TW201900361A - Automatic medication dispensing device - Google Patents

Abstract

An automatic medication dispensing device, comprising: an input module, a vial or ampoule opening module, an interactive module, a solvent module, a peristaltic pump module, a refuse compartment module, a window raising and lowering component, and a control module. The input module, the vial or ampoule opening module, the interactive module, the solvent module, and the peristaltic pump module are provided inside a medication dispensing cavity that is located at an upper portion of the automatic medication dispensing device. The refuse compartment module and the window raising and lowering component are provided inside a supporting cavity that is located below the medication dispensing cavity. The automatic medication dispensing device can automatically realize injecting fluid into a vial and dissolving medication therein, opening an ampoule and drawing liquid medication therefrom, and discarding an empty vial or ampoule and a used needle into a refuse compartment after completing medication dispensing, thereby automatically performing the entire process of dispensing medication. The automatic medication dispensing device improves efficiency in medication dispensing and also prevents potential liquid medication contamination due to human handling, thereby improving safety.

Description

Automatic dispensing device

The invention relates to the field of medical technology. More specifically, the present invention relates to an automatic dispensing device.

At present, in the preparation of intravenous infusion solutions, the way in which the hospital formulates drugs is mainly handled manually by the medical staff. The nurses select the drugs, solvents, etc. required for the dispensing according to the prescription issued by the doctor, and manually prepare the liquid. This method of manually dispensing a pharmaceutical liquid consumes a large amount of time and effort of the nursing staff, and the nursing staff is exposed to various medicines and solvents for a long time, which greatly increases the work risk of the nursing staff. Moreover, during the dispensing process, due to repeated dissolution, drug absorption, injection and other processes, it is easy to contaminate the drug solution, which also has a great negative impact on the safety of clinical drugs.

In order to solve the above problems, it is necessary to develop a device capable of automatically completing the dispensing process, by which the dispensing process of the drug, the dilution, the bottle opening of the ampoule, and the like can be automatically completed, thereby enabling the medical staff to The tedious work is liberated, and the use of this device can also improve the efficiency of dispensing operations and reduce the risk of contamination of the drug solution during repeated operations.

Therefore, there is a need to develop an automatic dispensing device that can automatically complete the formulation of a drug.

Therefore, in view of the above problems, an object of the present invention is to provide an automatic dispensing device by which the dispensing process of the drug is automatically completed, the efficiency and safety of the dispensing operation are improved, and the workload of the medical staff is greatly reduced.

To this end, the present invention provides an automatic dispensing device, which may include a control module, an input module, a bottle opening module, an interaction module, a solvent module, a peristaltic pump module, a trash can module, and a lifting window. The component, wherein the input module, the bottle opening module, the interaction module, the solvent module and the peristaltic pump module are disposed in a dispensing chamber in an upper portion of the automatic dispensing device, and the garbage bin module and the lifting window assembly are disposed Located in a support cavity below the dispensing chamber; one side of the dispensing chamber is opened and closed by the lifting window assembly, and the input module, the peristaltic pump module and the solvent module are adjacent to the dispensing chamber. Open and closed side settings;

The input module is configured to receive and fix a medicine bottle of a medicine to be prepared;

The bottle opening module is used for cutting the bottle head of the ampoule to open the ampoule;

The interaction module is used for clamping and moving a medicine bottle and a needle for a medicine to be prepared;

The solvent module is used for fixing, clamping, and moving a solvent bag of a solvent;

The peristaltic pump module is used for controlling the action of the dispenser and performing the liquid suction;

The garbage bin module is configured to collect waste medicine bottles and discarded needles generated during the dispensing process;

The control module is electrically connected to the lifting window assembly, the input module, the bottle opening module, the interaction module, the solvent module, the peristaltic pump module, and the garbage bin module, and controls the operation of the modules.

According to an embodiment of the present invention, the automatic dispensing device further includes a rotary scanning assembly disposed in the dispensing chamber for scanning identification of a vial to be dispensed.

According to another embodiment of the present invention, the lifting window assembly may include a mounting mechanism, glass, a guiding mechanism for guiding the movement of the glass, and a first driving mechanism for driving the glass to move along the guiding mechanism. The guiding mechanism is fixed on the mounting mechanism for fixing and supporting the guiding mechanism and the first driving mechanism, and the lifting window assembly opens and closes the dispensing chamber by movement of the glass .

According to another embodiment of the present invention, the input module includes a rotating mechanism and a claw mechanism, the rotating mechanism is annular and is provided with a plurality of holes for placing the vial, and the claw mechanism is disposed at The rotation mechanism is bored to receive and secure the vial.

Further, the input module further includes a shaking mechanism for driving the rotating mechanism to shake to shake the vial.

According to another embodiment of the present invention, the bottle opening module comprises an ampoule holding assembly, an ampoule cutting assembly and a breaking assembly, the ampoule holding assembly for fixing a portion below the bottle neck of the ampoule, An ampoule cutting assembly is used to cut the neck of the ampoule, which is used to break the portion above the bottleneck of the ampoule.

Further, the bottle opening module further comprises an ampoule opening bottle detecting component, the ampoule opening bottle detecting component comprising a first light source unit, a first image unit and an alarm unit.

According to another embodiment of the present invention, the interaction module includes a mechanical arm and a mechanical claw mounted on the mechanical arm, the mechanical claw is used to clamp the medicine bottle or the needle, and is in the mechanical arm Drive the bottle and the needle.

Further, the interaction module further includes a visual recognition device for performing bottleneck recognition and a weight detecting device for monitoring the suction process of the vial medicine.

According to another embodiment of the present invention, the solvent module may include: a solvent bag clamping assembly for holding the solvent bag, a solvent bag lifting assembly for driving the solvent bag to move in a vertical direction, and a driving medium for driving the solvent A solvent bag rotating assembly in which the bag moves in a horizontal direction, the solvent bag holding assembly being mounted on the solvent bag rotating assembly.

According to another embodiment of the present invention, in the solvent module, the solvent bag clamping assembly includes a plurality of holders and a plurality of cylinders for driving the holder to move horizontally, and the holders are spaced apart from each other. The periphery of the solvent bag rotating assembly is disposed between each of the holders and the solvent bag rotating assembly.

According to another embodiment of the present invention, the peristaltic pump module may include: a base mechanism, a pump head mechanism, a left mechanical arm mechanism, a right mechanical arm mechanism, a left jaw, a right jaw, and a peristaltic mechanism, wherein the pump a head mechanism and the peristaltic mechanism are mounted on the base mechanism, and the left and right jaws are respectively mounted on the left and right arm mechanisms, the left arm mechanism and the right arm The mechanism is respectively installed on the left and right sides of the pump head mechanism, and the left arm mechanism, the right arm mechanism, the left jaw, and the right jaw complete the needle insertion of the dispenser and the action of the upper tube of the infusion hose. The pump head mechanism and the peristaltic mechanism are used for liquid chemical suction.

According to another embodiment of the present invention, the garbage bin module may include: a mounting bottom plate, and a supporting mechanism for supporting the garbage can disposed on the mounting bottom plate, and the garbage for driving the supporting mechanism to move in a horizontal direction a box horizontal moving mechanism, a garbage box lifting mechanism for driving the supporting mechanism to move in a vertical direction, and a garbage can.

According to another embodiment of the present invention, the automatic dispensing device may further include an air purifying module, the air purifying module is configured to purify an air environment in the dispensing chamber, comprising: for drawing outside air into the dispensing An air intake assembly of the chamber, an exhaust assembly for exhausting air within the dispensing chamber, and a filter assembly for removing contaminants from the air.

According to another embodiment of the present invention, the automatic dispensing device may further include a rotary scanning assembly disposed in the dispensing chamber for scanning and identifying the vial containing the drug to be formulated.

