WO2014036869A1

WO2014036869A1 - Automatic dispensing system and automatic dispensing method thereof

Info

Publication number: WO2014036869A1
Application number: PCT/CN2013/080503
Authority: WO
Inventors: 刘葆春; 王喆; 李霖; 董有辉; 黄敬林; 任庆良; 吉家贵
Original assignee: 深圳市卫邦科技有限公司
Priority date: 2012-09-04
Filing date: 2013-07-31
Publication date: 2014-03-13
Also published as: CN102847473B; CN102847473A

Abstract

Disclosed are an automatic dispensing system and an automatic dispensing method. The dispensing system comprises a table frame (10) provided with the devices of: a medicine introducing and shaking device (2) for locating medicine bottle and shaking up the liquid medicine, a mother liquid bottle clamping device (5) for locating mother liquid, a loading and moving soft tube and liquid medicine dispensing device (3) for clamping, moving and loading the soft tube and pumping the liquid medicine, a multi-axis robot (1) for clamping and moving the pinhead of the infusion soft tube and the liquid medicine bottle, and a bottle breaking device (4) for breaking the liquid medicine bottle. The system is used in the method. When using the automatic dispensing system and the automatic dispensing method for dispensing medicine, the preparation of multi-group liquid medicine can be achieved quickly, the dispensing liquid medicine efficiency is improved and the health of the medical staffs can be protected advantageously.

Description

Dispensing method and automated dispensing system for automated dispensing systems

Technical field

The invention belongs to the technical field of automatic dispensing methods and devices, and in particular relates to a dispensing method and an automatic dispensing system of an automatic dispensing system.

Background technique

At present, the methods of formulating drugs in hospitals are manually operated by medical personnel. For example, a liquid medicine for injection or hanging needle is prepared, and the medicine is taken out from the pharmacy and then sent to the injection department. The medical staff of the injection department performs manual dispensing according to the prescription issued by the doctor. The medical staff needs to manually operate the syringe and push the plunger of the syringe to complete the suction of the liquid. The medical staff has high work intensity during operation, and some drugs are toxic, which poses a greater threat to the safety of medical personnel.

technical problem

The object of the present invention is to overcome the deficiencies of the prior art described above, and to provide a dispensing method and an automatic dispensing system for an automatic dispensing system, which can realize automatic dispensing, and the medical staff does not need to manually dispense the pharmaceutical liquid, thereby greatly reducing the labor intensity of the medical staff. It is conducive to the health and safety of medical staff.

Technical solution

To achieve the above object, the present invention adopts the following technical solutions:

An automated dispensing system comprising a gantry, the gantry being provided with:

a medicine input shaking device for positioning a medicine bottle and shaking the liquid medicine;

a mother liquid bottle holding device for positioning the mother liquid;

Hose loading and transfer and liquid dispensing device for clamping, transferring hose and pumping liquid;

a multi-axis robot for holding and moving a needle and a vial of the infusion hose;

A broken bottle device for breaking the vial.

The medicine input shaker device includes an input turntable that can be rotated circumferentially and used to transfer the vial to the set station, a rotating member that drives the input turntable to rotate, a clip member, and a drive dial for driving the input dial Shaking the driving component, the input dial is provided with a station for accommodating the vial, and a clip member for holding the vial in the hole is disposed on the input dial.

The clip member is disposed at the hole position, and includes a claw, a tooth piece and a clip driving part, wherein the tooth piece is connected to the claw, and the clip driving part is connected to the On the input turntable, the claw driving member drives the claws to approach the center of the hole by the teeth.

The above-mentioned claws are provided in three or more, and each of the claws is uniformly disposed around the circumference of the axis of the hole.

The above-mentioned clip driving component includes a card gear and a driving motor for the card gear or one of the teeth, the card gear meshes with each of the teeth, and the driving motor is coupled to the input dial .

The hose loading transfer and liquid medicine dispensing device includes a base, a rotary table, a transfer arm, a needle holding member, and a liquid separation member for pressing the infusion hose, the rotary table being coupled to the base The liquid separating member is fixed on the rotating table, and the transfer arm is provided with two, the two transfer arms are respectively rotatably connected to two sides of the rotating table, and the front end of the transfer arm Provided with the needle holding member; the base is provided with a rotary table driving member for driving the rotary table, and the rotary table is provided with a driving unit for driving the transfer arm to rotate relative to the rotary table A transfer arm driving member is provided on the transfer arm with a grip driving member for driving the needle holding member to be reversed with respect to the transfer arm.

The transfer arm includes a first sliding arm and a second sliding arm, and the first sliding arm and the second sliding arm are slidably connected, and the first sliding arm and the second sliding arm are disposed to drive the a slide table on which the second slide arm slides relative to the first slide arm.

The bottle breaking device comprises a seat body, a side bracket, a bottle body clamping member for clamping the bottle body of the ampoule, and a bottle head clamping member clampable to the bottle head of the ampoule, the bottle body clamping member being rotatably connected The bottle head clamping member is rotatably coupled to the side bracket, and the base body is provided with a bottle driving member for driving rotation of the bottle body clamping member, the side bracket A broken bottle drive member for driving the translation and turnover of the bottle holder is provided thereon.

The above-mentioned multi-axis robot includes a fixing base fixed to the fixed gantry, the fixed seat is rotatably connected to a rotatable table that can be rotated circumferentially, and the rotating table is slidably connected with a sliding rod that can slide longitudinally. An electric clamping device for holding the needle is connected to the sliding rod.

