WO2018036069A1 - 一种西林瓶配药机器人及其配药方法 - Google Patents

一种西林瓶配药机器人及其配药方法 Download PDF

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Publication number
WO2018036069A1
WO2018036069A1 PCT/CN2016/113418 CN2016113418W WO2018036069A1 WO 2018036069 A1 WO2018036069 A1 WO 2018036069A1 CN 2016113418 W CN2016113418 W CN 2016113418W WO 2018036069 A1 WO2018036069 A1 WO 2018036069A1
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Prior art keywords
substrate
vial
infusion bag
needle
dispensing
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PCT/CN2016/113418
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English (en)
French (fr)
Inventor
郑永强
柏轲
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成都杰仕德科技有限公司
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Publication of WO2018036069A1 publication Critical patent/WO2018036069A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
    • A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
    • A61J1/14—Details; Accessories therefor
    • A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
    • A61J1/2003—Accessories used in combination with means for transfer or mixing of fluids, e.g. for activating fluid flow, separating fluids, filtering fluid or venting
    • A61J1/2006—Piercing means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
    • A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
    • A61J1/14—Details; Accessories therefor
    • A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe

Definitions

  • the invention relates to the technical field of medical equipment, in particular to a vial dispensing robot and a dispensing method thereof.
  • the vial is a small glass container for containing a liquid medicine, and the structure thereof includes a bottle body and a bottle head, and a bottle neck located in a concave portion between the bottle body and the bottle head, and the capacity is generally 1 to 20 ml, which is generally used for injection medicine.
  • the cap of the bottle head is generally made of rubber, and a layer of metal aluminum foil is sealed on the outside of the rubber.
  • the artificial method is generally used.
  • the syringe is used to pump the liquid from the infusion bag, and then the needle of the syringe is inserted into the vial to inject the liquid into the vial, and the hand-held vial is placed in the bottle. Shake the drug solution to the left and right, then insert the needle into the vial bottle in the vial, and pump out the liquid in the vial; pump the finished syringe into the infusion bag and pull out the syringe. The transfer of the drug in the vial is finally completed.
  • the dispensing method of manually injecting and pumping the medicine in the vial by using the hand-held syringe, and then inserting the syringe into the infusion bag and injecting the liquid into the infusion bag is troublesome, inefficient, and takes a long time, especially in a large amount of dispensing.
  • the labor intensity is high, and the way in which the hand-held syringe sucks the vial and injects the infusion bag is dangerous, and it is easy to cause damage to the medical staff.
  • the object of the present invention is to overcome the prior art manual injection and suction of a syringe in a vial, and then insert the syringe into the infusion bag and inject the drug into the infusion bag.
  • the operation is troublesome and the efficiency is low.
  • the above-mentioned deficiencies of labor intensity providing a vial dispensing robot and its dispensing method.
  • the present invention provides the following technical solutions:
  • a vial dispensing robot includes a base, a substrate 1 and a substrate 2 disposed opposite to each other on the base, wherein the substrate 1 and the substrate 2 are movable in parallel with each other, and at least one vial is disposed on the substrate And at least one infusion bag, the substrate 2 is provided with a syringe and a bracket, the syringe opening is vertically disposed, and one end of the bracket is provided with a needle toward the substrate, and the needle is connected to the needle a cartridge that fits each of the vials and infusion bags, respectively, and is movable up and down with respect to each of the vials and infusion bags.
  • the needles are respectively adapted to each of the vials and infusion bags, including the positions of the needles being respectively aligned with each of the vials and infusion bags, the needles being inserted or unplugged from each of the vials Or infusion bag.
  • a vial dispensing robot the needle connected to the syringe is respectively inserted into the vial or the infusion bag, and the process of suctioning or injecting through the syringe is performed.
  • the medicament in the vial is replaced into the infusion bag to complete the dispensing, and the syringe, the catheter and the needle after the completion of the dispensing are easily replaced as a whole, thereby avoiding subsequent cross-infection, and the method can effectively reduce the labor intensity and improve the dispensing.
  • the work efficiency; and the method can dispense the vials of different pharmaceutical ingredients into the infusion bag in a large batch at a time, thereby saving the dispensing time and the dispensing cost, and avoiding harm to the medical staff.
  • the substrate is connected to the driving component 1.
  • the driving component is disposed on the base, and the driving component drives the substrate to move on the base.
  • the substrate 2 is connected to the driving component 2, and the driving component 2 is disposed on the base, and the driving component 2 drives the substrate 2 to move on the base.