According to another embodiment of the present invention, side windows are provided on one or more sides of the dispensing chamber of the automatic dispensing device, the side windows being configured to be opened and closed by rotation in a vertical direction.

According to another embodiment of the present invention, in the support chamber of the automatic dispensing device, one or more lockers are further provided, the lockers being arranged to be opened in a horizontal rotation manner or in a horizontally withdrawable manner.

According to still another embodiment of the present invention, the control module may include a central processing unit and a monitoring unit, and the central processing unit controls to receive an external command and an internal signal, and outputs an instruction to control the lifting window component, the input module, The bottle opening module, the interaction module, the solvent module, the peristaltic pump module, and the garbage bin module are operated, and the monitoring unit is configured to record the operation of the automatic dispensing device.

Further, the automatic dispensing device may further include a human-machine interaction device, and the human-machine interaction device may include a display screen and a scanning gun, and the display screen is configured to receive information input by the user and output information to the user. The scanner is used to scan prescription information.

According to still another embodiment of the present invention, the automatic dispensing device further includes a label output device for outputting a label on which the dispensing information is recorded.

Beneficial effect

By the automatic dispensing device of the invention, the automatic injection, dissolution, quantitative suction of the vial, and the breaking and quantitative suction of the ampoule can be realized in a clean environment, and the waste medicine can also be automatically used. Bottles and needles are safely disposed to avoid contamination of the liquid, and also prevent medical personnel from being damaged during the preparation of the drug, thereby improving the efficiency of drug formulation.

1 to 17, an embodiment of the present invention provides an automatic dispensing device, as shown in FIGS. 1 to 4 (FIG. 1 only shows the module structure of the automatic dispensing device, and does not reflect each mode. The device may include a control module 11, an input module 4, a bottle opening module 9, an interaction module 1, a solvent module 7, a peristaltic pump module 3, a trash can module 12, and Lift window assembly 13. The input module 4, the bottle opening module 9, the interaction module 1, the solvent module 7 and the peristaltic pump module 3 are disposed in a dispensing chamber of the upper portion of the automatic dispensing device, the trash can module 12 and The lifting window assembly 13 is disposed in a support cavity below the dispensing chamber; one side of the dispensing chamber is opened and closed by the lifting window assembly 13, the input module 4, the peristaltic pump module 3 and the solvent module 7 adjacent to the openable and closed side arrangement in the dispensing chamber;

The input module 4 is configured to receive and fix a medicine bottle containing a medicine to be prepared;

The bottle opening module 9 is used for cutting the bottle head of the ampoule to open the ampoule;

The interaction module 1 is used for clamping and moving a medicine bottle and a needle with a medicine to be prepared;

The solvent module 7 is used for fixing, clamping, and moving a solvent bag containing a solvent;

The peristaltic pump module 3 is used for controlling the action of the dispenser and performing the liquid suction;

The garbage bin module 12 is configured to collect waste medicine bottles and discarded needles generated during the dispensing process;

The control module 11 is electrically connected to the lifting window assembly 13 , the input module 4 , the bottle opening module 9 , the interaction module 1 , the solvent module 7 , the peristaltic pump module 3 , and the garbage bin module 12 , and Controlling the operation of each module.

With the automatic dispensing device of the present invention, the medical staff only needs to put the vial and/or ampoule containing the drug to be prepared into the input module 4, and put the solvent bag containing the corresponding solvent into the solvent module 7, and dispense the drug. The device (including the infusion hose and the needle connected to the infusion hose) is placed in the peristaltic pump module 3, and corresponding instructions and information are input to the control module 11, and the automatic dispensing device of the present invention can automatically complete the vial The injection, the dissolution of the drug, the breaking of the ampoule and the process of quantitative aspiration, and the collection of the waste vials and needles are completed.

According to an embodiment of the present invention, as shown in Figures 2 and 5, the automatic dispensing device further includes a rotary scanning assembly 10 disposed in the dispensing chamber for containing a drug to be formulated. The vial is scanned for identification. The rotary scanning assembly 10 can be used for scanning a medicine bottle containing a medicine to be prepared before preparing the medicine, specifically scanning the label on the medicine bottle, and comparing with the pre-stored information, or the medicine can be treated The appearance of the bottle, such as the size, height, shape, etc. of the vial, is taken and compared with the pre-stored information to determine whether the drug to be prepared is incorrectly entered, thereby further improving the accuracy and safety of the drug preparation process. . The rotary scanning assembly 10 may include a first clamping unit 101 and a first rotating unit 102, and a first scanning unit 103, wherein the first clamping unit 101 is configured to hold a medicine bottle to be scanned, which may be a pneumatic finger, The first clamping unit 101 is fixed on the first rotating unit 102, and can be driven by the first rotating unit 102 to rotate the clamped bottle. At this time, the first scanning The unit 103 obtains an image of the entire bottle or the label on the vial. For example, the label attached to the vial can be scanned. The first scanning unit 103 can be a scanner or a camera. Further, the rotary scanning assembly 10 may further include a first lifting unit 104 connected to the first rotating unit 102, which may be used to drive the entire rotating scanning assembly 10 to move in a vertical direction, thereby When the first scanning unit 103 is fixed in position, the medicine bottle to be scanned can be placed in a suitable position for scanning.

According to an embodiment of the present invention, as shown in FIGS. 3 and 6, the lifting window assembly 13 may include a mounting mechanism 131, a glass 132, a guiding mechanism 133 for guiding the movement of the glass 132, and for driving the glass. a first driving mechanism 134 that moves along a guiding mechanism 133, the guiding mechanism 133 being fixed to the mounting mechanism 131, the mounting mechanism 131 for fixing and supporting the guiding mechanism 133 and the first driving mechanism 134 The lifting window assembly 13 opens and closes the dispensing chamber by the movement of the glass 132. The main body of the lifting window assembly 13 is disposed in a support cavity below the dispensing chamber. In use, the first driving mechanism 134 drives the glass 132 to move upward, thereby closing the dispensing chamber, or the first driving mechanism 134 is driven. The glass 132 is moved downward to open the dispensing chamber.

The mounting mechanism 131 of the lifting window assembly 13 includes two substantially parallel-arranged frame members 1311 and 1312 that can be secured to a housing such as the support cavity, the first drive mechanism 134 including a drive The motor 1341 and the transmission unit 1341 are fixed to one of the frame members 1311, and the transmission unit includes a main timing pulley 1342, a slave timing pulley 1343, a timing belt 1344, and a timing belt clamp 1345, the main timing belt. The wheel 1342 and the slave timing pulley 1343 are respectively fixed at both ends of the frame member 1311 to which the drive motor 1341 is fixed, and the master timing pulley 1342 is rotated by the drive motor 1341, and the timing belt 1344 is wound around the main timing belt. The wheel 1342 is disposed from the timing pulley 1343, and the timing belt clamp 1345 is mounted on the timing belt 1344 and moves with the timing belt 1344; the guiding mechanism 133 includes two mounted on the two frame members 1311 and 1312, respectively. Guide rails 1331 and 1332 and a first slider 1333 and a second slider 1334 respectively located on the two rails 1331 and 1332 and moving along the rails 1331 and 1332, and the glass 132 is fixedly mounted on the first slider The slide member 1333 and second member 1334, and the first sliding member 1333 is connected to the timing belt clamp block 1345 and block 1345 with the movement of said belt clip.

The lifting window assembly 13 of the present invention is designed to overcome the service life of the common lifting assembly by the design of the driving mechanism 134 of the main and slave timing pulleys 1342, 1343 and the timing belt 1344 and the guiding mechanism 133 of the linear guide rail. Short, big noise problems.