The mother liquid bottle holding device includes a clamping component that can be clamped at a bottle neck of the mother liquid bottle, and one side of the clamping component is provided with a supporting component for supporting the bottle body of the mother liquid bottle, the supporting component is disposed at the One side of the clamping assembly.

The gantry is provided with a first guide rail and a second guide rail. The medicine input shaker device is slidably disposed on the first guide rail, and the mother liquid bottle gripping device is slidably disposed on the second guide rail.

A dispensing method for an automated dispensing system, the dispensing method comprising the steps of:

( 1 Place the vial on the drug input shaker and send the vial to the designated station, place the mother liquor bottle on the mother liquid bottle holding device, and place the infusion hose on the hose loading and unloading On the drug delivery device;

(2) Determine the type of the vial, if the vial is an ampoule, and perform step (3), if the vial is a powder bottle, perform the steps (4) );

(3) moving the vial to the bottle breaking device by the multi-axis robot, the bottle breaking device breaking the vial;

(4) taking the liquid in the mother liquid bottle into the powder bottle through the infusion hose, and shaking it;

(5 The hose loading transfer and liquid dispensing device inserts the needles at both ends of the infusion hose into the vial and the mother liquid bottle, respectively, and pumps the liquid.

The above-mentioned automatic dispensing system dispensing method is in step (4) In the case where the liquid in the powder bottle is evenly shaken, the powder bottle is lifted by the multi-axis robot by 180 degrees, and then step (5) is performed.

Beneficial effect

The invention provides an automatic dispensing system dispensing method and an automatic dispensing system, which can quickly complete the preparation of multiple groups of liquid medicines, improve the efficiency of dispensing, greatly reduce the labor intensity of medical personnel, and help to protect the health of medical personnel. Safety.

DRAWINGS

1 is a perspective view of an automated dispensing system provided by an embodiment of the present invention;

2 is a perspective view of an automated dispensing system provided by an embodiment of the present invention;

Figure 3 is a perspective view of an automated dispensing system provided by an embodiment of the present invention;

4 is a perspective view of a medicine input shaking device for use in a dispensing system according to an embodiment of the present invention;

Figure 5 is a perspective view of a medicine input shaking device for removing a cover plate for use in a dispensing system according to an embodiment of the present invention;

6 is another perspective view of a medicine input shaking device for use in a dispensing system according to an embodiment of the present invention;

Figure 7 is a perspective view of a clip member for a medicine input shaker device for use in a dispensing system according to an embodiment of the present invention;

Figure 8 is another perspective view of a clip member for use in a medicine input shaker device for use in a dispensing system according to an embodiment of the present invention;

9 is a perspective cross-sectional view of a clip member in a medicine input shaker device for use in a dispensing system according to an embodiment of the present invention;

Figure 10 is a perspective view of an infusion hose loading and transferring and liquid dispensing device for use in a dispensing system according to an embodiment of the present invention;

Figure 11 is a perspective view of the infusion hose loading and transfer and drug dispensing device for use in a dispensing system according to an embodiment of the present invention;

Figure 12 is another perspective view of the infusion hose loading and transfer and drug dispensing device for use in a dispensing system according to an embodiment of the present invention;

Figure 13 is a perspective view of a broken bottle device for breaking an ampoule according to an embodiment of the present invention;

Figure 14 is another perspective view of a broken bottle device for breaking an ampoule according to an embodiment of the present invention;

Figure 15 is a perspective view showing the seat body and the bottle holding member of the broken bottle device for breaking the ampoule according to the embodiment of the present invention;

Figure 16 is a partial enlarged view of A in Figure 13;

Figure 17 is a perspective view of a mother liquid bottle holding device for use in a dispensing system according to an embodiment of the present invention;

Figure 18 is a perspective view of a mother liquid bottle holding device and a mother liquid bottle for use in a dispensing system according to an embodiment of the present invention;

Figure 19 is another perspective view of a mother liquid bottle holding device and a mother liquid bottle for use in a dispensing system according to an embodiment of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

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.

As shown in FIG. 1 to FIG. 3, an embodiment of the present invention further provides an automatic dispensing system, including a gantry 10, the gantry 10 The settings are:

a mother liquid bottle holding device for positioning the mother liquid 5 ;

Hose loading and transfer and liquid dispensing device for clamping, transferring and pumping liquid medicine;

a multi-axis robot for holding and moving the needle and the vial of the infusion hose 1 ;

Broken bottle device for breaking the vial 4 .

The multi-axis robot 1 includes a turntable 11 fixed to a fixed gantry, a swivel arm 12, a rotary table 13, and a slide bar 14 And the electric clamping device 15, the turntable 11 and the rotary table 13 are connected by the rotating arm 12, and the rotating table 13 is rotated circumferentially by the rotating arm 12, and the rotating table 13 The upper slide is connected with a slide bar 14 which is longitudinally slidable, and an electric gripping device 15 for gripping the needle is connected to the slide bar 14.

Specifically, as shown in FIG. 1 to FIG. 3, the gantry is provided with a first rail 101 and a second rail 102, The medicine input shaker 2 is slidably disposed on the first rail 101, and the mother liquid bottle holding device 5 is slidably disposed on the second rail 102, so as to put the medicine bottle and the mother liquid bottle into the medicine input and shake it. Device 2 and the mother liquid bottle holding device 5 on.

