CN220275955U - Automatic dispensing machine for hospitals - Google Patents

Abstract

The utility model discloses an automatic medicine dispensing machine for a hospital, which belongs to the field of medicine dispensing machines and comprises a machine case, a linear vibration medicine feeding assembly, a penicillin medicine rotary table assembly, an ampoule medicine clamp assembly, a medicine adding manipulator assembly, a six-axis manipulator clamp assembly, an infusion rotary table assembly, a front CCD (charge coupled device) camera, a rear CCD camera and a multifunctional upright post, wherein the machine case is provided with a medicine feeding mechanism; the utility model solves the problems of automation, intelligent mixing, automatic dosing, automatic replacement of syringes and the like of the tumor chemotherapeutic drugs of the hospital; the utility model adopts the cooperative coordination of the six-axis mechanical arm and the multi-axis mechanical arm, the six-axis mechanical arm is used for dispensing medicines, the multi-axis mechanical arm is used for adding medicines, the functions are complete, the efficiency is high, the structure is compact, the occupied space is small, the main devices are all standard components, the manufacturing cost is low, the stability is good, the reliability is high, and the operation is convenient.

Description

Automatic dispensing machine for hospitals

Technical Field

The utility model relates to the field of hospital dispensing machines, in particular to an automatic dispensing machine for a hospital.

Technical Field

Some hospitals must dispose tumor chemotherapeutic agents for patients every day, and the concrete operation is to mix powder injection, water injection and large transfusion together, and at present, the intravenous administration of hospitals is basically manually disposed, the tumor chemotherapeutic agents are cytotoxic drugs, which can hurt the health of dispensing groups, the manual disposition of tumor chemotherapeutic agents has low efficiency, the liquid medicine is not pumped cleanly, the disposed dose of the drugs is inaccurate, the treatment effect of patients can be affected, and expensive drugs are wasted. With the increasing of patients and dosage, the cost of people is gradually increased, and the pressure born by hospitals is increased.

For the problems, how to realize the automatic and intelligent allocation of tumor chemotherapeutics in hospitals is urgent. The automatic dispensing machine of the hospital has the advantages of improving dispensing efficiency and medicament accuracy, releasing hands of a dispensing group, relieving labor intensity of hands of the dispensing group, avoiding injury caused by hands contacting toxic medicaments in the dispensing process, protecting and caring physical and mental health of the dispensing group, providing a man-machine friendly working environment, enabling the dispensing group to have pleasant mood during working, and having spare time for more beneficial auxiliary dispensing work. The pressure of a dispensing group and a hospital can be relieved, the treatment effect of a patient is improved, and the practical significance of the innovation technology on life change is further embodied.

Disclosure of Invention

In order to solve the problems, the utility model provides the double-manipulator series automatic dispensing machine with the cooperative coordination of the six-axis manipulator and the multi-axis manipulator, wherein the six-axis manipulator is used for dispensing, the multi-axis manipulator is used for adding medicine, the functions are complete, the efficiency is high, the structure is compact, the occupied space is small, the main devices are standard components, the stability is good, the reliability is high, the manufacturing cost is low, the machine is friendly, and the operation is convenient.

In order to achieve the above purpose, the present utility model adopts the following technical scheme:

an automatic medicine liquid preparation machine for a hospital comprises a machine case, a medicine delivery assembly, a penicillin medicine rotary table assembly, an ampoule medicine clamp assembly, a medicine adding manipulator assembly, a six-axis manipulator clamp assembly, an infusion rotary table assembly, a western Lin Yao CCD camera, an ampoule medicine CCD camera and a multifunctional upright post; the medical ampoule bottle comprises a machine case, a medicine feeding assembly, a medicine feeding rotary table assembly, a multifunctional stand column, a medicine feeding mechanical arm assembly and an atomizer, wherein the machine case is provided with a clean negative pressure medicine dispensing bin, the medicine feeding assembly can convey xiLin medicine and ampoule medicine, the xiLin medicine rotary table assembly can clamp and configure the xiLin medicine, the ampoule medicine clamping assembly can clamp and configure the ampoule medicine, the medicine feeding mechanical arm assembly can clamp and transfer the xiLin medicine and the ampoule medicine to a medicine dispensing position, the six-axis mechanical arm clamping assembly comprises a cutting ampoule medicine bottle head clamp, a breaking ampoule medicine bottle head clamp and an injector drawing and injecting clamp, the transfusion rotary table assembly comprises a transfusion weighing clamp and an injector clamp, the xi Lin Yao CCD camera is used for identifying the size of a xi Lin Yaoping, the ampoule medicine CCD camera is used for identifying the size of an ampoule medicine bottle and the medicine dispensing position, the multifunctional stand column comprises the two CCD camera backlights, the monitor camera and the atomizer, and the atomizer is used for sterilizing the xiLin bottle head and the ampoule bottle; the medicine feeding assembly, the penicillin medicine rotary table assembly, the ampoule medicine clamp assembly, the medicine adding manipulator clamp assembly, the transfusion rotary table assembly, the Western Lin Yao CCD camera, the ampoule medicine CCD camera and the multifunctional upright post are all arranged on a table top of the medicine dispensing machine, the penicillin medicine rotary table assembly, the ampoule medicine clamp assembly and the table top are inclined, and the six-axis manipulator clamp assembly is suspended on the frame.

In the technical scheme, the case comprises a negative pressure liquid medicine configuration cabinet, an air outlet, an automatic door, a monitoring video display screen, an operation touch screen, an electric cabinet, a laser scanner and a control switch; the negative pressure liquid medicine configuration cabinet is provided with vertical sinking airflow passing through a high-efficiency air filter (not shown in the figure), and the vertical sinking airflow can generate negative pressure in a dispensing liquid area so as to avoid pollution to medicines and the environment and protect the health of dispensing groups; the discharge port can be connected with an exhaust duct outside the hospital, and toxic aerosol generated in the dispensing process is discharged after being filtered by a high-efficiency air filter; the automatic door can be set to be automatically opened and closed; the monitoring video display screen can display images of dispensing areas before current or tracing; the laser scanner is used to scan medicine and patient information.