As shown in FIG. 3, the automatic dispensing device of the present invention may include a plurality of, for example two, lifting window assemblies 13. As shown, the two lift window assemblies 13 are arranged side by side to control the two panes of glass 132, respectively. Through such an arrangement, the opening and closing of the dispensing chamber can be realized by separately controlling the lifting and lowering of the two pieces of glass 132 as needed, and only one of the medicine chambers can be controlled when only one of the panes of the dispensing chamber needs to be opened for drug or solvent input. The movement of the glass 132 eliminates the need to open the entire side of the dispensing chamber, reducing the contact space with the external environment, and is advantageous for keeping the environment inside the dispensing chamber clean.

According to another embodiment of the present invention, as shown in FIGS. 2 and 7, the input module 4 may include a rotating mechanism 401 and a claw mechanism 402. The rotating mechanism 401 is annular and is provided with a plurality of spacers. The hole of the vial is disposed in the hole of the rotating mechanism 401 to receive and fix the vial.

Further, the input module 4 further includes a shaking mechanism 403 for driving the rotating mechanism 401 to shake to shake the vial.

When the automatic dispensing device of the present invention is in use, the medical staff first puts the vial containing the drug to be formulated into the input module 4. The input module 4 of the present invention includes a rotating mechanism 401 and a claw mechanism 402. The rotating mechanism 401 is annular and is provided with a plurality of holes for placing the vial, and the claw mechanism 402 is disposed at the rotation. The inside of the hole of the mechanism 401 is used to clamp the vial. Each hole on the rotating mechanism 401 represents a different working position, and the medicine bottle on the different station can be rotated to a position convenient for processing by the rotation of the rotating mechanism 401 during processing. The rotating mechanism 401 can support the needs of different numbers of stations, for example, supporting the needs of 10-30 stations, preferably 16 stations, as desired. The input module 4 can support a vial having an outer diameter of 42 mm or less, including a vial and an ampoule. Further, the input module 4 may further include a shaking mechanism 403, which can shake the entire rotating mechanism 401, thereby shaking the medicine bottle in the rotating mechanism 401 to promote dissolution of the medicine in the vial. . The shaking mechanism 403 may be disposed below the rotating mechanism 401.

Specifically, the rotating mechanism 401 may include a turntable and a driving member that drives the turntable to rotate, such as a motor or the like. The rotating mechanism 401 can accurately control the movement of the position of the vial set thereon. The claw mechanism 402 may include a clamping jaw and a claw motor, and is controlled by the feedback current of the claw motor, so that the clamping force can be controlled to prevent the cylinder from being thrown when shaking, and to avoid breaking the medicine. bottle. The shaking mechanism 403 can control the rotating mechanism 401 and the medicine bottle located on the rotating mechanism 401 to be shaken at a certain speed for a certain period of time to better promote the dissolution of the medicine.

According to another embodiment of the present invention, as shown in FIGS. 2 and 8, the bottle opening module 9 may include an ampoule holding assembly 91, an ampoule cutting assembly 92, and a jaw assembly 93, the ampoule holding The assembly 91 is used to secure a portion of the bottle below the bottleneck of the ampoule. The ampoule cutting assembly 92 is used to cut the neck of the ampoule, and the chopping assembly 93 is used to break the portion above the bottleneck of the ampoule. Specifically, the ampoule holding assembly 91 may include a first ampoule holding unit and a first ampoule rotating unit, and the first ampoule rotating unit may drive the first ampoule holding unit and the held ampoule The bottle is rotated, and the first ampoule holding unit may be, for example, a pneumatic finger for holding the fixed ampoule. The ampoule holding assembly may further include a first ampoule lifting unit that can drive the first ampoule holding unit, the clamped ampoule, and the first ampoule rotating unit Move in the vertical direction. The cutting assembly 92 includes a cutting blade, a cutter mounting bracket and a cutter driving unit. The cutting blade and the cutter driving unit are mounted on the cutting blade mounting frame, and the cutting knife and the bottle neck of the ampoule are in the same position in the vertical direction, and the error The range is no more than 0.3mm from the bottleneck. In order to avoid contamination of the liquid or loss of liquid, the cutting blade cannot be cut under the bottle neck. The cutting blade may be a diamond knife. The breaking assembly 93 includes a second ampoule holding unit and a second ampoule rotating unit for holding the bottle head of the ampoule (ie, a portion above the bottle neck), The second ampoules rotation unit is configured to drive the second ampoules clamping unit to rotate.

During the cutting and cutting, under the action of the interaction module 1, the interaction module 1 assists in clamping the ampoule from the input module 4 to the ampoule holding assembly 91, and the first of the ampoule holding assembly 91 The ampoule holding unit clamps the portion below the bottleneck of the ampoule, the cutter driving unit drives the cutting knife to the bottleneck of the ampoule and contacts the bottle neck of the ampoule, and then the first ampoule rotating unit drives the first ampoule holding unit Rotating with the clamped ampoule, the cutter cuts the bottleneck of the ampoule and leaves a scratch. Then, the second ampoule holding unit clamps the bottle head of the ampoule, the first ampoule holding unit holds the bottle body under the bottle neck of the ampoule, and the second ampoule rotating unit drives the second ampoule holding The unit is rotated such that the portion of the bottle above the neck of the ampoule is in relative motion with the portion of the bottle below the bottleneck and is thus disconnected. Thereafter, the second ampoule holding unit discards the broken ampoule head to the trash can 125 (Fig. 3).

Further, the bottle opening module 9 may include an ampoule opening bottle detecting component 94 for detecting the condition of the ampoule opening bottle and alarming when the bottle is broken, the ampoule bottle The bottle opening detection assembly 94 can include a first light source unit 941, a first image unit 942, and an alarm unit (not shown).

Specifically, in order to prevent the automatic dispensing device from automatically performing subsequent steps after the ampoules are broken, resulting in unsuccessful suction and contamination of the automatic dispensing device, the bottle opening module 9 further includes an ampoule opening and detecting component. 94. The bottle opening detecting component 94 can include a first light source unit 941, a first image unit 942, and an alarm unit, and the first image unit 942 can be a camera, and the first light source unit 941 can provide background light. In order to facilitate image acquisition (for example, photographing) of the first image unit 942, the first light source unit 941 and the first image unit 942 may be disposed at appropriate places as needed to facilitate image capturing. For example, the first image unit 942 may be disposed adjacent to the side wall of the dispensing chamber, and the first light source unit 941 may be disposed on the front side of the bottle opening module 9 and in line with the ampoules in operation. After the ampoule cutting and cutting operation, the first image unit 942 is controlled to take an image of the ampoule at this time, and is provided to the control module 11 for identification. Once it is recognized as an open bottle abnormality, the ampoule bottle is broken. In the case of the alarm unit, the alarm indicates that manual intervention is required. Further, the first light source unit 941 and the first image unit 942 can also be used for suction detection of medicines in ampoules. In use, for example, when performing ampoule aspiration, the image of the ampoule can be recorded immediately, or the image of the ampoule can be recorded periodically, and the recorded image can be analyzed, for example, the liquid level in the ampoule Analyze the height of the bottom of the bottle or analyze the appearance and disappearance of the liquid level at the bottom of the ampoule bottle to judge whether the suction of the ampoule is completed. Through this visual inspection device, all the ampoule can be pumped. Suction and partial aspiration are detected and confirmed, thereby ensuring accurate dosing of the quantitative aspiration.

According to another embodiment of the present invention, as shown in FIGS. 2, 3, and 9, the interaction module 1 may include a mechanical arm 111 and a mechanical claw 112 mounted on the mechanical arm 111. The medicine bottle and the needle are clamped, and the medicine bottle and the needle are moved by the robot arm 111. Specifically, the robot arm 111 of the present invention may be a four-axis robot, the mechanical claw 112 may be a pneumatic finger, and the interaction module 1 may further include a rotary electric cylinder mechanism that drives the robot arm 111 to rotate in a horizontal direction. The mechanical arm 111 can perform linear reciprocating motion and rotational motion in a vertical direction and a horizontal direction, and the mechanical claw 112 can perform an action of clamping, turning, piercing, and the like.