As shown in FIG. 4 to FIG. 6, the medicine input shaking device 2 includes an input dial 21, a clip member 23, and a rotating member. 24, and shake the drive unit 25, where:

The input dial 21 is rotatable circumferentially and is used to transfer the vial to the set station, and when rotated, through the rotating member 24 The rotation thereof is driven, and the input dial 21 is provided with a station 211 for accommodating the vial.

A clip member 23, which is disposed on the input dial 21, is for holding the vial in the hole 211. Input dial when in use 21 The bottle is transported to the designated station by circumferential rotation, so as to clamp the medicine bottle or insert the needle into the medicine bottle by a robot or the like; and the input dial 21 shakes the driving part during the circumferential rotation 25 The input dial 21 can be driven to reciprocate to make the input dial 21 The medicine bottle can be moved in a circumferential wave-shaped trajectory to realize the function of shaking the liquid medicine, and the effect of shaking is good, and at the same time, the labor intensity of the medical staff is reduced, and the medical staff can be removed from the simple repetitive work. Liberation will help improve the efficiency of its work, and it will help to automate the dispensing of medicines, which will help to ensure the health and safety of medical staff. Of course, the medicine input shake device 2 The split design can also be used to separate the input and shake. The medicine input shaking device 2 can also adopt a structure of linear input and shaking and shaking, which is also within the protection scope of the present invention.

Specifically, as shown in FIGS. 4 to 7, the input dial 21 has a disk shape on which a plurality of holes 211 are provided in the circumferential direction. The input dial 21 can accommodate multiple vials at a time, which is beneficial to improve the efficiency of dispensing, and the vial can be a powder bottle or an ampoule. A cover plate 215 is provided on the input dial 21.

Specifically, as shown in FIGS. 7 and 8, the clip member 23 is disposed at the hole position 211, which includes the claw 231 and the blade. 232, the clip driving part, the driving tooth member 235, the worm 236 and the rotating shaft 239, wherein:

One end of the claw 231 is rotatably coupled to the input dial 21, and the clip driving member is used to drive the other end of the claw 231 to the hole position. The center of the 211 is adjacent, and the clip driving unit is connected to the input dial 21, and the claws 231 are provided with at least two. To reliably hold the vial to prevent the vial from loosening. Of course, the clip member 23 A suitable structure such as an elastic clip can also be used.

In the present embodiment, the claws 231 are provided with three or more, and each of the claws 231 is in the hole position 211. The axis is uniformly distributed around the center of the circle; the claw 231 is coupled to the blade 232, and the blade 232 is provided with a tooth shape; the clip driving member includes the clip gear 233 and the card gear 233 or one of the teeth The driving motor 234 of 232 is provided with the card gear 233 at the center of the hole position 211 and meshes with the respective teeth 232, and the middle section of the driving tooth member 235 passes through the rotating shaft. 239 is rotationally coupled to a tooth 232; the worm 236 is meshed with the drive tooth member 235; the worm 236 is fixedly coupled to the shaft of the drive motor 234.

The drive motor 234 is connected to the input dial 21 . When the drive motor 234 is rotated, each of the claws 231 It can be tightened or loosened in synchronization to reliably hold or release the vial.

The transmission process is smooth and has a self-locking function. Of course, structural transmissions such as gears can also be used, which are all within the scope of protection of the present invention. In the specific implementation, as shown in FIG. 9, the lens 232 is provided with a groove 2321 One end of the driving tooth member 235 is fixedly provided with a rod member 237 extending into the groove 2321, and two elastic members 238 are disposed in the recess 2321, and two elastic members 238 are respectively disposed on the rod member The two sides of the 237; the groove 2321 is arcuate and is set at the center of the rotation axis 239. Thus, the force between the claw 231 and the vial is prevented from being excessively damaged to damage the vial. When the claw 231 After bonding to the vial. If the drive motor 234 continues to rotate, the lever 237 can compress the resilient member 238 to absorb shock and avoid damage to the vial. The elastic member 238 may be a spring or the like.

As shown in FIG. 4 to FIG. 9, especially in FIG. 6, the rotating member 24 includes a rotating shaft 241 and a rotating belt. 242, rotating driving member 243 and sleeve 244, the upper end of the rotating shaft 241 is fixedly connected to the input turntable 21, and the sleeve 244 is sleeved on the outer side of the rotating shaft 241, and the rotating shaft 241 A conductive slip ring is disposed between the sleeve 244. Rotating the driving member 243 and the rotating shaft 241 through the rotating belt 242 Connection, compact structure and high transmission efficiency. The conductive slip ring belongs to the application range of electrical contact sliding connection. It is also called collector ring, or rotary joint, rotating electrical interface, slip ring, collector ring, return ring, coil, commutator, adapter, which realizes two A precise power transmission device for images, data signals and power transmission of a relative rotating mechanism. It is especially suitable for applications where unlimited continuous rotation is required while transferring power or data from a fixed position to a rotating position. In this way, the axis of rotation The 241 and input dial 21 are rotatable relative to the sleeve 244, and the power supply cable drives the conductive slip ring to be connected to the electrical components on the input dial 21. a rotating shaft 241 coupled to drive the rotating shaft 241 Rotating drive member 243 that rotates circumferentially. The rotary driving member 243 may be a motor or a rotary cylinder or the like. In the embodiment, the rotary driving member 243 is a motor, and in addition, the sleeve 244 The outer side of the outer side is pivotally connected to the bracket by a laterally disposed pin shaft, and the driving sleeve 244 is reciprocally oscillated to shake the liquid medicine in the medicine bottle on the input dial 21 with high integration.