In the technical scheme, the medicine delivery component comprises a linear motion device, a medicine track, penicillin medicine and ampoule medicine; the medicine feeding device is characterized in that the linear motion device is a linear vibrator, a plurality of medicine rails are arranged on the linear motion device, ampoule medicines and penicillin medicines are placed in the medicine rails, and the ampoule medicines and the penicillin medicines move forwards in the medicine rails and are conveyed to a medicine taking position of the medicine feeding mechanical arm assembly.

In the technical scheme, the penicillin medicine rotary table assembly comprises a penicillin medicine rotary table, the penicillin medicine rotary table is driven by a DD moment motor, a rotary table is arranged on the rotary device, and a plurality of sets of penicillin medicine chucks are arranged on the rotary table; a linear movement device and a push rod are arranged below the penicillin drug rotary table assembly, the linear movement device is driven by a pneumatic sliding table (not shown in the figure), and the push rod is arranged at the front end of the pneumatic sliding table; the penicillin drug clamping chuck comprises three arc-shaped penicillin drug clamping jaws, a clamping jaw opening and closing shifting fork, a central gear shaft, a second planetary gear shaft, a planetary gear long shaft and a second gear tension spring; the two planetary gear shafts and the upper ends of the long shafts of the planetary gears are provided with the arc-shaped penicillin clamping jaws; the center gear shaft is provided with the two-gear tension spring, and the other end of the two-gear tension spring is fixed on the penicillin drug clamping disc substrate; the lower end of the long axis of the planetary gear is provided with the clamping jaw opening and closing shifting fork, the linear motion device pushes out and links the ejector rod to move forwards, the clamping jaw opening and closing shifting fork can be pushed to rotate circumferentially, the clamping jaw opening and closing shifting fork links the long axis of the planetary gear, the force of the two gear tension springs is overcome by meshing the central gear shaft and the two planetary gear shafts, the three-arc-shaped penicillin clamping jaw at the upper end is opened to form a circular ring, and the medicine feeding mechanical arm assembly can clamp the penicillin to be placed in the circular ring formed by the three-arc-shaped penicillin clamping jaw; the linear motion device retreats to be linked with the ejector rod retreats, the clamping jaw opening and closing shifting fork rotates reversely and circumferentially, the clamping jaw opening and closing shifting fork is linked with the planetary gear long shaft, the center gear shaft and the two planetary gear shafts are meshed, under the action of tension force of the two gears, the three-arc-shaped penicillin clamping jaw can clamp the penicillin, the center position of the penicillin clamping plate is clamped, the penicillin turntable assembly is inclined with the table top, and liquid medicine in the penicillin bottle is concentrated and is convenient to clean.

In the technical scheme, the dosing manipulator assembly comprises a dosing manipulator turntable, a Z-axis linear electric module and an X-axis linear electric module; the dosing manipulator turntable is driven by a DD moment motor, the Z-axis linear electric module is arranged on the dosing manipulator turntable, and the X-axis linear electric module is arranged on the Z-axis linear electric module; the front end of the X-axis linear electric module is provided with an L-shaped rod, the L-shaped rod is provided with a pneumatic flexible claw and a U-shaped fork, the U-shaped fork can fork up the penicillin drug to be transferred to the penicillin drug clamping plate, and the pneumatic flexible claw can clamp the ampoule drug to be transferred between a pair of ampoule clamps.

In the technical scheme, the ampoule medicine clamp assembly comprises an ampoule electric clamp, a pair of ampoule clamping jaws and a waste bottle collecting box; the ampoule electric clamp is provided with a pair of ampoule clamping jaws, a V-shaped groove is arranged between the pair of ampoule clamping jaws and can clamp ampoule medicine, and the waste bottle collecting box can collect the penicillin medicine and the ampoule medicine empty bottle which have been dispensed; ampoule medicine by add on the medicine manipulator subassembly pneumatic gentle claw centre gripping, and transfer to centre gripping between a pair of ampoule clamping jaw, ampoule clamping subassembly and mesa slope make ampoule medicine bottle in concentrate one and be convenient for take out completely, make things convenient for ampoule empty bottle landing to in the abandonment bottle collecting box.

In the technical scheme, the transfusion turntable assembly comprises a transfusion turntable, a plurality of sets of transfusion weighing clamps, a plurality of sets of injector clamp devices, an injector and an auxiliary replacement injector device; the infusion turntable is driven by the DD moment motor, the infusion weighing clamp comprises a weighing sensor, an infusion bottle is arranged on the infusion weighing clamp, the weighing sensor weighs the weight of infusion before and after dispensing, the medicine dosage is detected to be within +/-3 percent, the industry standard is better than +/-5 percent, and the accurate medicine dosage is particularly important for treating patients; the injector clamp device comprises an injector clamp seat, a pair of injector clamping jaws, a pair of clamping jaw meshing gears and a clamping jaw tension spring; the pair of injector clamping jaws are provided with clamping jaw V-shaped grooves and clamping jaw beveling; the pair of injector clamping jaws are provided with proper openings, and the mechanical arm assembly can insert or withdraw an injector from the injector clamping seat; the injector comprises a needle cylinder butterfly wing and a piston rod T-shaped head; the auxiliary replacement injector device is arranged below the injector clamp device and comprises a vertical movement device, a taper pin and an injector needle sleeve clamp, wherein the vertical movement device is a pneumatic sliding table, and the injector needle sleeve clamp is a pneumatic finger clamp; the pair of injector clamping jaws are combined with the clamping jaw V-shaped groove, the pair of clamping jaw meshing gears and the clamping jaw tension spring, so that the injector can be clamped at an injector replacement position set by an automatic dispensing machine, and the manipulator clamping assembly can automatically replace the injector on the transfusion turntable assembly under the cooperation of an auxiliary injector replacement device.