  • the substrate is provided with a clamping member for clamping the vial and the infusion bag
  • the substrate 2 is provided with a fastening component for clamping the syringe, and driving the piston on the syringe The longitudinal movement of the rod movement.
  • the needle is disposed on the reciprocating member, and the reciprocating member is disposed on the bracket, and the reciprocating member drives the needle to insert or pull out the vial or the infusion bag.
  • the substrate is provided with a lifting component
  • the lifting component is provided with the clamping component, and the lifting component drives the vial to insert or pull out the needle or drive the infusion bag to be inserted or Pull out the needle.
  • the substrate is provided with a telescopic mechanism, the telescopic mechanism is connected to the clamping component, and the telescopic mechanism is used for driving the clamping component to a bottle changing station, and replacing the vial and/or Or infusion bag.
  • the telescopic mechanism is provided with a pushing component for pushing the vial and/or the infusion bag to the recycling bin at the bottle changing station.
  • the driving member 1, the driving member 2, the longitudinal moving member, the reciprocating member, the lifting member, and the telescopic mechanism are all electric cylinders.
  • the electric cylinder used is a modular product designed by integrating the servo motor and the lead screw, and converts the rotary motion of the servo motor into a linear motion, which is convenient for disassembly and assembly, high motion precision and fast response speed.
  • the substrate is provided with a disinfecting component for disinfecting the vial and the infusion bag.
  • the needle is connected to a catheter that connects the syringe.
  • the needle, catheter and syringe are integrally formed members.
  • the invention also provides a dispensing method for a vial dispensing robot, the application being as described above
  • the vial dispensing robot, the dispensing method comprises the following steps:
  • the substrate one and the substrate two are displaced in position until the needle moves to a station aligned with the infusion bag, and is inserted into the infusion bag;
  • the substrate one and the substrate two are displaced, the needle is aligned and inserted into the next vial;
  • step G-H Repeat step G-H until all the reagents in the vial are dissolved in the drug solution and transferred to the syringe;
  • step J repeating the content of step A, that is, the substrate one and the substrate two are displaced, until the needle moves to a station aligned with the infusion bag, and is inserted into the infusion bag;
  • the needle is pulled out of the infusion bag to complete dispensing.
  • At least one of the vials can be simultaneously dispensed to at least one of the infusion bags, and repeatedly injected by injecting the drug solution Brushing the medicine in the vial quickly dissolves in the liquid medicine, and then pumping the liquid medicine into the syringe barrel, and dispensing the medicine to the infusion bag at one time, and manually injecting the needle barrel in comparison with the prior art.
  • the automatic mechanized dispensing device can realize automatic pumping and injecting of the liquid medicine, thereby realizing the automation and convenience of the medicine dispensing and injecting of the vial medicine, effectively avoiding the liquid reflux, effectively reducing the labor intensity and high dispensing efficiency. And safe and reliable.
  • the needle attached to the syringe is respectively adapted to be inserted into the vial or the infusion bag, and the process of suctioning or injecting through the syringe Dispensing the medicament in the vial into the infusion bag to complete the dispensing, and the syringe, the catheter and the needle after the completion of the dispensing are easily replaced as a whole, thereby avoiding subsequent cross-infection, and the manual labor intensity can be effectively reduced by the method.
  • the pharmaceutical work efficiency is improved; and the method can dispense the vials of different pharmaceutical ingredients into the infusion bag in large quantities at one time, thereby saving the dispensing time and the dispensing cost, and avoiding injury to the medical staff;
  • the driving component 1, the driving component 2, the longitudinal moving component, the reciprocating component, the lifting component and the telescopic mechanism are all electric cylinders, and the electric cylinder used is
  • the modular product designed by the servo motor and the lead screw converts the rotary motion of the servo motor into a linear motion, which is convenient to disassemble and assemble, has high motion precision and fast response speed;
  • the dispensing method of a vial dispensing robot according to the present invention capable of simultaneously performing a dispensing operation on at least one of the vials to at least one of the infusion bags, and repeatedly flushing the vials by injecting a drug solution
  • the agent is quickly dissolved in the drug solution, and then the drug solution is aspirated into the syringe, once Dispensing the drug into the infusion bag, manually injecting and aspirating the medicine in the vial with the hand held in the prior art, and then inserting the syringe into the infusion bag and injecting the solution into the body
  • the dispensing method of the infusion bag is troublesome in operation, low in efficiency, and labor intensive.