As shown in Figures 4 to 9, the drive unit 25 is shaken, including an eccentric 251, a link 252, and a drive eccentric 251 A rotating eccentric drive member 253, one end of the link 252 is rotatably coupled to the sleeve 244, and the other end is rotatably coupled to the eccentric 251. When the eccentric wheel 251 is rotated, it can pass the connecting rod The 252 drives the sleeve 244 to reciprocate and rotates the input dial 21 to reciprocate, and at the same time, the input dial 21 can be opposed to the sleeve 244 by the rotating member 24. Rotate in the circumferential direction and shake well.

As shown in Figures 4 and 5, the eccentric drive unit 253 includes an eccentric drive motor 2531 and an eccentric drive belt 2532. The eccentric drive belt 2532 is connected between the eccentric drive motor 2531 and the eccentric 251, and is structurally reliable and compact.

As shown in Fig. 10 to Fig. 12, the infusion hose loading and transferring and liquid dispensing device 3 includes a base 31 and a rotary table 32. a transfer arm 33, a needle holding member 34, and a liquid separation member 35 for squeezing the infusion hose, and wherein: the rotary table 32 is rotatably coupled to the base 31, and the liquid separation member 35 is fixed to the rotary table On the 32, the liquid separation part 35 is used to transport the liquid medicine to a container such as a medicine bottle. The transfer arm 33 is provided with two, and the two transfer arms 33 are respectively rotatably connected to both sides of the rotary table 32, and the transfer arm 33 The front end is provided with a needle holding member 34, and two needle holding members 34. The needles for respectively clamping the two ends of the infusion hose; in order to move the needle to any set position, the needle can be inserted into the mother liquid bottle or the powder bottle or the ampoule, and the liquid medicine is delivered through the liquid separation part 35. Base 31 A rotary table driving member for driving the rotary table 32 is provided, and the rotary table driving member may be a motor or the like, and the rotary table 32 is driven by a transmission structure of the worm gear to rotate the rotary table 32. Rotating to the proper position expands the range of movement of the transfer arm 33. The transfer table 32 is provided with a transfer arm driving member 333 for driving the transfer arm 33 to rotate relative to the rotary table 32 to move the transfer arm 33 Drive to the appropriate position. The transfer arm 33 is provided with a grip driving member for driving the needle holding member 34 to be reversed with respect to the transfer arm 33. To drive the needle to flip, so that the needle can be oriented to different positions, such as horizontal, longitudinal tilt, and the like. In a specific application, the two transfer arms 33 are extended forward, and the infusion hose is loaded on the needle holding member 34, and the two needle holding members 34 are respectively clamped on the needles at both ends of the infusion hose, and then the transfer arm 33 is horizontally rotated, so that the infusion hose can be straightened and caught in the liquid separation part 35, and the liquid separation part 35 The medicine can be squeezed and clamped to deliver the liquid medicine, so that the precise quantitative pumping of the medicine liquid can be realized, and the medical staff does not need to manually dispense the medicine liquid, which is beneficial to ensuring the health and safety of the medical staff and reducing the labor intensity of the medical staff.

Understandably, the infusion hose loading transfer and liquid distribution device 3 It is also possible to adopt a suitable structure such as a general robot, and it is within the scope of protection of the present invention.

Specifically, as shown in FIG. 10 to FIG. 12, the transfer arm 33 includes a first sliding arm 331 and a second sliding arm 332. And the transfer arm driving component 333, the first sliding arm 331 and the second sliding arm 332 are slidably connected, and the sliding platform is disposed between the first sliding arm 331 and the second sliding arm 332, and the sliding table is used to drive the second Sliding arm The 332 slides relative to the first slide arm 331, and the transfer arm 33 can be extended or shortened under the driving of the slide table, further expanding the needle holding member 34. The range makes the needle transfer more efficient and flexible. Specifically, the two transfer arms 33 are independently rotatable, and the two slide tables can also independently drive the transfer arm 33 to elongate or shorten.

As shown in FIGS. 10 to 12, the root of the first slide arm 331 is rotatably coupled to the rotary table 32, and the second slide arm 332 The sliding member is slidably coupled to the first sliding arm 331, and the needle holding member 34 is rotatably coupled to the end of the second sliding arm 332, and the structure is smart and reliable.

Specifically, as shown in FIGS. 10 to 12, the transfer arms 33 on both sides of the rotary table 32 They are driven by two independent transfer arm drive units 333; the two transfer arms 33 can be operated independently without affecting each other. The needle holding members 34 on the two transfer arms 33 are respectively provided by two independent clamping driving members 343 drive, two clamping drive components 343 drives can be operated independently without affecting each other.

Specifically, as shown in FIGS. 10 to 12, the second sliding arms 332 on the two transfer arms 33 are shown. Driven by two separate slides, the two transfer arms 33 can be independently telescoped to drive the needle. The transfer arm driving member 333 is for driving the transfer arm 33 relative to the rotary table 32 A motor or cylinder that rotates in a lateral direction.