In the technical scheme, the six-axis manipulator clamp assembly comprises an electric clamp, a drawing and injecting electric cylinder, a drawing and injecting block clamping groove, an injector seat P-shaped clamping groove, two injector U grooves, two glass bead set screws, two breaking clamps, a cutting knife and an auxiliary cutting knife; the electric clamp is provided with a two-break clamp, a cutting knife and an auxiliary cutting knife; the cutting knife and the auxiliary cutting knife form a triangle for cutting the ampoule medicine bottle neck, and the two-way breaking clamp is used for clamping and breaking the cut ampoule medicine bottle head; the side surface of the pumping and injecting electric cylinder is provided with the injector seat, an operating rod at the upper end of the pumping and injecting electric cylinder is provided with a pumping and injecting block, and the pumping and injecting block is provided with a pumping and injecting block clamping groove; the syringe seat can clamp the syringe, the syringe butterfly wing is clamped in a P-shaped clamping groove of the syringe seat, a T-shaped head of a syringe piston rod is clamped in a flat groove of the drawing and injecting block, and the drawing and injecting electric cylinder can drive the syringe piston rod to move up and down to draw and inject the prepared liquid medicine.

In the technical scheme, the multifunctional upright post comprises the western Lin Yao CCD camera backlight source, the ampoule medicine CCD camera backlight source, the monitoring camera and the atomization sterilizer; the western Lin Yao CCD camera and the ampoule medicine CCD camera are visual detection cameras, and the western Lin Yao CCD camera and the western Lin Yao CCD camera are used for detecting the specification and the size of the penicillin medicine bottle through backlight shooting; the ampoule medicine CCD camera and the ampoule medicine CCD camera are used for photographing and detecting ampoule medicine bottle specification and size through backlight sources; the monitoring camera shoots the condition of the dispensing area, and the dispensing machine monitoring system can trace the dispensing condition within 1500 hours; the atomizing sterilizer disinfects the penicillin bottle cap.

In the technical scheme, the linear motion device is driven by a medical instrument conveyor belt; the penicillin medicine rotary table, the medicine adding manipulator rotary table and the transfusion rotary table are driven by an electric rotary table; the linear movement device and the vertical movement device are electric push rods, and the syringe needle sheath clamp is an electric clamp.

The beneficial effects of the utility model are as follows:

1. the automatic dispensing machine has the functions of: (1) penicillin and ampoule can be automatically added; (2) automatically displacing the dispensing syringe; (3) ampoule medicine is automatically cut and broken off; (4) automatically mixing the penicillin and the ampoule; (5) preparing a quantitative medicament; (6) preparing quantitative transfusion medicament; (7) weighing the whole preparation medicament on line; and (8) a clean negative pressure dispensing bin. The functions solve the problems that the existing hospital manually configured tumor chemotherapeutic drugs cannot be detected inaccurately, are low in efficiency, and have occupational diseases.

2. The automatic dispensing machine has the advantages of complete functions, high efficiency, compact structure and small volume, and the main devices are all standard components, so that the automatic dispensing machine has low manufacturing cost, good stability, high reliability and convenient operation; because the area of the tumor chemotherapeutic medicine allocation room of the static allocation center of the general hospital is smaller, the miniaturized and fully functional automatic medicine allocation machine is more suitable for the requirements of hospitals.

3. The automatic dispensing machine has the advantages that the dispensing is accurate, the treatment effect of patients can be improved, the occupational injury and labor intensity of a dispensing group are reduced, the working mood of the dispensing group is pleasant due to a friendly man-machine operation mode, more beneficial dispensing auxiliary work is carried out in the free time, the physical and mental health of the dispensing group is protected and cared, and the great significance of the innovation technology to social progress is embodied.

Drawings

FIG. 1 is a schematic diagram of a chassis according to the present utility model

FIG. 2 is a schematic view of the dispensing assembly of the present utility model-1

FIG. 3 is a schematic view of the dispensing assembly of the present utility model-2

FIG. 4 is a schematic diagram of a drug delivery assembly according to the present utility model

FIG. 5 is a schematic view of a rotary table assembly for penicillin drugs according to the present utility model

FIG. 6 is a schematic view of the structure of the chemical feeding manipulator assembly of the present utility model

FIG. 7 is a schematic view of the structure of the infusion turntable assembly of the present utility model

FIG. 8 is a schematic view-1 of the structure of the penicillin drug clamping plate of the present utility model

FIG. 9 is a schematic view-2 of the structure of the cartridge for penicillin drugs according to the present utility model

FIG. 10 is a schematic view of the ampoule clip assembly of the present utility model

FIG. 11 is a schematic view-1 of a six-axis manipulator clamp assembly according to the present utility model

FIG. 12 is a schematic view of a six-axis manipulator clamp assembly of the present utility model-2

FIG. 13 is a schematic view of a syringe clip assembly of the present utility model-1

FIG. 14 is a schematic view of a syringe clip assembly of the present utility model-2

FIG. 15 is a schematic view of the structure of the auxiliary replacement syringe device of the present utility model

FIG. 16 is a schematic view of a multi-functional column structure of the present utility model

FIG. 17 is a schematic view of the structure of the syringe of the present utility model