  • the method adopts an automatic mechanized dispensing device, which can realize automatic suction and injection of the liquid medicine, thereby realizing the pharmaceutical dosage of the vial medicament and
  • the automation and convenience of injection can effectively avoid the reflux of the liquid, effectively reduce the labor intensity, and the dispensing efficiency is high and safe.
  • FIG. 1 is a perspective view of a vial dispensing robot according to the present invention.
  • FIG. 4 is a schematic flow chart of a dispensing method of a vial dispensing robot according to the present invention.
  • a vial 01 dispensing robot As shown in FIG. 1-3, a vial 01 dispensing robot according to the present invention comprises a base 1.
  • the substrate 1 and the substrate 12 are oppositely disposed on the susceptor 1 , and the substrate 11 and the substrate 2 12 can be moved parallel to each other, and the substrate 11 is provided with at least one vial 01 and at least one infusion bag 02, and the substrate 2 is provided with a syringe 2 and a bracket 123, and the syringe 2 is opened downward.
  • the bracket 123 faces the substrate 11 and is provided with a needle 3, the needle 3 is connected to the syringe 2, and the needle 3 is respectively adapted to each of the vial 01 and the infusion bag 02 And can move up and down with respect to each of the vial 01 and the infusion bag 02.
  • the needles 3 are respectively adapted to each of the vial 01 and the infusion bag 02, and the position of the needle 3 is respectively aligned with each of the vial 01 and the infusion bag 02, and the needle 3 is inserted or pulled. Each of the vials 01 or the infusion bag 02 is taken out.
  • the substrate 11 is connected to the driving member 13 , and the driving member 13 is disposed on the base 1 , and the driving member 13 drives the substrate 11 to move on the base 1;
  • the two 12 are connected to the driving member two 14, the driving member two 14 is disposed on the base 1, and the driving member 22 drives the substrate 2 to move on the base 1.
  • the substrate 11 is provided with a clamping member 112 for clamping the vial 01 and the infusion bag 02, and the substrate 22 is provided with a fastening member 122 for clamping the syringe 2, and the driving a longitudinal displacement member 121 on the cylinder 2 for moving the piston rod 21;
  • the needle 3 is disposed on the reciprocating member, the reciprocating member is disposed on the bracket 123, and the reciprocating member drives the needle 3 to be inserted or
  • the vial 01 or the infusion bag 02 is pulled out;
  • the substrate 11 is provided with a lifting member 111, and the lifting member 111 is provided with the clamping member 112, and the lifting member 111 drives the vial 01 to be inserted.
  • the needle 3 is pulled out or the infusion bag 02 is driven to insert or remove the needle 3.
  • the base plate 11 is provided with a telescopic mechanism, and the telescopic mechanism is connected to the clamping member 112.
  • the telescopic mechanism is used to drive the clamping member 112 to the bottle changing station, and replace the vial 01 and / or infusion bag 02; the telescopic mechanism is provided with a pushing member for the bottle changer Push the vial 01 and/or the infusion bag 02 to the recovery bin.
  • the substrate 11 is provided with a disinfecting member for disinfecting the vial 01 and the infusion bag 02; the driving member 13, the driving member 14, the longitudinal member 121, the reciprocating member, the lifting member 111, and
  • the telescopic mechanism is an electric cylinder.
  • the electric cylinder used is a modular product designed by integrating the servo motor and the lead screw.
  • the rotary motion of the servo motor is converted into a linear motion, which is convenient to disassemble and assemble, has high motion precision and fast response speed;
  • the needle 3 is connected to a catheter 22 which is connected to the barrel 2, the needle 3, the catheter 22 and the barrel 2 being integrally formed members.
  • the needles 3 attached to the syringe 2 are respectively inserted into the vial 01 or the infusion bag 02, respectively, and are sucked through the syringe 2 Or the process of injecting the medicament in the vial 01 into the infusion bag 02 to complete the dispensing, and the syringe 2, the catheter 22 and the needle 3 after the completion of the dispensing are easily replaced as a whole, to avoid subsequent cross infection, and at the same time
  • the method can effectively reduce the labor intensity and improve the efficiency of dispensing work; and the method can dispense the vial 01 of different pharmaceutical ingredients into the infusion bag 02 in a large batch at a time, thereby saving the dispensing time and the dispensing cost, and avoiding the medical care. Personnel cause harm.