The interaction module 1 of the present invention is used for clamping and moving medicine bottles and needles, etc., to cooperate with other modules such as the input module 4, the bottle opening module 9, the solvent module 7, and the peristaltic pump module 3. , to complete a variety of operations. For example, the mechanical claw 112 of the interaction module 1 can cooperate with the peristaltic pump module 3, remove the needle sleeve of the needle on the dispensing device, and throw the removed needle sleeve into the trash can 125 while the dispenser is being used. Before the needle is inserted into the vial for injection, in order to flush the infusion hose of the dispenser to discharge the gas therein, the mechanical claw 112 of the interaction module 1 can grip the needle at one end of the dispenser and move it to Above the garbage can 125, the liquid discharged from the flushing liquid enters the garbage can 125, thereby avoiding contamination of the dispensing chamber of the entire automatic dispensing device. After the liquid fills the entire dispensing device, the mechanical claw 112 can insert the needle into the input module 1. In the vial, and inject the liquid. After the dissolution of the medicine in the vial is completed, when the liquid medicine is required to be pumped, the robot arm 111 and the mechanical claw 112 in the interaction module 1 grasp and rotate the vial to be sucked to make it inverted, and then the peristaltic pump The jaws of the module 3 reinsert the needle of the dispenser into the vial for pumping the liquid. After the suction is completed, the mechanical claw 112 of the interactive module 1 can throw the aspirated vial into the trash can 125.

The interaction module 1 further includes a visual recognition device 113 for performing bottleneck recognition and a weight detecting device 114 for monitoring the vial medicine suction process.

Specifically, the weight detecting device 114 may be a balance. In use, for example, when performing the pumping of the vial, the mechanical bottle 112 and the robot arm 111 of the interactive module 1 can be controlled, and the vial is placed on the balance to obtain the weight before the pumping of the vial. After the suction is completed, the vial is weighed again, and the recorded weights are compared, thereby judging whether the suction of the vial is completed, and the steps of suctioning and weighing can be repeated multiple times. To ensure the completion of the pumping (including the full and partial suction of the liquid in the vial). The visual recognition device 113 for performing bottleneck recognition may include a second light source unit 115 and a second image unit 1131 for taking an image, and the second image unit 1131 may be a camera. The second image unit 1131 can be disposed at a position of the vial station in which the interaction module 1 is operated in the input module 4 to facilitate bottleneck recognition of the medicine bottle at the position; the second light source unit 115 can be set A location suitable for providing a light source for this operation. For example, the second light source unit 115 may be disposed at the center of the rotating mechanism 401 of the input module 4, and may be configured to be telescopic. When needed, the second light source unit 115 protrudes downward to identify the bottle neck. The operation provides a light source that can be retracted when not in use so as not to impede other operations of the dispensing process. When the visual recognition device 113 is in use, the image of the vial to be operated on the input module 4 can be photographed to identify the position of the bottle neck of the vial, so as to facilitate the subsequent operation of the cutter when the ampoule is opened. The height, or the ease of inserting the needle into the vial, allows for a better confirmation of the insertion position (to be inserted as far as possible into the center of the vial stopper). The device can also be used to identify the medicine in the input module 4, for example, by capturing the image of the medicine bottle of the medicine in the input module 4, obtaining the appearance and height of the medicine bottle, and the pre-existing information. For example, the prescription information is compared to identify whether the medicine in the input module 4 matches the prescription being prepared.

Further, the automatic dispensing device of the present invention may further include a third light source unit (not shown) and a third image unit 116, and the third light source unit and the third image unit 116 are used for the chemical solution of the vial The suction process is tested. In use, the third image unit 116 can acquire the image of the aspirated vial in real time or at a time, and judge that the entire suction of the vial is completed according to the appearance and disappearance of the liquid level at the bottle neck. The third light source unit and the third image unit 116 can be disposed at appropriate positions in the automatic dispensing device as needed. For example, the third image unit 116 may be disposed above the bottle opening module 9 , and the third light source unit may be disposed beside the rotation scanning assembly 10 .

According to another embodiment of the present invention, as shown in FIG. 2 and FIG. 10, the solvent module 7 may include: a solvent bag clamping assembly 701 for holding a solvent bag, and for driving the solvent bag to move in a vertical direction. A solvent bag lifting assembly 703, and a solvent bag rotating assembly 702 for driving the solvent bag to move in a horizontal direction, the solvent bag holding assembly 701 being mounted on the solvent bag rotating assembly 702.

The solvent module 7 of the present invention is used to fix a solvent bag and move the solvent bag as needed. The solvent bag clamping assembly 701 may include a card slot for clamping the solvent bag, further, the card slot may be provided with a magnet, or the solvent bag clamping assembly 701 may include a sliding table on the sliding table. A fixing member is arranged on the fixing bag for fixing the solvent bag on the sliding table, and the sliding table can also be used for flipping the direction of the bag of the solvent bag, for example, by adjusting the solvent bag to make the bag mouth face up or down, when When injecting the vial, the solvent bag mouth can be turned downward, and when the liquid medicine in the vial is sucked, the bag mouth of the solvent bag can be made upward to avoid the outflow of the liquid. The solvent bag lifting assembly 703 may include a vertical driving member and a support member supporting the vertical driving member, and the vertical driving member may be a servo electric cylinder, a stepping electric cylinder, a slide table, a ball screw, or the like. In particular, other drive components having the same function can also be selected in the present invention. The solvent bag rotating assembly 702 is for rotating the solvent bag in a horizontal direction and may include a rotary electric cylinder mechanism. The solvent bag rotating assembly 702 is coupled to the solvent bag lifting assembly 703 and is moved in the vertical direction by the solvent bag lifting assembly 703.

According to another embodiment of the present invention, as shown in FIGS. 4 and 11, in the solvent module 7, the solvent bag holding assembly 701 includes a plurality of holders 7011 and a plurality of levels for driving the holder 7011. The moving cylinders 7012 are spaced apart from the periphery of the solvent bag rotating assembly 702, and the plurality of cylinders 7012 are respectively disposed between the respective holders 7011 and the solvent bag rotating assembly 702. Thus, the solvent module 7 of the present invention can support the clamping and automatic replacement of a plurality of bags of the solvent. In this case, in use, one cylinder 7012 pushes the holder 7011 holding the solvent bag to be operated, and the solvent bag lifting group 703 controls the solvent bag holding unit 701 and the solvent bag rotating unit 702 as appropriate. Position, at this time, the solvent bag is also lowered to a suitable position, and then, for example, the right jaw 306 (shown in FIG. 12) of the peristaltic module 3 is controlled to insert the needle at one end of the dispenser into the ejected solvent bag. Subsequent dispensing operations are available. When the solvent bag is replaced, the solvent bag lifting and lowering assembly 703 can be controlled to drive the solvent bag up, thereby also being separated from the needle, and then the holder 7011 holding the solvent bag is retracted by the cylinder 7012, and then rotated by the solvent bag. After the rotation of the assembly 702, the next solvent bag is replaced, and then the foregoing operation can be repeated to perform dispensing. The multi-package solvent-carrying solvent module 7 can support multiple bags of solvent, thereby further greatly improving the efficiency of the entire dispensing process.

According to another embodiment of the present invention, as shown in FIGS. 2 and 12, the peristaltic pump module 3 may include a base mechanism 301, a pump head mechanism 302, a left mechanical arm mechanism 303, a right mechanical arm mechanism 304, and a left clamp. a claw 305, a right jaw 306, and a peristaltic mechanism 307, wherein the pump head mechanism 302 and the peristaltic mechanism 307 are mounted on the base mechanism 301, and the left jaw 305 and the right jaw 306 are respectively mounted on the base On the left arm mechanism 303 and the right arm mechanism 304, the left arm mechanism 303 and the right arm mechanism 304 are respectively mounted on the left and right sides of the pump head mechanism 302, the left arm mechanism 303 and the right machine. The arm mechanism 304, the left jaw 305, and the right jaw 306 complete the needle insertion of the dispenser and the action of the upper tube of the infusion hose, and the pump head mechanism 302 and the peristaltic mechanism 307 are used for the liquid medicine suction.