The components of the drawing are as follows: 1. a chassis; 11. a negative pressure liquid medicine preparing cabinet; 12. an air outlet; 12. an automatic door; 14. monitoring a video display screen; 15. operating the touch screen; 16. an electric control box; 17. a laser scanner; 18. a control switch; 2. a drug delivery assembly; 21. a linear motion device; 22. a drug track; 23. a penicillin drug; 24. ampoule medicine; 3. a penicillin drug turret assembly; 31. comprises a penicillin medicine rotary table; 32. a turntable; 33. a penicillin drug chuck; 34. a linear motion device; 35. a push rod; 331. arc penicillin medicine clamping jaws; 332. a clamping jaw opening and closing shifting fork; 333. a sun gear shaft; 334. a planetary gear shaft; 335. planetary gear long shaft 336, gear tension spring; 4. an ampoule clip assembly; 41. an ampoule electric clamp; 42. ampoule clamping jaws; 43. a discard bottle collection box; 5. a dosing manipulator assembly; 51. a turntable of a dosing manipulator; 52. a Z-axis linear electric module; 53. an X-axis linear electric module; 54. an L-shaped rod; 55. pneumatic flexible claws; 56. a U-shaped fork; 6. a six-axis manipulator clamp assembly; 601. an electric clamp; 602. pumping and injecting an electric cylinder; 603. drawing and injecting blocks; 604. drawing and injecting block clamping grooves; 605. a syringe seat; 606. a P-shaped clamping groove of the injector seat; 607. a syringe U-groove; 608. two glass bead set screws; 609. clamping with fingers; 610. a cutting knife; 611. an auxiliary cutting knife; 7. an infusion turntable assembly; 71. an infusion rotary table; 72. an infusion weighing clamp; 73. an infusion bag; 74. a syringe clip device; 741. a syringe holder; 742. a syringe jaw; 743. the clamping jaw is meshed with the gear; 744. a jaw V-shaped groove; 745. a clamping jaw tension spring; 746. chamfering the clamping jaw; 75. a syringe; 751. a cylinder butterfly wing; 752. a piston rod T-shaped head; 753. a syringe needle sheath; 76. an auxiliary replacement syringe device; 761. a vertical movement device; 762. taper pin; 763. a syringe needle sheath clip; 8. a western Lin Yao CCD camera; 9. ampoule medicine CCD camera; 10. a multifunctional upright post; 101. a western Lin Yao CCD camera backlight; 102. ampoule medicine CCD camera backlight source; 103. monitoring a camera; 104. an atomizing sterilizer.

Detailed Description

In order to further explain the above objects, aspects and effects of the present utility model, the present utility model will be described below by way of examples with reference to the accompanying drawings and the related known technical knowledge.

Embodiment one:

as shown in fig. 1, the case 1 includes therein a negative pressure medical fluid preparing cabinet 11, an air outlet 12, an automatic door 13, a monitoring video display screen 14, an operation touch screen 15, an electric cabinet 16, a laser scanner 17 and a control switch 18; the negative pressure liquid medicine preparing cabinet 11 is provided with vertical sinking airflow through a high-efficiency air filter (not shown in the figure), and the vertical sinking airflow can generate negative pressure in a liquid medicine preparing area so as to prevent medicines and the environment from being polluted and protect the health of operators; the discharge port 12 can be connected with an exhaust duct outside the hospital, and toxic aerosol generated in the dispensing process is discharged after being filtered by a high-efficiency air filter (not shown in the figure); the automatic door 13 may be provided to be automatically opened and closed; the monitoring video display screen 14 can display images of the dispensing area before current or retrospective; the laser scanner 17 is used to scan medicine and patient information; the automatic medicine dispensing machine is in seamless connection with the HIS or PIVAS system of the hospital, the automatic medicine dispensing machine scans patient information bar codes on infusion bags during medicine dispensing, an operation screen displays that the patient information bar codes are identical to information of the HIS or PIVAS system, the automatic medicine dispensing machine can start medicine dispensing, information checking is different, and the automatic medicine dispensing machine cannot start medicine dispensing flow.

As shown in fig. 2 and 3, the automatic medicine liquid dispensing machine for hospitals comprises a machine case 1, a medicine feeding assembly 2, a penicillin medicine rotary table assembly 3, an ampoule medicine clamp assembly 4, a medicine adding mechanical arm assembly 5, a six-axis mechanical arm clamp assembly 6, an infusion rotary table assembly 7, a western Lin Yao CCD camera 8, an ampoule medicine CCD camera 9 and a multifunctional upright post 10; the medical ampoule dispensing machine comprises a machine case 1, a medicine conveying component 2, an ampoule medicine rotary table component 3, an ampoule medicine clamping component 4, a medicine adding mechanical arm component 5, a six-axis mechanical arm component 6, an ampoule medicine bottle head clamping and an injector drawing and injecting clamp, wherein the medicine conveying component 2 can convey the ampoule medicine and the ampoule medicine, the ampoule medicine rotary table component 3 can clamp and configure the ampoule medicine, the ampoule medicine clamping component 4 can clamp and configure the ampoule medicine, the medicine adding mechanical arm component 5 can clamp and move the ampoule medicine 23 and the ampoule medicine 24 to a dispensing position, the six-axis mechanical arm component 6 comprises an ampoule medicine bottle head clamping, an ampoule medicine bottle head clamping and an injector drawing and injecting clamp, the transfusion rotary table component 7 comprises a transfusion weighing clamp and an injector clamping, the western Lin Yao CCD camera 8 is used for identifying the size of a western Lin Yaoping, the ampoule medicine CCD camera 9 is used for identifying the size and the bottleneck position of the ampoule medicine bottle, the multifunctional upright post 10 comprises the two CCD camera backlights 101 and 102, a monitoring camera 103 and an atomizing sterilizer 104, the monitoring the dispensing area condition is used for sterilizing the ampoule bottle head and the ampoule bottle neck; the medicine delivery assembly 2, the penicillin medicine rotary table assembly 3, the ampoule medicine clamp assembly 4, the medicine adding manipulator clamp assembly 5, the transfusion rotary table assembly 7, the western Lin Yao CCD camera 8, the ampoule medicine CCD camera 9 and the multifunctional upright post 10 are all arranged on the table top of the medicine dispensing machine, the penicillin medicine rotary table assembly 3, the ampoule medicine clamp assembly 4 and the table top are inclined, and the six-axis manipulator clamp assembly 6 is suspended on a frame (not shown in the figure).

As shown in fig. 4, the drug delivery assembly 2 includes a linear motion device 21, a drug track 22, a penicillin drug 23, and an ampoule drug 24; the linear motion device 21 is a linear vibrator, a plurality of medicine rails 22 are arranged on the linear motion device 21, ampoule medicine 23 and penicillin medicine 24 are placed in the medicine rails 22, and the ampoule medicine 23 and the penicillin medicine 24 move forward in the medicine rails 22 and move to the medicine taking position of the medicine adding mechanical arm assembly 5.

