when the penicillin bottle clamping fingers A13-506 are opened to discard the penicillin bottle, the penicillin bottle is possibly adhered to the penicillin bottle clamping fingers A13-506, and at the moment, when the penicillin bottle clamping fingers A13-506 clamp the next penicillin bottle, the clamping fault occurs; the bottle unloading boosting rod A13-508 mechanism is designed to effectively solve the problems.
The detachable bottle clamping finger scheme is characterized in that: can dismantle type presss from both sides bottle finger through designing the constant head tank, the mechanism such as elasticity round pin buckle can realize pressing from both sides bottle finger purposes such as quick dismantlement, installation, presss from both sides bottle finger design simultaneously has antiseep mechanism, wraps up completely pressing from both sides bottle finger activity groove, can prevent effectively that the liquid that leaks from splashing into inner structure.
The working principle is as follows: when the bottle clamping fingers A13-511 are installed, a worker only needs to directly insert the positioning grooves of the bottle clamping fingers A13-511 into the movable positioning blocks on the bottle clamping fingers to be prepared to the end, and the bottle clamping fingers A13-511-04 are buckled on the bottle clamping finger pressing pins A13-511-04 and automatically clamp the bottle clamping fingers A13-511 under the action of the bottle clamping finger pressing pin reset springs A13-511-05; when the bottle clamping fingers A13-511 need to be detached for cleaning, a worker only needs to hold the bottle clamping fingers A13-511 by hands, meanwhile, press the bottle clamping fingers A13-511-04 by the pressing pins A13-511-04, and pull the bottle clamping fingers A13-511 outwards to take down the bottle clamping fingers for cleaning.
The liquid pumping robot hand assembly A6-000 can move up and down left and right to rotate, and the liquid pumping robot hand assembly A6-000 performs single-group liquid medicine and multiple-group liquid medicine in a simulation manual liquid medicine pumping and injecting mode or an intelligent automatic mode by combining the left penicillin bottle, the mother liquid bottle lifting, the rotary assembly A7-000, the right penicillin bottle, the mother liquid bottle lifting and the rotary assembly A13-000; mixing single-component or double-component liquid medicine, uniformly dissolving and blending.
The box body A1-000 front middle medicine dissolving device storage box A8-000 can change the volume capacity of a medicine dissolving device (10 ml-50 ml) according to the medicine blending precision requirement, the use precision of liquid medicine is improved, and the liquid pumping robot hand needs to replace the medicine dissolving devices with different precision specifications, so that the medicine dissolving device storage box A8-000 suitable for the specification of the medicine dissolving device can be replaced at any time to meet the adaptive requirement of hand clamping of the blending robot.
The storage container box of the penicillin bottle and the mother liquid bottle on the left and right sides of the box body A1-000 is a storage container box which can be replaced at any time and is suitable for the specification of the medicine bottle according to the packaging size of different specifications of medicines, such as a penicillin bottle 2 ml-50 ml soft bag, a mother liquid bottle 50 ml-500 ml soft bag, a standing bag, a double-single-head plastic bag and the like, so that the adaptation requirement of bottle clamping and clamping by a hand of a dispensing machine is met.
The foregoing is a more detailed description of the present invention, taken in conjunction with the specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments shown and described. To the utility model discloses to the ordinary skilled person in technical field's the prerequisite that does not deviate from the utility model discloses under the design, can also make a plurality of simple deductions or replacement, all should regard as belonging to the utility model discloses a protection scope.
Claims (10)
1. A xiLin bottle seals medicine preparation robot which characterized in that: the automatic packaging box comprises a box body (A1-000), wherein a liquid pumping robot hand assembly (A6-000) is arranged in the middle of the interior of the box body (A1-000), a left penicillin bottle, a mother liquid bottle lifting, a rotary assembly (A7-000) and a right penicillin bottle, a mother liquid bottle lifting and a rotary assembly (A13-000) are respectively arranged on two sides of the liquid pumping robot hand assembly (A6-000), and the left penicillin bottle, the mother liquid bottle lifting, the rotary assembly (A7-000) and the right penicillin bottle, the mother liquid bottle lifting and the rotary assembly (A13-000) are symmetrical in structure; the liquid pumping robot hand assembly (A6-000) can move up and down left and right to rotate, and the liquid pumping robot hand assembly (A6-000) is combined with a left penicillin bottle, a mother liquid bottle to lift, a rotating assembly (A7-000) and a right penicillin bottle, mother liquid bottle to lift and a rotating assembly (A13-000) to simulate a manual liquid pumping and liquid injection mode or an intelligent automatic mode to perform single-group liquid medicine and multiple-group liquid medicine; mixing single-group or double-group liquid medicine, dissolving and blending; a left mother liquid bottle storage box (A3-000), a left penicillin bottle storage box (A5-000), a drug dissolver storage box (A8-000), a right penicillin bottle storage box (A9-000) and a right mother liquid bottle storage box (A12-000) are arranged outside the box body (A1-000); the left mother liquid bottle jig placing table (A2-000), the left penicillin bottle jig placing table (A4-000), the right penicillin bottle jig placing table (A10-000) and the right mother liquid bottle jig placing table (A11-000) are placed at the bottoms of the medicine bottle storage boxes through mechanisms to receive corresponding medicine bottles, and a left finished medicine storage drawer (A1-200), a waste storage drawer (A1-300) and a right finished medicine storage drawer (A1-400) are arranged at the bottom of the box body (A1-000).