Specifically, in the peristaltic pump module 3 of the present invention, the pump head mechanism 302 includes a press-fit upper cover 3021 and a press-fit upper cover drive member (not shown) for driving the press-fit upper cover 3021 to move in a vertical direction. More specifically, the press-on upper cover drive member may be a cylinder. The pump head mechanism 302 may further include a pump head rotation driving member for driving the rotation of the pump head mechanism 302. The pump head rotation driving member 3022 may be a rotary electric cylinder or the like, and the driving head 3022 can be driven by the pump head. The pump head mechanism 302 performs a 360 degree rotation. The peristaltic mechanism 307 can include a roller for squeezing the infusion hose and a roller drive for driving the roller to rotate. Specifically, the roller drive member can be a motor.

The peristaltic pump module 3 of the present invention can cooperate with the input module 4, the interaction module 1, and the solvent module 7, to complete the liquid injection of the solvent and the suction process of the liquid medicine. For example, the left and right jaws 305, 306 of the peristaltic pump module 3 can respectively clamp the needles at both ends of the infusion hose of the dispenser, and under the cooperation of the interaction module 1, the jacket on the needle of the needle is removed. Thereafter, one of the left and right jaws 305, 306 adjacent to the solvent module 7, such as the right jaw 306, can be moved to the solvent bag opening by the right arm mechanism 304, and the right jaw 306 will be the needle. Piercing into the solvent bag; thereafter, the press-fit upper cover drive member in the pump head mechanism 302 drives the press-fit upper cover 3021 to rise, and the left and right jaws 305, 306 and the left and right arm mechanisms 303, 304 cooperate to pull the tube and In the upper tube, the infusion hose is snapped into the peristaltic mechanism 307, and then the upper cover 3021 is pressed down to press down the infusion hose; the roller driving member of the peristaltic mechanism 307 drives the roller to rotate, so that the solvent in the solvent bag flows out, filling the infusion soft The tube is used to discharge the gas in the infusion hose, and then the other needle of the dispenser can be inserted into the vial to inject the vial in the cooperation of the interaction module 1. Similarly, when pumping the liquid medicine, the left and right jaws 305, 306 of the peristaltic pump module 3 respectively insert the two needles on the dispenser into the inverted vial and the solvent bag, and then complete the action of the upper tube. After that, quantitative suction can be performed.

According to another embodiment of the present invention, as shown in FIGS. 3, 13, and 14, the garbage bin module 12 may include: a mounting bottom plate 121, and a supporting mechanism for supporting the garbage can 125 disposed on the mounting bottom plate 121. 122. A garbage bin horizontal moving mechanism 123 for driving the supporting mechanism 122 to move in a horizontal direction, a garbage can lifting mechanism 124 for driving the supporting mechanism 122 to move in a vertical direction, and a garbage can 125.

Specifically, the garbage can horizontal moving mechanism 123 may include a driving motor 1231, a guide rail 1232, two timing pulleys 1233 and 1234, a timing belt 1235, and a pulley mount 1236 for mounting the timing pulley 1233, wherein one The timing pulley 1234 is coupled to the driving motor 1231 to drive the timing belt 1235 to move, and the other timing pulley 1233 is mounted on the pulley mounting seat 1236; the timing belt 1235 is disposed around the two timing pulleys 1233 and 1234; The motor 1231 drives the timing belt 1234 to drive the timing belt 1235 to drive the support mechanism 122 to move in the horizontal direction along the guide rail 1232. The support mechanism 122 includes at least one support plate 1221 and at least one moving plate 1222. The at least one support plate 1221 is located on the at least one moving plate 1222 and is used for supporting the garbage can 125. The at least one moving plate 1222 is at Moving in the horizontal direction with a hole in the middle, through which the garbage can elevating mechanism 124 drives the at least one support plate 1221 and the garbage can 125 to move in a vertical direction, the number of the support plates 1221 and the garbage can lifting mechanism The number of 124 is equal. For example, the number of the support plate 1221 and the garbage can elevating mechanism 124 may be two. In this case, two garbage cans 125 may be disposed. By the arrangement of the plurality of support plates 1221 and the lifting mechanism 124, the lifting and lowering of the plurality of garbage cans 125 can be separately controlled. At the same time, a limit sensor 126 can also be provided to prevent the waste bin 125 from moving beyond a defined range. By cooperating with the entire automatic dispensing device, the control separates the vial and the needle in separate bins 125, and the automatic separation of the drug-containing container (pill bottle) and the disposable dispenser can be realized, and the operator is eliminated. Security risks. Specifically, in the present invention, the trash can 125 may be a sharps box.

According to another embodiment of the present invention, as shown in FIG. 15, the automatic dispensing device may further include an air purification module 14 for purifying the air environment in the dispensing chamber and The dispensing chamber is maintained in a negative pressure state, including: an intake assembly 141 for drawing outside air into the dispensing chamber, an exhaust assembly 142 for exhausting air within the dispensing chamber, and a filter assembly for removing contaminants from the air. 143.

Through the air purification module 14, the air environment in the automatic dispensing device can be cleaned and the environment inside the automatic dispensing device can be maintained at a certain negative pressure state, so that the environment in the dispensing chamber of the automatic dispensing device reaches a million level, thereby making the whole The dispensing process works in a very clean environment and improves the safety of the dispensing process.

According to another embodiment of the present invention, as shown in Fig. 2, side windows 8 are provided on one or more sides of the dispensing chamber of the automatic dispensing device, the side windows 8 being arranged to be opened by rotation in the vertical direction shut down. Specifically, one or more side windows 8 may be provided on the remaining sides of the dispensing chamber, i.e., the remaining sides other than the sides that are opened and closed by the lifting window assembly 13, for example, two opposing compartments may be provided in the dispensing chamber Two side windows 8 are provided on the side. This side window 8 can be rotated to open and close in the vertical direction (i.e., in the vertical plane where the side window is located). This type of rotary opening is very space-saving, and the dispensing chamber can be easily cleaned and maintained by the side window 8.

According to another embodiment of the present invention, as shown in FIG. 16, in the support chamber of the automatic dispensing device, one or more lockers 151, 152, 153 are further provided, and the lockers 151 to 153 Set to open in horizontal rotation or horizontally. In order to make better use of the space of the lower support cavity of the automatic dispensing device, and to facilitate the placement of drugs, solvents, etc., one or more lockers 151~153 can be arranged in the support cavity. For example, three lockers can be arranged side by side. 151~153, wherein the two storage cabinets 151, 153 on both sides can be set to be opened by horizontal rotation, and the storage cabinet 152 located in the middle can be set to be opened by horizontal extraction. The lockers 151~153 can be used to place fixtures and other cleaning tools, with formulated drugs, solvents, and discarded pharmaceutical or solvent packages.

According to still another embodiment of the present invention, as shown in FIG. 1 and 17, the control module 11 may include a central processing unit 1101 and a monitoring unit 1102, and the central processing unit 1101 controls receiving external commands and internal signals, and outputs the signals. The instruction controls the lifting window assembly 13, the input module 4, the bottle opening module 9, the interaction module 1, the solvent module 7, the peristaltic pump module 3, and the garbage bin module 12 to operate. The control module 11 can further control other components or modules present in the automatic scanning device, including but not limited to, for example, the operation of the air purification module 14, the rotational scanning assembly 10, and the like. The monitoring unit 1102 is configured to record the operation of the automatic dispensing device.