As shown in fig. 5, 8, 9 and 12, the penicillin medicine rotary table assembly 3 comprises a penicillin medicine rotary table 31, the penicillin medicine rotary table 31 is driven by a DD moment motor, a rotary table 32 is arranged on the rotary device 31, and a plurality of sets of penicillin medicine chucks 33 are arranged on the rotary table 32; a linear movement device 34 and a push rod 35 are arranged below the penicillin drug rotary table assembly 3, the linear movement device 34 is driven by a pneumatic sliding table (not shown in the figure), and the push rod 35 is arranged at the front end of the pneumatic sliding table; the penicillin chuck 33 comprises a three-arc-shaped penicillin clamping jaw 331, a clamping jaw opening and closing shifting fork 332, a central gear shaft 333, a second planetary gear shaft 334, a planetary gear long shaft 335 and a second gear tension spring 336; the upper ends of the two planetary gear shafts 334 and the planetary gear long shafts 335 are provided with arc-shaped penicillin clamping claws 331; the center gear shaft 333 is provided with a two-gear tension spring 336, and the other end of the two-gear tension spring 336 is fixed on the substrate of the penicillin drug chuck 33; the lower end of the planetary gear long shaft 335 is provided with a clamping jaw opening and closing shifting fork 332, the linear motion device 34 pushes out the linkage ejector rod 325 to move forward, the clamping jaw opening and closing shifting fork 332 can be pushed to rotate circumferentially, the clamping jaw opening and closing shifting fork 332 is linked with the planetary gear long shaft 335, the upper end three-arc penicillin clamping jaw 331 is opened to form a circular ring by overcoming the force of a two-gear tension spring 336 through meshing with a central gear shaft 333 and two planetary gear shafts 334, and the penicillin 24 is clamped by the feeding mechanical arm assembly 5 and is placed into a circular ring formed by the three-arc penicillin clamping jaw 231; the linear movement device 34 retreats to the linkage ejector rod 35, the clamping jaw opening and closing shifting fork 332 performs reverse circumferential rotation, the clamping jaw opening and closing shifting fork 332 links to the planetary gear long shaft 335, the three-arc-shaped penicillin clamping jaw 331 can clamp the penicillin 23 on the center of the penicillin chuck 33 under the action of the force of the two-gear tension spring 336 through the meshing of the central gear shaft 333 and the two planetary gear shafts 334, the six-axis mechanical arm clamping assembly 6 which is moved to the upper part of the penicillin chuck 33 can be configured with the Western Lin Yaoji, and the penicillin turntable assembly 3 and the table top incline, so that the concentrated liquid medicine in the penicillin 23 bottle is convenient to be pumped.

As shown in fig. 6 and 10, the dosing manipulator assembly 5 includes a dosing manipulator turret 51, a Z-axis linear electric module 52, and an X-axis linear electric module 53; the dosing manipulator turntable 51 is driven by a DD moment motor, a Z-axis linear electric module 52 is arranged on the dosing manipulator turntable 51, and an X-axis linear electric module 53 is arranged on the Z-axis linear electric module 52; the front end of the X-axis linear electric module 53 is provided with an L-shaped rod 54, the L-shaped rod 54 is provided with a pneumatic flexible claw 55 and a U-shaped fork 56, the U-shaped fork 56 can fork the penicillin 23 to be transferred onto the penicillin chuck 33, and the pneumatic flexible claw 55 can clamp the ampoule 24 to be transferred between a pair of ampoule clamps 42.

As shown in fig. 6, 10 and 12, the ampoule clamp assembly 4 includes an ampoule electric clamp 41, a pair of ampoule clamping jaws 42 and a waste bottle collection box 43; the electric clamp 41 is provided with a pair of ampoule clamping jaws 42, a V-shaped groove is arranged between the pair of ampoule clamping jaws 42 and can clamp ampoule medicine 23, and the waste bottle collecting box 43 can collect empty bottles of the penicillin medicine 23 and the ampoule medicine 24 which are dispensed; ampoule medicine 24 is held by pneumatic bird mouth 55 on the dosing manipulator assembly 5 to transfer to ampoule clamping jaw 42 centre gripping, six-axis manipulator clamp assembly 6 move to ampoule clamp assembly 4 top and cut, break ampoule medicine bottle head off with the fingers and thumb, and extract ampoule medicine liquid, ampoule clamp assembly 4 and mesa slope, make ampoule medicine 24 bottle in the medicine liquid concentrate one and be convenient for take out completely, make things convenient for ampoule empty bottle landing to in the abandonment bottle collecting box 43.

As shown in fig. 11 and 12, the six-axis manipulator clamp assembly 6 comprises an electric clamp 601, a drawing and injecting cylinder 602, a drawing and injecting block 603, a drawing and injecting block clamping groove 604, a syringe seat 605, a syringe seat P-shaped clamping groove 606, a two-syringe U groove 607, a two-glass bead set screw 608, a two-glass bead breaking clamp 609, a cutting knife 610 and an auxiliary cutting knife 611; the electric clamp 601 is provided with a two-break clamp 609, a cutting knife 610 and an auxiliary cutting knife 611; the outer diameter of the injector 75 is matched with the inner diameter of the two-injector U-groove 607, when the injector 75 is clamped into the two-injector U-groove 607, the two-glass bead set screw 608 can radially fix the outer diameter of the injector 75, and the injector 75 can be pulled out of the two-injector U-groove 607 by a human hand, so that the aim of replacing the injector 75 on the injector clamp device 7 by the six-axis mechanical arm clamp assembly 6 can be achieved; the cutting knife 610 and the auxiliary cutting knife 611 form a triangle for cutting the bottleneck of the ampoule medicine 24, and the two-way breaking clamp 609 is used for clamping and breaking off the cut ampoule medicine 24; the side surface of the drawing and injecting electric cylinder 602 is provided with an injector seat 605, an operating rod at the upper end of the drawing and injecting electric cylinder 602 is provided with a drawing and injecting block 603, and the drawing and injecting block 603 is provided with a drawing and injecting block clamping groove 604; the injector seat 605 clamps the injector 75, the needle cylinder butterfly wing 751 is clamped in the injector seat P-shaped clamping groove 606, the T-shaped head of the piston rod of the injector 75 is clamped in the flat groove 604 of the drawing and injecting block, the drawing and injecting cylinder 602 can drive the piston rod of the injector 75 to move up and down, and the injector 75 can draw and inject the prepared liquid medicine.