Specifically, as shown in FIG. 10 to FIG. 12, the rotating table 32 is fixedly provided with a support frame 353 and a liquid separating member 35. The utility model comprises a peristaltic pump, a support frame 353 and a support rod 354. The peristaltic pump comprises a pump head 351 and a lower pump body 352, and the lower pump body 352 is fixedly disposed on the rotary table 32 or the support frame 353. Upper, the pump head 351 is slidably coupled to the support frame 353 and located above the lower pump body 352, and the support frame 353 or the rotary table 32 is provided with a pump head 351 for driving close to or away from the lower pump body. Pump head drive unit for 352. Pump head 351 or lower pump body 352 A roller (not shown) for continuously squeezing the infusion hose is provided, the roller is driven to rotate by the driving member, and the driving member may be a motor or the like. Prior art peristaltic pump, pump head 351 All of them are manually opened and are not convenient to use. The peristaltic pump provided by the present invention has a pump head 351 It can be slid up and down under the action of the pump head drive component to achieve clamping or loosening of the infusion hose. The degree of automation is high. The precise pumping of the liquid can be achieved by starting the peristaltic pump. The medical staff does not need to manually dispense the pharmaceutical liquid. It greatly reduces the labor intensity of medical staff and helps to ensure the health and safety of medical staff. The pump head drive unit can be a linear motor or a nut screw structure that accurately drives the pump head 351 Slide up and down.

The support rod 354 is provided with two fixedly disposed on the support frame 353 and located at the pump head 351 and the lower pump body 352, respectively. On both sides, the support rod 354 is used to support the infusion hose.

As shown in Figs. 10 to 12, the needle holding member 34 includes a jaw 341 and a jaw driver 342. And a clamping drive member 343, wherein: the jaw 341 is provided with two and relatively slidable, and the jaw driver 342 is used to drive the jaw 341 to slide relative to each other. In a specific implementation, the jaw driver 342 It can be a linear motor or a cylinder.

The clamping drive member 343 is for driving the needle holding member 34 relative to the transfer arm 33 A motor or cylinder that is turned vertically.

As shown in Fig. 13 to Fig. 16, the broken bottle device 4 includes a seat body 41, a side bracket 42, and a bottle holding member 43. a bottle head holding member 44, a bottle driving member 45, a scribing unit 46 and a longitudinal driving unit 47, wherein:

The side bracket 42 is disposed on one side of the seat body 41, and the bottle body holding member 43 is rotatably coupled to the seat body 41. Above, it is used to hold the ampoules 94 bottle body, and the bottle head holding member 44 is rotatably connected to the side bracket 42, which can be clamped to the ampoules 94 bottle head. Bottle drive unit 45 Set in the housing 41 Above, for driving the bottle holding member 43 to rotate, the side bracket 42 is provided with a broken bottle driving member 48 for driving the bottle head clamping member to translate or flip, so that the ampoule bottle 94 The bottle head and the bottle body are separated from the bottle neck, and the medical staff can complete the treatment of the ampoule 94 without directly contacting the ampoule 94, thereby avoiding the direct contact of the medical staff in the prior art with the ampoule. Safety hazards, ampoules 94 The liquid medicine inside will not splash on the hands of the medical staff, thereby avoiding damage to the medical staff, high reliability, and automation, which greatly reduces the work intensity of the medical staff.

Broken bottle device 4 Other configurations, such as clamping the bottle head, moving or rotating the bottle body to break the structure of the ampoule, are also within the scope of the present invention.

Referring to Fig. 15, the bottle driving member 45 includes a transmission gear 451 fixedly coupled to the bottle holding member 43. a transmission member 452 that meshes with the transmission gear 451 and a driving member 453 for driving the transmission member 452. Transmission gear 451 is set on the bottle holding part 43 Below. The bottle holding member 43 is circumferentially rotatable by the drive gear 451 and the drive mechanism 453.

Specifically, as shown in FIGS. 13 to 16, the transmission member 452 For the worm, the transmission is smooth and reliable, compact, and has a self-locking function. In addition, the transmission gear 451 can be set to be hollow, and the used ampoule 94 can pass directly through the transmission gear 451. Drop into the container below. Of course, the transmission member 452 can also be a gear or the like, and all fall within the protection scope of the present invention.

In the present embodiment, the driving member 453 is a motor, and the transmission precision is high.

Further, a through hole for the ampoule 94 to fall is provided at the center of the transmission gear 451. Bottle gripping parts 43 After loosening the used ampoule 94, the ampoule 94 can pass directly through the through hole of the drive gear 451 and fall into the container below.

As shown in Fig. 13 to Fig. 16, the side bracket 42 is provided with a scribing assembly for drawing a break groove at the neck of the ampoule 94. 46. The scribing assembly 46 includes a rod body 461 and a scribing cutter wheel 462 disposed at a front end of the rod body 461. The rod body 461 is driven by the scribing drive member 463, and the scribing drive member 463 Fixedly attached to the side bracket 42. The scribing cutter wheel 462 can be placed against the bottle neck. The scribing cutter wheel 462 is driven by a scribing drive member, which may be a cylinder or the like when implemented. Scribing cutter wheel 462 when the bottle is broken The bottle body driving member 45 is driven to rotate against the bottle neck, and then the bottle driving member 45 drives the bottle holding member 43 to rotate, so that the neck portion is marked with a corresponding breaking groove to break the bottle neck.

Specifically, as shown in Figs. 13 to 16, the longitudinal driving member 47 is provided on one side of the seat body 41 for driving the seat body. 41 sliding up and down, the longitudinal driving member 471 includes a longitudinal frame 471 fixedly disposed on one side of the base 41, a longitudinal sliding plate 472 slidable up and down, and a driving mechanism for driving the longitudinal sliding plate 472 The skateboard drive member 473, wherein: the longitudinal slide plate 472 is slidably coupled to the longitudinal frame body 471, and the slide plate drive member 473 is fixedly coupled to the longitudinal frame body 471 to drive the bottle body holding member 43 And the broken ampoule 94 held by the bottle holding member 43 slides up and down, and the longitudinal driving member 47 can lift the broken ampoule when the infusion tube needle is kept stationary. The needle is inserted into the ampoule 94 and the structure is reliable.