  • the dispensing method of the vial 01 dispensing robot uses the vial 01 dispensing robot as described in the first embodiment, and the dispensing method comprises the following steps:
  • the substrate 11 and the substrate 12 are displaced in position until the needle 3 is moved to the station aligned with the infusion bag 02, and inserted into the infusion bag 02;
  • the substrate 11 and the substrate 2 12 are displaced, the needle 3 is aligned and inserted into the next vial 01;
  • step G-H Repeat step G-H until all the reagents in the vial 01 are dissolved in the drug solution and transferred to the syringe 2;
  • step J repeat the content of step A, that is, the substrate 11 and the substrate 12 are displaced, until the needle 3 moves to the station aligned with the infusion bag 02, and inserted into the infusion bag 02;
  • the needle 3 pulls out the infusion bag 02 to complete the dispensing.
  • the vials 01 can be simultaneously dispensed to at least one of the infusion bags 02, and the vials can be repeatedly washed by injecting a drug solution.
  • the medicament is rapidly dissolved in the liquid medicine, and then the medicine liquid is sucked into the syringe 2, and the medicine bag 02 is dispensed at a time, and the hand-held syringe 2 is artificially injected and compared with the prior art.
  • the method of dispensing the medicine in the vial 01, inserting the syringe 2 into the infusion bag 02, and injecting the drug solution into the infusion bag 02 has the problems of troublesome operation, low efficiency, and high labor intensity.
  • the method adopts an automatic mechanized dispensing device, which can realize automatic suction and injection of the liquid medicine.
  • the liquid reflux can be effectively avoided, the labor intensity is effectively reduced, the dispensing efficiency is high, and the safety is reliable.

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  • Life Sciences & Earth Sciences (AREA)