As shown in fig. 7, 13, 14, 15 and 17, the infusion turntable assembly 7 includes an infusion turntable 71, a plurality of sets of infusion weighing clips 72, a plurality of sets of syringe clip devices 74, a syringe 75 and an auxiliary replacement syringe device 76; the infusion turntable 71 is driven by a DD moment motor, the infusion weighing clamp 72 comprises a weighing sensor (not shown in the figure), and an infusion bottle 73 is arranged on the infusion weighing clamp 72; the syringe clamp device 74 includes a syringe clamp 741, a pair of syringe clamp jaws 742, a pair of jaw engagement gears 743, and a jaw tension spring 745; a pair of syringe clamping jaws 742 having a jaw V-shaped groove 744 and a jaw bevel 746, the pair of syringe clamping jaws 742 having a suitable opening through which the syringe 75 can be inserted or removed from the syringe holder 741 by the manipulator assembly 6; the injector 75 includes a syringe butterfly fin 751, a plunger rod T-head 752, and an injector needle sleeve 753; the auxiliary replacement syringe device 76 is disposed below the syringe clip device 74 and includes a vertical movement device 761 and taper pins 762 and a syringe needle clip 763, the vertical movement device 761 being a pneumatic slide, the syringe needle clip 763 being a pneumatic finger clip.

When the syringe 75 needs to be automatically replaced, the manipulator assembly 6 inserts the syringe 75 to be replaced along with the syringe holder 605 into the syringe clamping device 74, the vertical movement device 761 is linked with the taper pins 762 to be inserted into the jaw bevels 746 provided on the pair of syringe jaws 742, the generated pair of lever resultant forces clamp the syringe 75, the clamping force is larger than the radial holding force of the two-glass bead set screw 608 on the syringe 75, when the manipulator assembly 6 is withdrawn, the syringe to be replaced is clamped on the syringe clamping device 74, and the vertical movement device 761 is linked with the taper pins 762 to be retracted. The infusion turret assembly 7 is rotated to the next syringe gripper device 74 (gripping an unused syringe 75); the six-axis mechanical arm clamp assembly 6 inserts the injector seat 605 into the injector clamp device 74, the two-glass bead set screw 608 radially holds the injector 75 in the two-injector U groove 607, and the radial holding force generated by the two-glass bead set screw 608 on the injector 75 is larger than the holding force of the clamping jaw tension spring 745 on the injector 75; when the manipulator assembly 6 is withdrawn, the syringe holder 605 holds the syringe 75 while being withdrawn; at this time, the vertical movement device 761 moves up with the taper pin 762, the air clip 763 clips the syringe needle sheath 753, the vertical movement device 761 moves down with the taper pin 763, the air clip 762 clips the syringe needle sheath 753 to pull out from the syringe 75, and the automatic dispensing machine enters the next dispensing process.

As shown in fig. 16, the multifunctional pillar 10 includes a western Lin Yao CCD camera backlight 101 and an ampoule CCD camera backlight 102, a monitoring camera 103, and an atomizing sterilizer 104; the western Lin Yao CCD camera 8 and the ampoule CCD camera 9 are visual inspection cameras.

The embodiment provides a hospital automatic dispensing machine, in use, penicillin 23 and ampoule 24 are manually placed into a medicine rail 22, a 6 infusion bag 73 is manually clamped on an infusion weighing clamp 72, and 6 syringes 76 are manually clamped on a syringe clamping device 74; the six-axis manipulator clamp assembly 6 moves to the syringe replacement position (set) of the transfusion turntable assembly 7 to clamp the syringe 75, the pneumatic clamp 763 clamps and pulls out the syringe needle sleeve 753, the six-axis manipulator assembly moves the syringe 75 to the liquid medicine drawing and injecting position (set) above the transfusion bag 73, and the six-axis manipulator assembly 6 inserts the needle (not shown in the figure) of the syringe 75 below the liquid surface of the transfusion bag 73 to draw liquid medicine; simultaneously, the U-shaped fork 56 on the medicine feeding mechanical arm 5 moves to a position (set) where the medicine feeding assembly 2 forks the penicillin medicine 23, the forked penicillin medicine 23 moves to a position above the penicillin medicine clamping plate 33, the penicillin medicine is matched with the position (set), the penicillin medicine 23 is placed into the penicillin medicine clamping plate 33 (the three arc clamping jaws 331 are opened in advance) to be clamped, and the U-shaped fork 56 is moved away; simultaneously, the six-axis mechanical arm assembly 6 moves the syringe 75 to the position above the penicillin drug clamping disc 33 to prepare the penicillin drug (set), the needle of the syringe 75 is inserted into the penicillin drug bottle, meanwhile, the piston rod of the syringe 75 moves up and down, and the liquid medicine extracted from the syringe 75 is used as a solvent to impact and melt the western Lin Yaofen for a plurality of times; when the six-axis mechanical arm assembly 6 is used for preparing the medicine 23 powder, the pneumatic flexible claw 55 on the medicine adding mechanical arm 5 moves to the clamping position (set) of the ampoule medicine 24 of the medicine feeding assembly 2, the pneumatic flexible claw 55 clamps the ampoule medicine 24 and moves to the ampoule clamping assembly 4 (the two ampoule clamping claws 42 are opened in advance) to clamp, and the U-shaped fork 56 on the medicine adding mechanical arm 5 moves to the position (set) of discarding the ampoule medicine; simultaneously, the six-axis mechanical arm assembly 6 completes the process of preparing and dissolving the penicillin Lin Yaofen, and pumps out the dissolved penicillin liquid medicine, the six-axis mechanical arm assembly 6 lifts the syringe 75, simultaneously the syringe needle sticks to the penicillin medicine bottle (because the friction coefficient of glass is very small, the adhesion force of the nitrile rubber cover to the needle is larger than the clamping force of the two-gear tension spring 336 to the penicillin bottle), and the penicillin medicine bottle moves to the position where the U-shaped fork 56 on the medicine adding mechanical arm 5 reaches the penicillin medicine bottle fork in advance (the needle is in the middle of the U-shaped fork, the penicillin medicine bottle is below the U-shaped fork), the penicillin medicine bottle lifted by the six-axis mechanical arm assembly 6 is blocked by the U-shaped fork when the syringe 75 is lifted, and the penicillin medicine bottle is separated from the syringe needle and falls into the waste bottle collecting box 43 below; the six-axis mechanical arm assembly 6 moves the cutting knife 610 and the auxiliary cutting knife 611 which are arranged in a triangle to the bottleneck position (set) of the ampoule medicine 24 clamped by the ampoule clamp assembly 4, cuts the bottleneck of the ampoule medicine 24, moves the two-axis mechanical arm assembly 6 to the ampoule medicine 24 bottle head breaking position (set), clamps and breaks the bottle head of the ampoule medicine 24, and the six-axis mechanical arm assembly 6 moves the needle head of the injector 75 to insert the ampoule medicine 24 bottle to pump the liquid medicine; the two ampoule clamping jaws 42 are opened, and the ampoule medicine empty bottle slides into the waste bottle collecting box 43; simultaneously, the six-axis mechanical arm assembly 6 moves the needle of the syringe 75 to the position above the infusion bag 73 for drawing and injecting the liquid medicine, the six-axis mechanical arm assembly 6 inserts the needle of the syringe 75 into the infusion bag 73, and the penicillin liquid medicine and the ampoule liquid medicine drawn in the syringe 75 are all injected into the infusion bag 73; the rest of the medicaments can be configured by repeating the steps.