In use, as shown in Figs. 13 to 16, the seat body 41 is rotatably coupled to the longitudinal slide plate 472 via the swing shaft 481. A longitudinal posture adjusting member for adjusting the inclination angle of the seat body 41 is provided between the longitudinal sliding plate 472 and the seat body 41 to adjust the angle of the ampoule 94 so that the needle can reach the ampoule. At the bottom of the machine, all the liquid medicine can be taken out to avoid the air bubbles being drawn into the infusion hose, and the reliability is high.

Specifically, as shown in FIG. 14, the pose adjustment member includes a side disposed on the swing shaft 481 and fixedly coupled to the base 41. The posture adjustment driving member 491 has a connecting rod 411 fixedly connected to the base 41, and the ejector rod of the posture adjusting driving member 491 is fixedly connected to the connecting rod 411. Adjusting the drive through the pose 491 Pulling the seat body 41 realizes the adjustment of the inclination angle of the seat body 41 and the bottle holding member 43. The position adjustment drive member 491 can be a suitable member such as a linear motor or a cylinder.

Specifically, as shown in FIGS. 14 and 16, the bottle holding member 44 includes at least two bottle holding claws 441. And the bottle head clamping driving member 442 for driving the respective bottle holding claws 441 to be close to each other. Bottle head clamping drive 442 Can be a cylinder or a linear motor. In this embodiment, the broken bottle driving member is a cylinder or a motor, etc., which can drive the bottle head clamping assembly to rotate eccentrically, so as to prevent debris generated when the bottle is broken from falling into the bottle body.

Specifically, as shown in FIGS. 13 to 16, the bottle holding member 43 includes at least two bottle holding claws 431. The bottle holder driving member 432 is used to drive the respective bottle holding claws 431 to be close to each other. The bottle holding drive member 432 can be a cylinder or a linear motor.

As shown in FIG. 17 to FIG. 19, the mother liquid bottle holding device 5 includes a clamping assembly 51, a support assembly 52, and a connecting plate. 53. Support frame 54 and opening assembly, wherein:

The clamping assembly 51 can be clamped at the bottle neck of the mother bottle, and the support assembly 52 is disposed at the clamping assembly 51. One side is used to support the mother liquid bottle body. The mother liquor bottle 94 can be supported by the support assembly 52 and the neck of the mother liquor bottle 94 is held by the clamp assembly 51. Fixed, liberating the hands of medical staff, can be applied to the automatic dispensing system, reducing the labor intensity of medical staff, liberating medical staff from simple repetitive labor, helping to improve their work efficiency, and conducive to the realization of dispensing Automation.

A connecting member 51 is attached to the connecting plate 53, and a through hole for the bottleneck of the mother liquid bottle is opened.

Understandably, the mother liquid bottle holding device 5 Other suitable structures may also be employed, such as a structure in which a mother bottle is fixed by a tie or a mother bottle is fixed by a clip, and is within the scope of the present invention.

Connecting plate 53 The upper clamping unit 51 can be placed on one side of the connecting plate 53 and in front of the through hole, the mother liquid bottle 94 The bottle neck can be passed from the other side of the connecting plate 53 to the through hole by being clamped to the clamping member 51, which is very convenient to use.

The connecting plate 53 is rotatably connected to the support frame 54 , and the connecting plate 53 can be driven by the motor 541 to facilitate the adjustment of the connecting plate 53 and the angle of the mother liquor bottle 94.

The clamping assembly 51 includes a first clamping block 511 and a second clamping block 512 which are disposed opposite each other, and the first clamping block 511 A notch 501 for holding the bottle neck of the mother liquid bottle is disposed on the end surface opposite to the second clamping block 512. One end of the first clamping block 511 is rotatably connected to the connecting plate 53 by the rotating shaft body, and the second clamping block 512 is fixedly connected to the connecting plate 53 , and an elastic returning member 513 and an elastic returning member 513 are disposed between the other end of the first clamping block 511 and the second clamping block 512 or the connecting plate 53 . It may be a spring, one end of which is connected to the first clamping block 511 and the other end of which is connected to the second clamping block 512 to be reliably clamped to the bottle neck of the mother liquid bottle 94. If you need to loosen the mother liquor bottle 94 When the first holding block 511 is lifted up against the elastic force of the elastic returning member 513, the mother liquid bottle 94 can be removed from the receiving member 52. Release the first clamping block 511 Thereafter, the first clamping block 511 remains clamped to the second clamping block 512 by the resetting action of the elastic return member 513. If you need to clamp the mother liquid bottle 94, you only need to overcome the elastic reset piece 513 The elastic force of the first clamping block 511 is lifted up to clamp the bottleneck of the mother liquid bottle 94 between the first clamping block 511 and the second clamping block 512. Release the first clamping block 511 Thereafter, under the action of the reset of the elastic return member 513, the first clamping block 511 remains clamped to the second clamping block 512, thereby clamping the mother liquid bottle 94. Clamping assembly 51 Other suitable means are also possible, such as horizontally sliding blocks, threaded locking blocks, and the like.