2. The vial encapsulation drug dispensing robot of claim 1, wherein: the left mother liquid bottle storage box (A3-000), the left penicillin bottle storage box (A5-000), the drug dissolver storage box (A8-000), the right penicillin bottle storage box (A9-000) and the right mother liquid bottle storage box (A12-000) are arranged outside the box body (A1-000) in a buckling mode.
3. The vial encapsulation drug dispensing robot of claim 1, wherein: the box body (A1-000) is provided with an internal circulation ventilation device, and clean air flows from top to bottom.
4. The vial encapsulation drug dispensing robot of claim 1, wherein: the left finished medicine storage drawer (A1-200), the waste storage drawer (A1-300) and the right finished medicine storage drawer (A1-400) are provided with slide rails and are driven to open or close by hand or a motor.
5. The vial encapsulation medicine deployment robot of any one of claims 1 to 4, wherein: the right penicillin bottle and mother liquid bottle lifting and rotating assembly (A13-000) is a full-functional penicillin bottle clamping manipulator and comprises a penicillin bottle lifting device (A13-300), a penicillin bottle rotating and swinging device (A13-400) and a penicillin bottle grabbing manipulator (A13-500); the penicillin bottle lifting device (A13-300) controls the penicillin bottle rotating and swinging device (A13-400) to lift up and down, the penicillin bottle rotating and swinging device (A13-400) controls the penicillin bottle grabbing robot hand (A13-500) to rotate, penicillin bottle grabbing fingers (A13-600) are arranged on the penicillin bottle grabbing robot hand (A13-500), the penicillin bottle grabbing fingers (A13-600) comprise penicillin bottle clamping fingers (A13-506), and the penicillin bottle grabbing fingers (A13-600) are driven by a built-in mechanism to clamp and place the penicillin bottle and perform positioning injection and liquid pumping actions; the penicillin bottle grabbing device is characterized by further comprising a bottle clamping finger (A13-511), wherein a positioning groove of the bottle clamping finger (A13-511) is aligned with a movable positioning block on the penicillin bottle grabbing finger (A13-600) and is directly inserted into the end.
6. The vial encapsulation drug dispensing robot of claim 5, wherein: the automatic bottle unloading device also comprises a penicillin bottle clamping robot seat plate (A13-501), a bottle unloading push-assisting rod (A13-508), a bottle unloading push-assisting spring (A13-509) and a bottle unloading push-assisting spring pressing plate (A13-510); the vial unloading boosting rod (A13-508) is pre-compressed on the vial clamping robot seat plate (A13-501) through a vial unloading boosting spring (A13-509) and a vial unloading boosting spring pressing plate (A13-510), the vial unloading boosting spring pressing plate (A13-510) is fixed on the vial clamping robot seat plate (A13-501), the end part of the vial unloading boosting rod (A13-508) abuts against the vial head cylindrical surface, when the vial is grabbed, the vial head cylindrical surface presses and retracts the vial unloading boosting rod (A13-508) to a certain position, when the vial is unloaded, the vial clamping fingers (A13-506) are opened, and under the action of the vial unloading boosting spring (A13-509), the vial unloading boosting rod (A13-508) separates the vial from the vial clamping fingers (A13-506), so that the vial is completely unloaded.