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Abstract

一种西林瓶(01)配药机器人，包括基座(1)，基座(1)上相对设有的基板一(11)和基板二(12)，基板一(11)和基板二(12)能够相互平行错位移动，基板一(11)上设有西林瓶(01)和输液袋(02)，基板二(12)上设有针筒(2)和支架(123)，支架(123)一端朝向基板一(11)并设有针头(3)，针头(3)连接针筒(2)，针头(3)分别适配每个西林瓶(01)和输液袋(02)，并能相对每个西林瓶(01)和输液袋(02)上下运动。运用该配药机器人的配药方法，连接在针筒(2)上的针头(3)先后分别适配插入西林瓶(01)或者输液袋(02)，通过针筒(2)抽吸或者注入的过程将西林瓶(01)中药剂置换到输液袋(02)中完成配药，同时通过该方法能够有效减少人工劳动强度，提高配药工作效率；并且该方法能够一次性大批量将不同药剂成分的西林瓶(01)配药至输液袋，节约配药时间和配药成本，避免对医护人员造成伤害。

Description

一种西林瓶配药机器人及其配药方法 技术领域
本发明涉及一种医疗设备技术领域，特别涉及一种西林瓶配药机器人及其配药方法。
背景技术
西林瓶是用于盛装药液的小型玻璃容器，其结构包括瓶体和瓶头，以及位于瓶体、瓶头之间凹陷部分的瓶颈，容量一般为1～20ml，一般用于注射用药剂，瓶头的瓶盖一般采用橡胶制成，在橡胶外还套设有一层金属铝箔密封。
目前，在对西林瓶配药时，采用人工方式，一般先利用针筒从输液袋中抽吸药液，再将针筒的针头插入西林瓶将药液注入西林瓶，人工手持西林瓶对瓶内药液左右摇匀，然后再将针头插入西林瓶内倒立西林瓶，将西林瓶内药液抽吸出来；抽吸完成的针筒将其内的药液注入输液袋中，拔出针筒，最终完成西林瓶内药剂的转移配药。这种利用手持针筒人工注入和抽吸西林瓶内药剂，然后将针筒插入输液袋并将药液注入输液袋的配药方法，操作麻烦、效率较低、耗费时间长，尤其在大量的配药场合，其劳动强度较高，而且手持针筒对西林瓶进行抽吸和对输液袋进行注液的方式，具有一定的危险性，容易造成对医护人员的伤害。
发明内容
本发明的目的在于克服现有技术中所存在的手持针筒人工注入和抽吸西林瓶内药剂，然后将针筒插入输液袋并将药液注入输液袋的配药方法，操作麻烦、效率较低、劳动强度大的上述不足，提供一种西林瓶配药机器人及其配药 方法。
为了实现上述发明目的，本发明提供了以下技术方案：
一种西林瓶配药机器人，包括基座，所述基座上相对设有的基板一和基板二，所述基板一和基板二能够相互平行错位移动，所述基板一上设有至少一个西林瓶和至少一个输液袋，所述基板二上设有针筒和支架，所述针筒开口向下竖直设置，所述支架一端朝向所述基板一并设有针头，所述针头连接所述针筒，所述针头分别适配每个所述西林瓶和输液袋，并能相对每个所述西林瓶和输液袋上下运动。
其中，所述针头分别适配每个所述西林瓶和输液袋，包括所述针头的位置分别对准每个所述西林瓶和输液袋、所述针头插入或者拔出每个所述西林瓶或者输液袋。
采用本发明所述的一种西林瓶配药机器人，连接在所述针筒上的所述针头先后分别适配插入所述西林瓶或者输液袋，通过所述针筒抽吸或者注入的过程将所述西林瓶中药剂置换到所述输液袋中完成配药，而且配药完成后的所述针筒、导管和针头易于整体更换，避免后续交互感染，同时通过该方法能够有效减少人工劳动强度，提高配药工作效率；并且该方法能够一次性大批量将不同药剂成分的所述西林瓶配药至所述输液袋，节约配药时间和配药成本，避免对医护人员造成伤害。
优选地，所述基板一连接驱动部件一，所述驱动部件一设于所述基座上，所述驱动部件一驱动所述基板一在所述基座上移动。
优选地，所述基板二连接驱动部件二，所述驱动部件二设于所述基座上，所述驱动部件二驱动所述基板二在所述基座上移动。
优选地，所述基板一上设有用于夹持所述西林瓶和输液袋的夹持部件，所述基板二上设有夹持所述针筒的紧固部件、带动所述针筒上活塞杆运动的纵移部件。
优选地，所述针头设于往复运动部件上，所述往复运动部件设于所述支架上，所述往复运动部件带动所述针头插入或者拔出所述西林瓶或者输液袋。
优选地，所述基板一上设有升降部件，所述升降部件上设置所述夹持部件，所述升降部件带动所述西林瓶插入或者拔出所述针头、或者带动所述输液袋插入或者拔出所述针头。
优选地，所述基板一上设有伸缩机构，所述伸缩机构连接所述夹持部件，所述伸缩机构用于将所述夹持部件带动到换瓶工位，更换所述西林瓶和/或输液袋。
优选地，所述伸缩机构上设有顶推部件，所述顶推部件用于在所述换瓶工位顶推所述西林瓶和/或输液袋到回收箱。