Specifically, as shown in FIGS. 17 to 19, the notch 501 is 'V'. 'Glyphs' to accommodate bottlenecks of different sizes. Of course, the notch 501 can also have a suitable shape such as a circular arc shape or a trapezoidal shape.

More specifically, as shown in FIGS. 17 to 19, a notch groove is opened at the notch 501 to increase the notch 501. The friction at the place prevents the mother liquor bottle 94 from sliding freely and has high reliability.

Specifically, as shown in FIGS. 17 to 19, the first clamping block 511 and the second clamping block 512 An opening assembly is provided between the first clamping block 511 and the second clamping block 512, and the first clamping block 511 is quickly moved relative to the second clamping block 512 by the opening assembly. Open to facilitate removal or clamping of the mother liquor bottle 94.

The opening assembly includes an opening member 55, and the first clamping block 511 and the second clamping block 512 are provided with a card slot on opposite end faces. 502, the opening member 55 is disposed in the card slot 502, and the opening member 55 is rotatably connected to the connecting plate 53, and the opening member 55 can be in the shape of a rectangular block, and the four corners are rounded. When opening member 55 When disposed laterally in the card slot 502, the first clamping block 511 and the second clamping clip can be opposite each other. When the driving opening member 55 is rotated by 90 degrees to cause the opening member 55 to be longitudinally disposed, the opening member 55 is opened. The tension of the spring can be overcome and the first clamping block 511 can be opened, so that the mother liquid bottle 94 can be removed from the notch 501 or removed from the notch 501, which is convenient to operate. Of course, the opening member 55 It may also be provided in a non-circular shape such as an ellipse, and all fall within the protection scope of the present invention. In addition, the opening assembly can also be provided in other suitable configurations, such as by a ram or other drive structure. The opening is all within the scope of protection of the present invention.

As shown in FIG. 19, the support assembly 52 includes a support piece 521, an adjustment lock assembly 522, and a fixed plate 523. A fixing plate 523 is fixedly connected to the connecting plate 53, and the supporting piece 521 is connected to the fixing plate 523, and the bottle body of the mother liquid bottle 94 can be placed on the supporting piece 521.

The support assembly 52 further includes an adjustment lock assembly 522, and a fixing groove 523 is provided on the fixing plate 523. The adjusting locking component 522 is disposed in the adjusting slot 5231 and the supporting piece 521 is adjustably locked on the fixing plate 523, which can conveniently adjust the supporting plate relative to the notch 501 The height is adapted to different specifications of the mother liquor bottle 94, and the structure is highly versatile.

Specifically, as shown in FIGS. 17 to 19, the adjustment locking assembly 522 is provided. It can be a butterfly bolt and a nut to facilitate the manual adjustment of the height of the support piece 521, and it is convenient to operate without using an auxiliary tool such as a screwdriver.

Further, as shown in Figs. 17 to 19, the connecting plate 53 is rotatably coupled to the support frame by connecting the rotating shaft 56. On the upper side, a limiting member is disposed between the connecting plate 53 and the support frame 54 for preventing the rotation angle of the connecting plate 53 from exceeding the set value.

Specifically, as shown in FIG. 17 to FIG. 19, the limiting component includes a bar 57 and a switch member 58 and a bar 57. Fixedly connected to the connecting shaft 56 or the connecting plate 53, the switch member 58 is fixedly disposed on the support frame 54 and can be triggered by the bar 57. Switch member 58 It can be a micro switch or an infrared switch, and the switch member 58 is provided with two and opposite positions. When the bar 57 touches the micro switch or rotates to the infrared switch, the state of the switch member 58 can be changed in time to control the motor 541 Stop the rotation in time to ensure that the connecting plate 53 and the mother liquid bottle 94 do not exceed the set angle and the reliability is high.

In addition, the present invention also discloses a dispensing method using the above automatic dispensing system, as shown in FIG. 1 to FIG. 3 . As shown, the dispensing method comprises the following steps:

The dispensing method comprises the following steps:

As shown in Figure 1 to Figure 3, place the vial on the drug input shaker 2 and pass the input dial 21 The medicine bottle is rotated and transported to a designated station, and the medicine bottle is clamped to the input dial 21 by the clip member 23. Place the mother liquor bottle on the mother bottle holder 5 and place the infusion hose on Hose loading transfer and liquid dispensing device 3; Hose loading transfer and liquid dispensing device 3 The needle at one end of the infusion hose can also be inserted into the mother liquid bottle, and the needle at the other end can be moved to the multi-axis robot 1 Front .

(3) moving the ampoule to the bottle breaking device through a multi-axis robot, and the bottle breaking device breaks the bottle;

After the ampoule 94 is moved to the broken bottle device, the bottle body of the ampoule is positioned by the bottle holding member 43 and then passed through the scribing assembly 46 Scribing the ampoule and then breaking the ampoule by moving the bottle holder assembly 44.

First, it is necessary to extract a certain amount of mother liquor into the powder bottle, so that the powder in the bottle is dissolved in the mother liquor, and then the device is shaken by the medicine input. Shake the drive unit 25 Shake the liquid. In the specific operation, after shaking, turn the powder bottle 180 degrees, and then perform step (5).

(5) Hose loading and transfer and liquid distribution device 3 Insert the needles at both ends of the infusion hose into the vial and mother liquor bottle, and pump the liquid to achieve quantitative dispensing.

In the above steps, the transfer and liquid dispensing device can also be loaded by the multi-axis robot 1 or the hose as needed. Reposition the needle of the infusion hose and deliver the shaken solution to the desired vial.