Embodiment two:

the present embodiment provides a hospital automatic dispensing machine, and the difference between the hospital automatic dispensing machine provided in the first embodiment is that:

the linear motion device is driven by a medical instrument conveyor belt, the penicillin medicine turntable, the medicine adding manipulator turntable and the transfusion turntable are driven by an electric turntable, the linear motion device and the vertical motion device are electric push rods, and the syringe needle sleeve clamp is an electric clamp.

The embodiment provides a hospital automatic dispensing machine, and the rest components are the same as those of the hospital automatic dispensing machine provided in the first embodiment, and are described in detail in the first embodiment.

The foregoing detailed description of the embodiments is provided to facilitate the understanding and use of the utility model by those skilled in the art. It will be apparent to those skilled in the art that various modifications can be made to these embodiments and that the general principles described herein may be applied to other embodiments without the need for inventive faculty. Therefore, the present utility model is not limited to the above-described embodiments, and those skilled in the art, based on the present disclosure, should make improvements and modifications without departing from the scope of the present utility model.

Claims (10)

1. The automatic medicine dispensing machine for the hospital is characterized by comprising a machine case (1), a medicine feeding assembly (2), a penicillin medicine rotary table assembly (3), an ampoule medicine clamp assembly (4), a medicine adding mechanical arm assembly (5), a six-axis mechanical arm clamp assembly (6), an infusion rotary table assembly (7), a western Lin Yao CCD camera (8), an ampoule medicine CCD camera (9) and a multifunctional upright post (10); the medical infusion device comprises a machine case (1), a medicine feeding component (2) and an ampoule medicine feeding component (3), an ampoule medicine clamping component (4), a medicine feeding mechanical arm component (5) and a multifunctional stand column (10), wherein the machine case (1) is provided with a clean negative pressure medicine dispensing bin, the medicine feeding component (2) can convey the ampoule medicine and the ampoule medicine, the ampoule medicine rotating table component (3) can clamp and configure the ampoule medicine (23), the ampoule medicine clamping component (4) can clamp and configure the ampoule medicine (24), the medicine feeding mechanical arm component (5) can clamp and transfer the ampoule medicine (23) and the ampoule medicine (24), the six-axis mechanical arm clamping component (6) comprises an ampoule medicine bottle head clamp cutting, an ampoule medicine bottle head clamp breaking off and an injector drawing and injecting clamp, the transfusion rotating table component (7) comprises a transfusion weighing clamp and an injector clamp, the western Lin Yao CCD camera (8) is used for identifying the specification size of the ampoule medicine (23), the ampoule medicine CCD camera (9) is used for identifying the specification size and the bottleneck position of the ampoule medicine (24), and the multifunctional stand column (10) comprises the ampoule medicine Lin Yao CCD camera backlight source, a monitoring head and an atomizer; the medicine feeding assembly (2), the penicillin medicine rotary table assembly (3), the ampoule medicine clamp assembly (4), the medicine feeding manipulator assembly (5), the transfusion rotary table assembly (7), the western Lin Yao CCD camera (8), the ampoule medicine CCD camera (9) and the multifunctional upright column (10) are all arranged on a table top of the medicine dispensing machine, the penicillin medicine rotary table assembly (3), the ampoule medicine clamp assembly (4) and the table top are inclined, and the six-axis manipulator clamp assembly (6) is suspended on the frame.

2. The automatic dispensing machine for hospitals according to claim 1, wherein the machine box (1) comprises a negative pressure liquid medicine configuration cabinet (11), an air outlet (12), an automatic door (13), a monitoring video display screen (14), an operation touch screen (15), an electric cabinet (16), a laser scanner (17) and a control switch (18); the negative pressure liquid medicine configuration cabinet (11) is provided with vertical sinking airflow passing through a high-efficiency air filter, and the vertical sinking airflow can generate negative pressure in a dispensing liquid area so as to prevent medicines and the environment from being polluted and protect the health of dispensing groups.