Further, as shown in FIG. 2, the automatic dispensing device may further include a human-machine interaction device 520, and the human-machine interaction device 520 may include a display screen 5 and a scanner 2 for receiving a user. The input information and the output information to the user are preferably a touchable display screen 5; the scanner 2 is used to scan the prescription information. In order to facilitate the operation of the human-machine interaction device 520 by the medical staff, the human-machine interaction device 520 may be disposed outside the dispensing chamber, preferably on a side where the lifting window assembly 13 is disposed. The human-machine interaction device 520 is also electrically connected to the control module 11 for interaction of material information and the like.

According to still another embodiment of the present invention, as shown in Fig. 2, the automatic dispensing device further includes a label output device 6 for outputting a label on which dispensing information is recorded. The position of the label output device 6 is not particularly limited, and for example, it may be disposed outside the dispensing chamber as shown in FIG. 2. The label output device 6 can output a label on which the dispensing information is recorded. After the dispensing is completed, the label can be used to mark the prepared liquid to facilitate the use and inspection by the medical staff.

The control module 11 of the present invention can be electrically connected to other modules to realize control of other modules. The medical staff can input relevant information to the automatic dispensing device through the human-machine interaction device 520, or perform corresponding settings, or read corresponding information from the human-machine interaction device 520, perform adjustment, and the like. The central processing unit 1101 controls receiving commands from the outside, and information fed back by each module and processing (for example, calculating, comparing, identifying, etc.), and outputting corresponding instructions to control the progress of the entire dispensing process. The monitoring unit 1102 is configured to record the operation of the automatic dispensing device, and the monitoring unit 1102 can monitor and record the operation of the automatic dispensing device, and can be monitored through the network including an internal network or an external network, which is more convenient. Remote control of the medical staff.

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[Example 1]

1 to 17, wherein FIG. 2 shows a front view of the automatic dispensing device of Embodiment 1 of the present invention (in order to more clearly show the structure of each module in the dispensing chamber, some components of the automatic dispensing device are not 3 is a view showing a part of a module of the automatic dispensing device of Embodiment 1 of the present invention. As shown in FIGS. 2 and 3, the automatic dispensing device of Embodiment 1 includes an input module 4, a bottle opening module 9, an interaction module 1, a solvent module 7, a peristaltic pump module 3, a rotation scanning assembly 10, and a garbage can. The module 12 and the control module 11 and the two sets of lifting window assemblies 13 are located, wherein the input module 4, the bottle opening module 9, the interaction module 1, the rotation scanning component 10, the solvent module 7 and the peristaltic pump module 3 are located In the upper dispensing chamber, the trash can module 12 and the two sets of lifting window assemblies 13 are located in the lower support chamber. Further, two side windows 8 are provided on the other two sides of the dispensing chamber. The automatic dispensing device further includes a display screen 5 and a label output device 6 disposed outside the dispensing chamber.

Wherein, the main bodies of the two sets of lifting window assemblies 13 are disposed in the supporting cavity, and the lifting window assembly 13 opens or closes the dispensing chamber of the automatic dispensing device by the vertical movement of the two pieces of glass 132, and the two sets of lifting window assemblies 13 can be simultaneously opened. Closed or can be opened and closed separately. The input module 4, the peristaltic pump module 3 and the solvent module 7 are all located on the side of the dispensing chamber close to the lifting window assembly 13 to facilitate placing the medicine to be prepared into the input module 4 when the lifting window is opened. The dispenser is placed in the peristaltic pump module 3, and the solvent bag is placed in the solvent module 7. The trash can module 12 is located in the support cavity for collecting discarded vials, dispensers, and the like.

For each of the modules and components, the foregoing has been described in detail and will not be repeated here.

When the automatic dispensing device of the embodiment is used, the medical staff can put the vial and the ampoule containing the medicine for preparation into the input module 4, and fix the solvent bag containing the solvent to the solvent module 7, and at the same time The needles at both ends of the dispenser are respectively placed on the left and right jaws 305, 306 of the peristaltic pump module 3, and the corresponding information is input through the display screen 5, and the start dispensing button is clicked to start the entire dispensing process. The central processor 1101 of the control module 11 controls the glass 132 of the lift window assembly 13 to move up to a designated position, thereby closing the entire dispensing chamber. Thereafter, the control module 11 controls the rotary scanning component 10 to scan and recognize the medicine bottle placed in the input module 4, and if the scanning recognition result shows that the inserted medicine bottles are consistent with the pre-stored prescription information, the dispensing is started. If the scan identification result indicates that the inserted medicine bottle does not conform to the pre-stored prescription information, the control reports an error, prompting that manual inspection is required, and the medicine is replaced and checked again until the medicines placed are completely correct, and then Dispensing.

Bottleneck identification is performed for each vial before each vial is specifically manipulated. Specifically, the second image unit 1131 in the interactive control module 1 is continuously controlled to photograph a vial (including a vial and an ampoule) to be operated, and the position of the bottleneck is identified by the obtained image, which can facilitate subsequent operations. The height of the cutter operation is judged when the ampoule is opened, or the needle can be easily inserted into the center of the vial stopper.

In the dispensing process, the vial is first infused. At this time, first, the central processing unit 1101 controls the peristaltic pump module 3 to cooperate with the interaction module 1 to control the mechanical claw 112 in the interaction module 1 to remove the clips of the left and right jaws 305 and 306 of the peristaltic pump module 3. Holding the needle sleeve in the needle at both ends of the dispensing device, and controlling the opening of the dustbin module 12 to throw the removed needle sleeve into the garbage can 125, and then controlling the clamp of the peristaltic pump module 3 near the solvent module 7 The claw (for example, the right jaw 306), under the driving of, for example, the right robot arm 304, inserts the needle held by the right jaw 306 into the pocket of the solvent bag, while the mechanical claw 112 in the interaction module 1 is creeping. The needle of the other end of the pump module 3 is removed from the left jaw 305 and moved to the top of the waste bin 125; then the control upper cover drive member drives the press upper cover 3021 to move upward, and the left and right arm mechanisms are 303, 304 and the left and right jaws 305, 306 cooperate to complete the upper tube action of the infusion hose, and then control the roller drive member of the peristaltic mechanism 307 to drive the roller to rotate, and draw the solvent in the solvent bag to the infusion hose Middle, until the infusion hose is filled, so that the air in the infusion hose is finished Discharge; after the air in the infusion hose is completely discharged, the mechanical claw 112 in the control interaction module 1 inserts the clamped needle into a vial for quantitative infusion; after the injection is completed, the peristaltic pump module is controlled. The peristaltic mechanism 307 in 3 stops the suction, and the grip mechanism 402 in the input module 4 clamps the vial, and controls the mechanical claw 112 of the interactive module 1 to pull the needle out of the vial, the input mold The rotating mechanism 401 of the group 4 rotates to move the vial of the next station below the mechanical claw 112, and the mechanical claw 112 controls to insert the needle into another vial, continue to inject the liquid, and repeat this operation until all After the vial is filled, the control jaw 112 pulls the needle out and cooperates with the left jaw 305 of the peristaltic pump module 3 to transfer the needle to the left jaw 305.