Through this design, multiple groups of liquids can be quickly prepared, and The medical staff does not need to manually dispense the pharmaceutical liquid, and the degree of automation is high, which greatly reduces the labor intensity of the medical staff, and is beneficial to the health and safety of the medical staff.

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

Embodiments of the invention

Industrial applicability

Sequence table free content

Claims

An automated dispensing system characterized by comprising a gantry, the gantry being provided with:

a medicine input shaking device for positioning a medicine bottle and shaking the liquid medicine;

Mother liquor bottle holding device for positioning mother liquor;

Hose loading and transfer and liquid distribution device for clamping, transferring hose and pumping liquid;

a multi-axis robot for holding and moving needles and vials of the infusion hose;

A broken bottle device for breaking the vial.
Claims 1 The automatic dispensing system, characterized in that the medicine input shaking device comprises an input dial that can be rotated circumferentially and used to transfer the vial to a set station, and a rotating part that drives the input turntable to rotate And a clamping member and a shaking driving component for driving the input dial to be shaken, wherein the input dial is provided with a station for accommodating a medicine bottle for clamping the medicine bottle in the hole position The clip member is disposed on the input dial.
Claims 2 The automatic dispensing system is characterized in that the clip member is disposed at the hole position, and includes a claw, a tooth piece and a clip driving part, and the tooth piece is connected to the claw. The clip driving part is connected to the input turntable, and the claw driving part drives the claw by the tooth piece to approach the center of the hole position.
Claims 3 The automatic dispensing system is characterized in that the claws are provided with three or more, and each of the claws is uniformly distributed around the circumference of the axis of the hole.
Claims 3 The automatic dispensing system, characterized in that the clip driving part comprises a card gear and a driving motor for the card gear or one of the tooth pieces, the card gear meshes with each tooth piece, the A drive motor is coupled to the input carousel.
Claims 1 The automated dispensing system, characterized in that the hose loading transfer and liquid dispensing device comprises a base, a rotary table, a transfer arm, a needle holding member and a liquid separation member for squeezing the infusion hose The rotating table is connected to the base, the liquid dividing member is fixed on the rotating table, the transfer arm is provided with two, and the two transfer arms are respectively rotatably connected to the rotation On both sides of the table, the front end of the transfer arm is provided with the needle holding member; the base is provided with a rotary table driving member for driving the rotary table, and the rotary table is provided with A transfer arm driving member that drives the transfer arm to rotate relative to the rotary table, and the transfer arm is provided with a clamp driving member for driving the needle holding member to reverse the transfer arm.
Claim 6 The automatic dispensing system, wherein the transfer arm comprises a first sliding arm and a second sliding arm, a sliding connection between the first sliding arm and the second sliding arm, the first sliding arm and the A slide table for driving the second slide arm to slide relative to the first slide arm is disposed between the second slide arms.
According to claims 1 to 7 The automatic dispensing system according to any one of the preceding claims, wherein the bottle breaking device comprises a seat body, a side bracket, a bottle body clamping member for holding the bottle body of the ampoule, and a bottle cap that can be clamped to the bottle of the ampoule a bottle holding member, the bottle holding member is rotatably coupled to the seat body, the bottle head holding member is rotatably coupled to the side bracket, and the seat body is provided with driving The bottle body gripping member rotates the bottle driving member, and the side bracket is provided with a broken bottle driving member for driving the bottle head clamping member to translate and reverse.
Claims 1 to 7 The automatic dispensing system according to any one of the preceding claims, wherein the multi-axis robot comprises a turntable connected to a fixed gantry, and the fixed seat is rotatably connected with a rotatable table that can be rotated circumferentially, A sliding rod that can slide longitudinally is slidably coupled to the rotating table, and an electric clamping device for holding the needle is connected to the sliding rod.
Claims 1 to 7 The automatic dispensing system according to any one of the preceding claims, wherein the mother liquid bottle holding device comprises a clamping component that can be clamped at a bottle neck of the mother liquid bottle, and the clamping component is disposed on one side for supporting the mother liquid a support assembly for the bottle body, the support assembly being disposed on one side of the clamp assembly.
Claims 1 to 7 The automatic dispensing system according to any one of the preceding claims, wherein the gantry is provided with a first guide rail and a second guide rail, and the medicine input shaker device is slidably disposed on the first guide rail, the mother liquid bottle The clamping device is slidably disposed on the second rail.
One should be in accordance with claims 1 to 11 A dispensing method of any of the automated dispensing systems, characterized in that the dispensing method comprises the steps of:

(1) placing a vial on the drug input shaker device and sending the vial to a designated station, and placing the mother liquid bottle in the mother liquid bottle holding device Upper, placing the infusion hose on the hose loading transfer and liquid dispensing device;

(2) Determine the type of the vial, if the vial is an ampoule, and perform step (3), if the vial is a powder bottle, perform the steps (4) );

(3) moving the vial to the bottle breaking device by the multi-axis robot, the bottle breaking device breaking the vial;

(4) taking the liquid in the mother liquid bottle into the powder bottle through the infusion hose, and shaking it;

(5) The hose loading and transferring and liquid dispensing device inserts the needles at both ends of the infusion hose into the vial and the mother liquid bottle, respectively, and pumps the liquid medicine.
A method of dispensing an automated dispensing system according to claim 12, wherein in step (4) In the case where the liquid in the powder bottle is evenly shaken, the powder bottle is lifted by the multi-axis robot by 180 degrees, and then step (5) is performed.