3. A hospital automatic dispensing machine according to claim 1, characterized in that said delivery assembly (2) comprises a rectilinear motion device (21), a drug track (22), a penicillin drug (23) and an ampoule drug (24); the medicine feeding device is characterized in that the linear motion device (21) is a linear vibrator, a plurality of medicine rails (22) are arranged on the linear motion device (21), the penicillin medicine (23) and the ampoule medicine (24) are placed in the medicine rails (22), the penicillin medicine (23) and the ampoule medicine (24) move forwards in the medicine rails (22) and are conveyed to the medicine taking position of the medicine feeding mechanical arm assembly (5).

4. A hospital automatic dispensing machine according to claim 3, characterized in that the penicillin drug turntable assembly (3) comprises a penicillin drug turntable (31), the penicillin drug turntable (31) is driven by a DD torque motor, a turntable (32) is arranged on the penicillin drug turntable (31), and a plurality of sets of penicillin drug chucks (33) are arranged on the turntable (32); a linear movement device (34) and a push rod (35) are arranged below the penicillin drug rotary table assembly (3), the linear movement device (34) is driven by a pneumatic sliding table, and the push rod (35) is arranged at the front end of the pneumatic sliding table; the penicillin drug clamping chuck (33) comprises a three-arc-shaped penicillin drug clamping jaw (331), a clamping jaw opening and closing shifting fork (332), a central gear shaft (333), a two-planetary gear shaft (334), a planetary gear long shaft (335) and a two-gear tension spring (336); the upper ends of the two planetary gear shafts (334) and the long planetary gear shafts (335) are provided with the arc-shaped penicillin clamping jaw (331); the center gear shaft (333) is provided with the two-gear tension spring (336), and the other end of the two-gear tension spring (336) is fixed on the substrate of the penicillin drug clamping disc (33); the lower end of the planetary gear long shaft (335) is provided with the clamping jaw opening and closing shifting fork (332); the penicillin medicine rotary table assembly (3) is inclined with the table top, so that the liquid medicine in the penicillin medicine (23) bottle is concentrated at one place for convenient pumping.

5. A hospital automatic dispensing machine according to claim 4, characterized in that said dosing manipulator assembly (5) comprises a dosing manipulator turret (51), a Z-axis linear electric module (52) and an X-axis linear electric module (53); the dosing manipulator turntable (51) is driven by a DD moment motor, the dosing manipulator turntable (51) is provided with the Z-axis linear electric module (52), and the Z-axis linear electric module (52) is provided with the X-axis linear electric module (53); the front end of the X-axis linear electric module (53) is provided with an L-shaped rod (54), and the L-shaped rod (54) is provided with a pneumatic flexible claw (55) and a U-shaped fork (56).

6. A hospital automatic dispensing machine according to claim 1, characterized in that said ampoule clamp assembly (4) comprises an ampoule electric clamp (41), a pair of ampoule clamping jaws (42) and a waste bottle collection box (43); be equipped with a pair of ampoule clamping jaw (42) on ampoule electronic clamp (41), be equipped with V-arrangement groove centre gripping in the middle of a pair of ampoule clamping jaw (42) ampoule medicine (24), ampoule medicine presss from both sides subassembly (4) and mesa slope, make ampoule medicine (24) bottle in the liquid medicine concentrate one and be convenient for take out, make things convenient for ampoule empty bottle landing to in abandonment bottle collection box (43).

7. A hospital automatic dispensing machine according to claim 5, characterized in that said infusion turret assembly (7) comprises an infusion turret (71), a plurality of sets of infusion weighing clamps (72), a plurality of sets of syringe clamp devices (74), a syringe (75) and an auxiliary replacement syringe device (76); the infusion weighing clamp (72) comprises a weighing sensor, and an infusion bottle (73) is arranged on the infusion weighing clamp (72); the syringe clamp device (74) comprises a syringe clamp seat (741), a pair of syringe clamping jaws (742), a pair of clamping jaw meshing gears (743) and a clamping jaw tension spring (745); the pair of injector clamping jaws (742) are provided with a clamping jaw V-shaped groove (744) and a clamping jaw beveling (746); the injector (75) comprises a syringe butterfly wing (751) and a plunger rod T-shaped head (752); the auxiliary replacement injector device (76) is arranged below the injector clamp device (74) and comprises a vertical movement device (761), a taper pin (762) and an injector needle clamp (763), wherein the vertical movement device (761) is a pneumatic sliding table, and the injector needle clamp (763) is a pneumatic finger clamp.

8. The automatic dispensing machine for hospitals according to claim 1, wherein the six-axis manipulator clamp assembly (6) comprises an electric clamp (601), a drawing and injecting cylinder (602), a drawing and injecting block (603), a drawing and injecting block clamping groove (604), a syringe seat (605), a syringe seat P-shaped clamping groove (606), two syringe U-shaped grooves (607), two glass bead set screws (608), two breaking clamps (609), a cutting knife (610) and an auxiliary cutting knife (611); the electric clamp (601) is provided with a two-way clamp (609), a cutting knife (610) and an auxiliary cutting knife (611); the cutting knife (610) and the auxiliary cutting knife (611) form a triangle for cutting the ampoule medicine (24) bottleneck, and the two-way breaking clamp (609) is used for clamping and breaking off the cut ampoule medicine (24) bottle head; the side of the drawing and injecting electric cylinder (602) is provided with the injector seat (605), the upper end operating rod of the drawing and injecting electric cylinder (602) is provided with a drawing and injecting block (603), and the drawing and injecting block (603) is provided with a drawing and injecting block clamping groove (604).

9. The automatic dispensing machine of claim 1, wherein the multifunctional upright (10) comprises a western Lin Yao CCD camera backlight (101), an ampoule CCD camera backlight (102), a monitoring camera (103) and an aerosolizing sterilizer (104); the western Lin Yao CCD camera (8) and the ampoule medicine CCD camera (9) are vision detection cameras.

10. A hospital automatic dispensing machine according to claim 7, characterized in that said rectilinear motion devices (21) are driven by a conveyor belt of medical devices; the penicillin medicine rotary table (31), the medicine adding manipulator rotary table (51) and the transfusion rotary table (71) are driven by an electric rotary table; the linear motion device (34) and the vertical motion device (761) are electric push rods, and the syringe needle sheath clamp (763) is an electric clamp.