优选地，所述驱动部件一、驱动部件二、纵移部件、往复运动部件、升降部件和伸缩机构均为电缸。
所采用的电缸为将伺服电机与丝杠一体化设计的模块化产品，将伺服电机的旋转运动转换成直线运动，拆装方便，运动精度高，响应速度快。
优选地，所述基板一上设有消毒部件，用于对所述西林瓶和输液袋消毒。
优选地，所述针头连接导管，所述导管连接所述针筒。
优选地，所述针头、导管和针筒为一体成型构件。
本发明还提供了一种西林瓶配药机器人的配药方法，应用如以上任一所述 的西林瓶配药机器人，该配药方法包括以下步骤：
A、所述基板一和基板二错位移动，直到所述针头移动到对准所述输液袋的工位，并插入所述输液袋；
B、拉动所述针筒的活塞杆，将所述输液袋中部分药液抽吸到所述针筒中，所述针头拔出所述输液袋；
C、所述基板一和基板二错位移动，所述针头对准并插入所述西林瓶；
D、推动所述活塞杆，将所述针筒中药液注入所述西林瓶；
E、拉动所述活塞杆，将所述西林瓶中药液抽吸到所述针筒中；
F、重复步骤D和E，直至所述西林瓶中药剂完全溶于药液中，所述针头拔出所述西林瓶；
G、所述基板一和基板二错位移动，所述针头对准并插入下一个西林瓶；
H、重复步骤D-F；
I、重复步骤G-H，直至将所有所述西林瓶中药剂溶于药液，并转移至所述针筒中；
J、重复步骤A中内容，即所述基板一和基板二错位移动，直到所述针头移动到对准所述输液袋的工位，并插入所述输液袋；
K、推动所述活塞杆，将所述针筒中药液全部注入所述输液袋；
L、所述针头拔出所述输液袋，完成配药。
采用本发明所述的一种西林瓶配药机器人的配药方法，能够同时对至少一个所述西林瓶执行配药操作到至少一个所述输液袋，并且通过注入药液反复冲 刷所述西林瓶中药剂迅速溶解于药液中，再将药液抽吸到所述针筒，一次性配药至所述输液袋，相对现有技术中所存在的手持所述针筒人工注入和抽吸所述西林瓶内药剂，然后将所述针筒插入所述输液袋并将药液注入所述输液袋的配药方法，操作麻烦、效率较低、劳动强度大的问题，该方法采用自动机械化配药装置，能够实现对药液的自动抽吸和注入，以实现了所述西林瓶药剂配药和注入的自动化和便捷化，能够有效避免药液回流，有效降低了劳动强度，配药效率高且安全可靠。
综上所述，由于采用了上述技术方案，本发明的有益效果是：
1、运用本发明所述的一种西林瓶配药机器人，连接在所述针筒上的所述针头先后分别适配插入所述西林瓶或者输液袋，通过所述针筒抽吸或者注入的过程将所述西林瓶中药剂置换到所述输液袋中完成配药，而且配药完成后的所述针筒、导管和针头易于整体更换，避免后续交互感染，同时通过该方法能够有效减少人工劳动强度，提高配药工作效率；并且该方法能够一次性大批量将不同药剂成分的所述西林瓶配药至所述输液袋，节约配药时间和配药成本，避免对医护人员造成伤害；
2、运用本发明所述的一种西林瓶配药机器人，所述驱动部件一、驱动部件二、纵移部件、往复运动部件、升降部件和伸缩机构均为电缸，所采用的电缸为将伺服电机与丝杠一体化设计的模块化产品，将伺服电机的旋转运动转换成直线运动，拆装方便，运动精度高，响应速度快；
3、运用本发明所述的一种西林瓶配药机器人的配药方法，能够同时对至少一个所述西林瓶执行配药操作到至少一个所述输液袋，并且通过注入药液反复冲刷所述西林瓶中药剂迅速溶解于药液中，再将药液抽吸到所述针筒，一次 性配药至所述输液袋，相对现有技术中所存在的手持所述针筒人工注入和抽吸所述西林瓶内药剂，然后将所述针筒插入所述输液袋并将药液注入所述输液袋的配药方法，操作麻烦、效率较低、劳动强度大的问题，该方法采用自动机械化配药装置，能够实现对药液的自动抽吸和注入，以实现了所述西林瓶药剂配药和注入的自动化和便捷化，能够有效避免药液回流，有效降低了劳动强度，配药效率高且安全可靠。
附图说明
图1为本发明所述的一种西林瓶配药机器人的立体示意图；
图2为所述基板一的结构示意图；
图3为所述基板二的结构示意图；
图4为本发明所述的一种西林瓶配药机器人的配药方法的流程示意图。
图中标记：01-西林瓶，02-输液袋，1-基座，11-基板一，111-升降部件，112-夹持部件，12-基板二，121-纵移部件，122-紧固部件，123-支架，13-驱动部件一，14-驱动部件二，2-针筒，21-活塞杆，22-导管，3-针头。
具体实施方式
下面结合试验例及具体实施方式对本发明作进一步的详细描述。但不应将此理解为本发明上述主题的范围仅限于以下的实施例，凡基于本发明内容所实现的技术均属于本发明的范围。
实施例1
如图1-3所示，本发明所述的一种西林瓶01配药机器人，包括基座1。