Thereafter, the ampoules can be controlled to operate, the control claws 112 are grasped to grab the ampoules to the bottle opening module 9, and the first clamping unit in the ampoules clamping assembly 91 of the ampoules bottle opening module 9 holds the ampoules The bottle body part below the bottleneck, after which the bottleneck of the ampoule bottle is cut and cut off. After the bottle opening operation is completed, the bottle opening condition can be detected by the ampoule bottle opening detecting component 94, and if the ampoule bottle is broken, an alarm is issued; If the ampoule is not broken, the next step is normal, that is, suction is performed. At this time, the mechanical claw 112 of the control interaction module 1 again removes the needle from the left jaw 305 of the peristaltic pump module 3, and inserts it into the bottle that has just been opened, drives the peristaltic mechanism 307, and the ampoule is placed in the ampoule. The liquid medicine is sucked into the solvent bag; during the suction process, the ampoule can be partially or completely sucked as needed, and the first light source unit 941 and the first in the bottle opening detection assembly 94 are opened by the ampoule An image unit 942 (also referred to in Fig. 1) performs detection, for example, continuously obtaining an image of the bottle of the aspirated ampoule during the aspiration process, and performing the height of the liquid surface from the bottom of the ampoule bottle. Analysis, from which it is judged whether the suction of the medicine in the ampoule reaches the set amount; if all the medicine in the ampoule is pumped, it can be confirmed according to the appearance and disappearance of the liquid surface at the bottom of the ampoule bottle. All suction is complete; after the suction is complete, control discards the aspirated ampoule to the waste bin 125; repeat this operation until all ampoules are pumped.

After the pumping of the ampoule medicine is completed, only the vial medicine that has been injected is left in the input module 4, and at this time, the shaking mechanism 403 in the input module 4 can be controlled to shake, and the medicine in the vial is completely dissolved. Thereafter, a pumping step of the vial solution is performed. The mechanical claw 112 of the control interaction module 1 holds the vial to be suctioned, and flips it to make the vial stand upside down, and controls the left jaw 305 of the peristaltic pump module 3 to insert the clamped needle into the vial. Specifying the position (preferably, passing the needle just past the rubber stopper of the vial), then controlling the peristaltic mechanism 307 to start pumping, pumping the liquid in the vial into the solvent bag; and pumping the liquid in the vial During the process, part or all of the suction can also be carried out as needed, and the weight detection device 114 in the interaction module, that is, the balance, can be used for detection. For example, the vial can be placed on the balance before the pumping of the vial. Obtaining the quality before the pumping, after the initial pumping is completed, the mechanical claw 112 is again controlled to place the vial on the balance to weigh the weight of the vial, thereby obtaining the weight of the liquid medicine that has been pumped, and then Calculate the proportion of the already pumped and compare it with the preset ratio. If the suction has been completed, the left jaw 305 of the peristaltic pump module 3 can be controlled to pull the needle out of the vial and control the interaction module 1 The mechanical claw 112 will be pumped out The vial is discarded into the waste bin 125. If the set suction ratio is not reached, the previous steps are repeated, and the vial is continuously pumped and weighed until the suction is complete, and then the peristaltic pump mold can be controlled. The left jaw 305 of the group 3 pulls the needle out of the vial, and controls the mechanical claw 112 of the interaction module 1 to discard the aspirated vial into the trash can 125; for the liquid medicine in the vial In the case of suction, the third light source unit and the third image unit 116 can be used to take photos of the vials for liquid medicine suction, and the image can be obtained according to the appearance of the liquid surface at the bottle neck and disappeared immediately. The liquid medicine is completely sucked; then the aforementioned vial pumping step is repeated until the suction of all the vials is completed, and the right jaw 306 of the peristaltic pump module 3 is controlled to pull out the needle inserted into the bag mouth of the solvent bag. The dispenser is also discarded into the trash can 125. The waste bin module 12 of Embodiment 1 can be configured with two waste bins 125. Therefore, in the above process, it is possible to control the disposal of the discarded vials to a waste bin 125, and to dispose of discarded tools such as needles. The dispenser is discarded into another waste bin 125 to effect separation of the sharps. At the same time, the control module 11 can control the label output device 6 to output a label on which the dispensing information is recorded. The label can be marked with a prepared liquid for the convenience of medical personnel.

[Embodiment 2]

On the basis of the first embodiment, in the second embodiment, as shown in FIGS. 4, 11, and 15, the automatic dispensing device in this embodiment further includes an air purification module 14, and FIG. 4 only shows the second embodiment. Some of the modules in the automatic dispensing device, wherein the solvent module 7 is a multi-solvent module 70 that can support multiple bags of solvent.

For each module and component in the automatic dispensing device of Embodiment 2, the foregoing has been described in detail and will not be repeated here.

In the use of the automatic dispensing device of the second embodiment, in addition to the function of the automatic dispensing device of the first embodiment, it is also possible to: 1) maintain the dispensing chamber under a certain negative pressure state by the air cleaning module 14; While maintaining the cleanliness of the environment inside the dispensing chamber, it can maintain a million levels of cleanliness;

2) The multi-solvent module 70 supporting multiple bags of solvent enables the medical staff to put a plurality of solvent bags at one time. Therefore, the automatic dispensing device can automatically perform continuous dispensing according to needs, thereby further improving the working efficiency of the automatic dispensing device.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the present invention. Within the scope of protection.