7. The vial encapsulation drug dispensing robot of claim 6, wherein: the penicillin bottle clamping electric cylinder positioning seat comprises a penicillin bottle clamping electric cylinder module positioning seat (A13-502), a penicillin bottle clamping electric cylinder module positioning pin (A13-503), a penicillin bottle clamping electric cylinder module (A13-504), a penicillin bottle clamping finger link mechanism (A13-505) and a penicillin bottle clamping finger guide sliding rail (A13-507); the penicillin bottle clamping electric cylinder module positioning seat (A13-502) and the penicillin bottle clamping finger guide sliding rail (A13-507) are arranged on the penicillin bottle clamping robot hand seat plate (A13-501), the penicillin bottle clamping electric cylinder module positioning pin (A13-503) is arranged on the penicillin bottle clamping electric cylinder module positioning seat (A13-502), the fixed end of the penicillin bottle clamping electric cylinder module (A13-504) is fixed at the penicillin bottle clamping electric cylinder module positioning pin (A13-503) through a clamp spring, the movable end of the penicillin bottle clamping electric cylinder module (A13-504) is connected to a bottle clamping finger connecting rod mechanism (A13-505) through a pin shaft, two side connecting rods of the bottle clamping finger connecting rod mechanism (A13-505) are respectively connected to two fingers of the penicillin bottle clamping finger (A13-506) through pin shafts, and the penicillin bottle clamping finger (A13-506) is installed on a sliding block of the penicillin bottle clamping guide sliding rail (A13-507); when the penicillin bottle clamping electric cylinder module works, the movable end of the penicillin bottle clamping electric cylinder module (A13-504) pushes two side connecting rods on the penicillin bottle clamping finger connecting rod mechanism (A13-505), and the two side connecting rods on the penicillin bottle clamping finger connecting rod mechanism (A13-505) drive two penicillin bottle clamping fingers (A13-506) arranged on a sliding block of a penicillin bottle clamping finger guide sliding rail (A13-507) to perform parallel opening and closing movement, so that a penicillin bottle is grabbed and released.
8. The vial encapsulation drug dispensing robot of claim 5, wherein: the bottle clamping finger heads (A13-511) are provided with an anti-leakage mechanism for completely wrapping the penicillin bottle clamping finger heads (A13-506) and the movable groove where the penicillin bottle clamping finger heads are located.
9. The vial encapsulation drug dispensing robot of claim 5, wherein: two rows of penicillin bottle grabbing fingers (A13-600) are arranged on the penicillin bottle grabbing robot hand (A13-500), the two rows of penicillin bottle grabbing fingers (A13-600) move independently, after one row of penicillin bottles are grabbed, the penicillin bottle lifting device (A13-300) controls the penicillin bottle grabbing robot hand (A13-500) to ascend to a certain height, the penicillin bottle rotating and swinging device (A13-400) controls the penicillin bottle grabbing robot hand (A13-500) to rotate 180 degrees, the other row of penicillin bottle grabbing fingers (A13-600) are in a vertically downward state, and grabbing of the other row of penicillin bottles is completed.
10. The vial encapsulation drug dispensing robot of claim 5, wherein: the bottle clamping fingers (A13-511) comprise bottle clamping finger pressing pins (A13-511-04) and bottle clamping finger pressing pin return springs (A13-511-05), and the bottle clamping fingers (A13-511-04) are buckled on the bottle clamping finger pressing pins (A13-511-04) and automatically clamp the bottle clamping fingers (A13-511) under the action of the bottle clamping finger pressing pin return springs (A13-511-05).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202123229720.XU CN217745057U (en) | 2021-12-21 | 2021-12-21 | XiLin bottle encapsulation medicine allotment robot |
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| CN202123229720.XU CN217745057U (en) | 2021-12-21 | 2021-12-21 | XiLin bottle encapsulation medicine allotment robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114452213A (en) * | 2021-12-21 | 2022-05-10 | 深圳市澳奇医疗机器人有限公司 | XiLin bottle encapsulation medicine full-intelligent allotment robot |
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2021
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114452213A (en) * | 2021-12-21 | 2022-05-10 | 深圳市澳奇医疗机器人有限公司 | XiLin bottle encapsulation medicine full-intelligent allotment robot |
| CN114452213B (en) * | 2021-12-21 | 2024-06-18 | 广西瀛宇科技有限公司 | Full intelligent blending robot for penicillin bottle packaged medicines |
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Effective date of registration: 20230321 Address after: No. 10-2, 10th Floor, Supporting Office Building, Nanning Ecological Industrial Park, No. 110, Zhenxing Road, Nanning City, Guangxi Zhuang Autonomous Region, 530000 Patentee after: Guangxi Yingyu Technology Co.,Ltd. Address before: 518000 a1003, building AB, Ma'anshan Jinsheng Fortune Plaza, Ma'anshan community, Shajing street, Bao'an District, Shenzhen, Guangdong Province Patentee before: Shenzhen Aoqi medical robot Co.,Ltd. |
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