所述基座1上相对设有的基板一11和基板二12，所述基板一11和基板二 12能够相互平行错位移动，所述基板一11上设有至少一个西林瓶01和至少一个输液袋02，所述基板二12上设有针筒2和支架123，所述针筒2开口向下竖直设置，所述支架123一端朝向所述基板一11并设有针头3，所述针头3连接所述针筒2，所述针头3分别适配每个所述西林瓶01和输液袋02，并能相对每个所述西林瓶01和输液袋02上下运动。
其中，所述针头3分别适配每个所述西林瓶01和输液袋02，包括所述针头3的位置分别对准每个所述西林瓶01和输液袋02、所述针头3插入或者拔出每个所述西林瓶01或者输液袋02。
所述基板一11连接驱动部件一13，所述驱动部件一13设于所述基座1上，所述驱动部件一13驱动所述基板一11在所述基座1上移动；所述基板二12连接驱动部件二14，所述驱动部件二14设于所述基座1上，所述驱动部件二14驱动所述基板二12在所述基座1上移动。
所述基板一11上设有用于夹持所述西林瓶01和输液袋02的夹持部件112，所述基板二12上设有夹持所述针筒2的紧固部件122、带动所述针筒2上活塞杆21运动的纵移部件121；所述针头3设于往复运动部件上，所述往复运动部件设于所述支架123上，所述往复运动部件带动所述针头3插入或者拔出所述西林瓶01或者输液袋02；所述基板一11上设有升降部件111，所述升降部件111上设置所述夹持部件112，所述升降部件111带动所述西林瓶01插入或者拔出所述针头3、或者带动所述输液袋02插入或者拔出所述针头3。
所述基板一11上设有伸缩机构，所述伸缩机构连接所述夹持部件112，所述伸缩机构用于将所述夹持部件112带动到换瓶工位，更换所述西林瓶01和/或输液袋02；所述伸缩机构上设有顶推部件，所述顶推部件用于在所述换瓶工 位顶推所述西林瓶01和/或输液袋02到回收箱。
所述基板一11上设有消毒部件，用于对所述西林瓶01和输液袋02消毒；所述驱动部件一13、驱动部件二14、纵移部件121、往复运动部件、升降部件111和伸缩机构均为电缸，所采用的电缸为将伺服电机与丝杠一体化设计的模块化产品，将伺服电机的旋转运动转换成直线运动，拆装方便，运动精度高，响应速度快；所述针头3连接导管22，所述导管22连接所述针筒2，所述针头3、导管22和针筒2为一体成型构件。
运用本发明所述的一种西林瓶01配药机器人，连接在所述针筒2上的所述针头3先后分别适配插入所述西林瓶01或者输液袋02，通过所述针筒2抽吸或者注入的过程将所述西林瓶01中药剂置换到所述输液袋02中完成配药，而且配药完成后的所述针筒2、导管22和针头3易于整体更换，避免后续交互感染，同时通过该方法能够有效减少人工劳动强度，提高配药工作效率；并且该方法能够一次性大批量将不同药剂成分的所述西林瓶01配药至所述输液袋02，节约配药时间和配药成本，避免对医护人员造成伤害。
实施例2
如图1-4所示，本发明所述的一种西林瓶01配药机器人的配药方法，应用如实施例1所述的西林瓶01配药机器人，该配药方法包括以下步骤：
A、所述基板一11和基板二12错位移动，直到所述针头3移动到对准所述输液袋02的工位，并插入所述输液袋02；
B、拉动所述针筒2的活塞杆21，将所述输液袋02中部分药液抽吸到所述针筒2中，所述针头3拔出所述输液袋02；
C、所述基板一11和基板二12错位移动，所述针头3对准并插入所述西 林瓶01；
D、推动所述活塞杆21，将所述针筒2中药液注入所述西林瓶01；
E、拉动所述活塞杆21，将所述西林瓶01中药液抽吸到所述针筒2中；
F、重复步骤D和E，直至所述西林瓶01中药剂完全溶于药液中，所述针头3拔出所述西林瓶01；
G、所述基板一11和基板二12错位移动，所述针头3对准并插入下一个西林瓶01；
H、重复步骤D-F；
I、重复步骤G-H，直至将所有所述西林瓶01中药剂溶于药液，并转移至所述针筒2中；
J、重复步骤A中内容，即所述基板一11和基板二12错位移动，直到所述针头3移动到对准所述输液袋02的工位，并插入所述输液袋02；
K、推动所述活塞杆21，将所述针筒2中药液全部注入所述输液袋02；
L、所述针头3拔出所述输液袋02，完成配药。