1‧‧‧Interactive module

111‧‧‧ Robotic arm

112‧‧‧ mechanical claws

113‧‧‧Visual identification device

114‧‧‧ Weight detection device

115‧‧‧Second light source unit

116‧‧‧ Third image unit

1131‧‧‧Second image unit

2‧‧‧Scanner

3‧‧‧Peristal pump module

301‧‧‧Base mechanism

302‧‧‧ pump head mechanism

303‧‧‧ Left Arm Mechanism

304‧‧‧Right arm mechanism

305‧‧‧left jaw

306‧‧‧Right jaws

307‧‧‧peristal mechanism

3021‧‧‧Compressed upper cover

3022‧‧‧ pump head rotary drive

4‧‧‧Input module

401‧‧‧Rotating mechanism

402‧‧‧Claw mechanism

403‧‧‧Shake mechanism

5‧‧‧ display screen

520‧‧‧Human-computer interaction device

6‧‧‧ Label output device

7‧‧‧Solvent module

70‧‧‧Multi-solvent module

701‧‧‧Clamping components

702‧‧‧Rotating components

703‧‧‧ lifting assembly

7011‧‧‧Clip seat

7012‧‧‧ cylinder

8‧‧‧ side window

9‧‧‧Opening module

91‧‧‧Clamping components

92‧‧‧ cutting components

93‧‧‧掰断组件

94‧‧‧Detection components

941‧‧‧First light source unit

942‧‧‧First image unit

10‧‧‧Rotary scanning components

101‧‧‧First clamping unit

102‧‧‧First rotating unit

103‧‧‧First scanning unit

104‧‧‧First lifting unit

11‧‧‧Control module

1101‧‧‧Central Processing Unit

1102‧‧‧Monitoring unit

12‧‧‧Dustbin module

121‧‧‧Installation base plate

122‧‧‧Support institutions

123‧‧‧Horizontal moving mechanism

124‧‧‧ Lifting mechanism

125‧‧‧Dustbin

126‧‧‧ Limit sensor

1221‧‧‧Support board

1222‧‧‧Mobile board

1231‧‧‧Drive motor

1232‧‧‧rail

1233‧‧‧Synchronous pulley

1234‧‧‧Synchronous pulley

1235‧‧‧Synchronous belt

1236‧‧‧Wheel mount

13‧‧‧ Lifting window assembly

131‧‧‧Installation agency

132‧‧‧ glass

133‧‧‧Director

134‧‧‧First drive mechanism

1311‧‧‧Frame parts

1312‧‧‧Frame parts

1331‧‧‧rail

1332‧‧‧rails

1333‧‧‧First slide

1334‧‧‧Second slide

1341‧‧‧Drive motor

1342‧‧‧Main timing pulley

1343‧‧‧From the timing pulley

1344‧‧‧Synchronous belt

1345‧‧‧Synchronous belt clamp

14‧‧‧Air purification module

141‧‧‧Air intake components

142‧‧‧Exhaust components

143‧‧‧Filter components

151, 152, 153‧ ‧ lockers

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a block diagram showing the structure of an automatic dispensing device according to the present invention. Figure 2 is a front elevational view of the automatic dispensing device of the embodiment of the present invention. 3 is a view of a portion of a module of an automatic dispensing device according to an embodiment of the present invention. 4 is another view of a portion of a module of an automatic dispensing device according to an embodiment of the present invention. Figure 5 is a schematic illustration of a rotary scanning assembly in accordance with an embodiment of the present invention. Figure 6 is a schematic illustration of a lift window assembly in accordance with an embodiment of the present invention. FIG. 7 is a schematic diagram of an input module according to an embodiment of the present invention. FIG. 8 is a schematic diagram of a bottle opening module according to an embodiment of the present invention. FIG. 9 is a schematic diagram of an interaction module according to an embodiment of the present invention. FIG. 10 is a schematic diagram of a solvent module according to an embodiment of the present invention. FIG. 11 is a schematic diagram of a multi-solvent module according to an embodiment of the present invention. Figure 12 is a schematic illustration of a peristaltic pump module in accordance with an embodiment of the present invention. Figure 13 is a side elevational view of the waste bin module of the embodiment of the present invention. Figure 14 is a top plan view of a waste bin module in accordance with an embodiment of the present invention. Figure 15 is a block diagram showing the structure of an air purification module according to an embodiment of the present invention. Figure 16 is a schematic view of a locker in accordance with an embodiment of the present invention. FIG. 17 is a block diagram showing the structure of a control module according to an embodiment of the present invention.

Claims (19)

An automatic dispensing device, comprising: a control module, an input module, a bottle opening module, an interaction module, a solvent module, a peristaltic pump module, a garbage bin module and a lifting window assembly, wherein the input module The bottle opener module, the interaction module, the solvent module and the peristaltic pump module are disposed in the dispensing chamber of the upper portion of the automatic dispensing device, and the garbage bin module and the lifting window assembly are disposed under the dispensing chamber. a side of the dispensing chamber is opened and closed by the lifting window assembly, and the input module, the peristaltic pump module and the solvent module are disposed adjacent to the openable and closed side of the dispensing chamber; The input module is configured to receive and fix a medicine bottle to be prepared; the bottle opening module is used for cutting the bottle head of the ampoule to open the ampoule; the interaction module is used for clamping and moving to be prepared a medicine bottle and a needle; the solvent module is used for fixing, clamping, and moving a solvent bag of the solvent; the peristaltic pump module is used for controlling the action of the dispenser and performing the liquid suction; Module for collection Waste medicine bottle and waste needle produced during the medicine process; the control module and the lifting window assembly, the input module, the bottle opening module, the interaction module, the solvent module, the peristaltic pump module, the garbage box module The groups are electrically connected and control the operation of the modules. The automatic dispensing device according to claim 1, wherein the automatic dispensing device further comprises a rotary scanning assembly disposed in the dispensing chamber for scanning and identifying a vial to be dispensed . The automatic dispensing device according to claim 1, wherein the lifting window assembly comprises a mounting mechanism, glass, a guiding mechanism for guiding the movement of the glass, and a driving unit for driving the glass to move along the guiding mechanism a driving mechanism, the guiding mechanism is fixed on the mounting mechanism for fixing and supporting the guiding mechanism and the first driving mechanism, and the lifting window assembly is opened by movement of the glass The dispensing chamber is closed. The automatic dispensing device according to claim 1, wherein the input module comprises a rotating mechanism and a claw mechanism, the rotating mechanism is annular and is provided with a plurality of holes for placing the vial, The gripper mechanism is disposed in the bore of the rotating mechanism to receive and fix the vial. The automatic dispensing device according to claim 4, wherein the input module further comprises a shaking mechanism for driving the rotating mechanism to shake to shake the vial. The automatic dispensing device according to claim 1, wherein the bottle opening module comprises an ampoule holding assembly, an ampoule cutting assembly and a breaking assembly, and the ampoule holding assembly is used for fixing the bottleneck of the ampoule In the following section, the ampoule cutting assembly is used to cut the neck of the ampoule, the breaking assembly is used to break the portion above the bottleneck of the ampoule. The automatic dispensing device according to claim 6, wherein the bottle opening module further comprises an ampoule opening bottle detecting assembly, the ampoule opening bottle detecting assembly comprising a first light source unit, a first image unit, and Alarm unit. The automatic dispensing device according to claim 1, wherein the interaction module comprises a mechanical arm and a mechanical claw mounted on the mechanical arm, the mechanical claw is for clamping the medicine bottle or the needle And moving the vial and the needle with the robot arm. The automatic dispensing device according to claim 8, wherein the interaction module further comprises a visual recognition device for performing bottleneck recognition and a weight detecting device for monitoring a suction process of the vial medicine. The automatic dispensing device according to claim 1, wherein the solvent module comprises: a solvent bag clamping assembly for holding the solvent bag, and a solvent bag lifting assembly for driving the solvent bag to move in a vertical direction. And a solvent bag rotating assembly for driving the solvent bag to move in a horizontal direction, the solvent bag holding assembly being mounted on the solvent bag rotating assembly. The automatic dispensing device according to claim 10, wherein the solvent bag clamping assembly comprises a plurality of clamping seats and a plurality of cylinders for driving the clamping seat to move horizontally, the clamping seats being spaced apart from the solvent At the periphery of the bag rotating assembly, the plurality of cylinders are respectively disposed between the respective holders and the solvent bag rotating assembly. The automatic dispensing device according to claim 1, wherein the peristaltic pump module comprises: a base mechanism, a pump head mechanism, a left mechanical arm mechanism, a right mechanical arm mechanism, a left clamping jaw, a right clamping jaw, and a peristaltic mechanism Wherein the pump head mechanism and the peristaltic mechanism are mounted on the base mechanism, and the left and right jaws are respectively mounted on the left and right arm mechanisms, the left arm The mechanism and the right arm mechanism are respectively mounted on the left and right sides of the pump head mechanism, and the left arm mechanism, the right arm mechanism, the left jaw, and the right jaw complete the needle insertion of the dispenser and the infusion hose The action of the tube, the pump head mechanism and the peristaltic mechanism are used for drug liquid suction. The automatic dispensing device according to claim 1, wherein the garbage bin module comprises: a mounting bottom plate, and a supporting mechanism arranged on the mounting bottom plate for supporting the garbage can, for driving the supporting mechanism A horizontal movement mechanism of the garbage can moving horizontally, a garbage can lifting mechanism for driving the support mechanism to move in a vertical direction, and a garbage can. The automatic dispensing device of claim 1, wherein the automatic dispensing device further comprises an air purifying module, wherein the air purifying module is configured to purify an air environment in the dispensing chamber, including: for pumping An intake assembly that draws outside air into the dispensing chamber, an exhaust assembly that exhausts air within the dispensing chamber, and a filter assembly for removing contaminants from the air. The automatic dispensing device according to claim 1, wherein a side window is provided on one or more sides of the dispensing chamber of the automatic dispensing device, the side window being configured to be opened and closed by being rotated in a vertical direction. The automatic dispensing device according to claim 1, wherein in the support chamber of the automatic dispensing device, one or more lockers are provided, the lockers being arranged to be opened in a horizontal rotation manner or The horizontal extraction mode is turned on. The automatic dispensing device according to claim 1, wherein the control module comprises a central processing unit and a monitoring unit, the central processing unit controls receiving an external command and an internal signal, and outputs an instruction to control the lifting window assembly. The input module, the bottle opening module, the interaction module, the solvent module, the peristaltic pump module, and the garbage bin module are operated, and the monitoring unit is configured to record the operation of the automatic dispensing device. The automatic dispensing device according to claim 1, wherein the automatic dispensing device further comprises a human-computer interaction device, the human-computer interaction device comprising a display screen and a scanning gun, the display screen for receiving user input Information and output to the user, the scanner is used to scan prescription information. The automatic dispensing device according to claim 1, wherein the automatic dispensing device further comprises a label output device for outputting a label on which the dispensing information is recorded.