运用本发明所述的一种西林瓶01配药机器人的配药方法，能够同时对至少一个所述西林瓶01执行配药操作到至少一个所述输液袋02，并且通过注入药液反复冲刷所述西林瓶01中药剂迅速溶解于药液中，再将药液抽吸到所述针筒2，一次性配药至所述输液袋02，相对现有技术中所存在的手持所述针筒2人工注入和抽吸所述西林瓶01内药剂，然后将所述针筒2插入所述输液袋02并将药液注入所述输液袋02的配药方法，操作麻烦、效率较低、劳动强度大的问题，该方法采用自动机械化配药装置，能够实现对药液的自动抽吸和注 入，以实现了所述西林瓶01药剂配药和注入的自动化和便捷化，能够有效避免药液回流，有效降低了劳动强度，配药效率高且安全可靠。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种西林瓶配药机器人，包括基座(1)，其特征在于，所述基座(1)上相对设有的基板一(11)和基板二(12)，所述基板一(11)和基板二(12)能够相互平行错位移动，所述基板一(11)上设有至少一个西林瓶(01)和至少一个输液袋(02)，所述基板二(12)上设有针筒(2)和支架(123)，所述针筒(2)开口向下竖直设置，所述支架(123)一端朝向所述基板一(11)并设有针头(3)，所述针头(3)连接所述针筒(2)，所述针头(3)分别适配每个所述西林瓶(01)和输液袋(02)，并能相对每个所述西林瓶(01)和输液袋(02)上下运动。
  2. 根据权利要求1所述的一种西林瓶配药机器人，其特征在于，所述基板一(11)连接驱动部件一(13)，所述驱动部件一(13)设于所述基座(1)上，所述驱动部件一(13)驱动所述基板一(11)在所述基座(1)上移动。
  3. 根据权利要求1所述的一种西林瓶配药机器人，其特征在于，所述基板二(12)连接驱动部件二(14)，所述驱动部件二(14)设于所述基座(1)上，所述驱动部件二(14)驱动所述基板二(12)在所述基座(1)上移动。
  4. 根据权利要求1所述的一种西林瓶配药机器人，其特征在于，所述基板一(11)上设有用于夹持所述西林瓶(01)和输液袋(02)的夹持部件(112)，所述基板二(12)上设有夹持所述针筒(2)的紧固部件(122)、带动所述针筒(2)上活塞杆(21)运动的纵移部件(121)。
  5. 根据权利要求4所述的一种西林瓶配药机器人，其特征在于， 所述针头(3)设于往复运动部件上，所述往复运动部件设于所述支架(123)上，所述往复运动部件带动所述针头(3)插入或者拔出所述西林瓶(01)或者输液袋(02)。
  6. 根据权利要求4所述的一种西林瓶配药机器人，其特征在于，所述基板一(11)上设有升降部件(111)，所述升降部件(111)上设置所述夹持部件(112)，所述升降部件(111)带动所述西林瓶(01)插入或者拔出所述针头(3)、或者带动所述输液袋(02)插入或者拔出所述针头(3)。
  7. 根据权利要求4所述的一种西林瓶配药机器人，其特征在于，所述基板一(11)上设有伸缩机构，所述伸缩机构连接所述夹持部件(112)，所述伸缩机构用于将所述夹持部件(112)带动到换瓶工位，更换所述西林瓶(01)和/或输液袋(02)。
  8. 根据权利要求7所述的一种西林瓶配药机器人，其特征在于，所述伸缩机构上设有顶推部件，所述顶推部件用于在所述换瓶工位顶推所述西林瓶(01)和/或输液袋(02)到回收箱。
  9. 根据权利要求1所述的一种西林瓶配药机器人，其特征在于，所述基板一(11)上设有消毒部件，用于对所述西林瓶(01)和输液袋(02)消毒。
  10. 一种西林瓶配药机器人的配药方法，其特征在于，应用如权利要求1-9任一所述的西林瓶配药机器人，该配药方法包括以下步骤：
    A、所述基板一(11)和基板二(12)错位移动，直到所述针头(3)移动到对准所述输液袋(02)的工位，并插入所述输液袋(02)；
    B、拉动所述针筒(2)的活塞杆(21)，将所述输液袋(02)中部分药液抽吸到所述针筒(2)中，所述针头(3)拔出所述输液袋(02)；
    C、所述基板一(11)和基板二(12)错位移动，所述针头(3)对准并插入所述西林瓶(01)；
    D、推动所述活塞杆(21)，将所述针筒(2)中药液注入所述西林瓶(01)；
    E、拉动所述活塞杆(21)，将所述西林瓶(01)中药液抽吸到所述针筒(2)中；
    F、重复步骤D和E，直至所述西林瓶(01)中药剂完全溶于药液中，所述针头(3)拔出所述西林瓶(01)；
    G、所述基板一(11)和基板二(12)错位移动，所述针头(3)对准并插入下一个西林瓶(01)；
    H、重复步骤D-F；
    I、重复步骤G-H，直至将所有所述西林瓶(01)中药剂溶于药液，并转移至所述针筒(2)中；
    J、重复步骤A中内容，即所述基板一(11)和基板二(12)错位移动，直到所述针头(3)移动到对准所述输液袋(02)的工位，并插入所述输液袋(02)；
    K、推动所述活塞杆(21)，将所述针筒(2)中药液全部注入所述输液袋(02)；
    L、所述针头(3)拔出所述输液袋(02)，完成配药。
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