WO2020133556A1 - 药物注射装置及配药设备 - Google Patents

药物注射装置及配药设备 Download PDF

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Publication number
WO2020133556A1
WO2020133556A1 PCT/CN2019/070007 CN2019070007W WO2020133556A1 WO 2020133556 A1 WO2020133556 A1 WO 2020133556A1 CN 2019070007 W CN2019070007 W CN 2019070007W WO 2020133556 A1 WO2020133556 A1 WO 2020133556A1
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WO
WIPO (PCT)
Prior art keywords
injection device
driving
assembly
medicine
rod
Prior art date
Application number
PCT/CN2019/070007
Other languages
English (en)
French (fr)
Inventor
李思进
刘海燕
Original Assignee
山西医科大学
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Filing date
Publication date
Application filed by 山西医科大学 filed Critical 山西医科大学
Publication of WO2020133556A1 publication Critical patent/WO2020133556A1/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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/178—Syringes
    • A61M5/20—Automatic syringes, e.g. with automatically actuated piston rod, with automatic needle injection, filling automatically
    • A61M2005/206—With automatic needle insertion

Definitions

  • the present disclosure relates to the technical field of medical equipment, in particular to a medicine injection device and medicine dispensing equipment.
  • the purpose of the present disclosure includes, for example, to provide a drug injection device to solve the technical problem of the single function of the injection device of the existing dispensing system.
  • the purpose of the present disclosure also includes providing a pharmaceutical dispensing device to solve the technical problem of the single function of the injection device of the existing pharmaceutical dispensing system.
  • a medicine injection device provided by an embodiment of the present disclosure includes an upper turntable, a lower turntable, a plurality of accommodating cavities provided between the upper turntable and the lower turntable, and a drive configured to drive the lower turntable to rotate Assembly, the upper turntable is provided with a plurality of openings uniformly distributed along the circumferential direction of the upper turntable, the plurality of openings are respectively in one-to-one correspondence with the plurality of accommodation chambers, and an injection assembly is provided in the accommodation chamber .
  • the injection assembly includes a syringe including a syringe movably disposed in the receiving cavity, a piston used in cooperation with the syringe, and a linear drive configured to drive the movement of the piston
  • a syringe including a syringe movably disposed in the receiving cavity, a piston used in cooperation with the syringe, and a linear drive configured to drive the movement of the piston
  • the needle tip of the syringe can protrude from the opening.
  • the syringe includes a flange provided on the outer wall of the syringe
  • the injection assembly includes a drive rod provided with a toothed portion, and a drive gear meshed with the toothed portion for transmission, the drive rod The length direction of extends along the movement direction of the piston, and one end of the driving rod is fixedly connected to the flange.
  • the injection assembly further includes a guide structure disposed between the drive rod and the wall surface of the accommodating cavity, the guide structure being configured to guide the movement process of the drive rod.
  • the guide structure includes a slider fixed to the driving rod and a slide rail fixed to the wall surface of the accommodating cavity, the length direction of the slide rail extends along the movement direction of the piston,
  • the slider is slidably connected to the slide rail.
  • the injection assembly further includes a support rod opposite to the driving rod, one end of the support rod is fixedly connected to the flange, and the support rod is slidingly connected to the wall surface of the accommodating cavity .
  • the linear driving member includes an electric push rod, and the electric push rod is mounted on the driving rod.
  • the injection assembly further includes a mounting plate fixedly connected between the driving rod and the support rod, and the electric push rod is disposed on the mounting plate.
  • the cross-section of the containing cavity is rectangular.
  • the flange is disposed near the opening of the syringe.
  • the opening is funnel-shaped.
  • the drive assembly includes a rotating disc fixedly connected to the lower turntable and a transmission assembly configured to drive the intermittent rotation of the rotating disc, and a plurality of clamping slots are evenly arranged in the circumferential direction of the rotating disc, The number of the slots is the same as the number of the openings
  • the transmission assembly includes a driving wheel, a driven wheel, and a driving member sleeved on the driving wheel and the driven wheel, the driving wheel is disposed adjacent to the rotating disk
  • the driving member is provided with a plug that can extend into the slot to turn the rotating disk, and a plurality of limit positions spaced along the circumferential direction of the driving member are also provided on the inner side of the driving member Block, the limit block extends along the axial direction of the driving wheel, and in the stationary state of the rotating disk, a part of the limit block formed by the limit block can be between two adjacent slots
  • the arc-shaped limiting groove cooperates to limit the rotating disk.
  • the driving wheel and the driven wheel are both sprockets, and the driving member is a matching chain.
  • it further includes a base plate, and the rotating disk, the driving wheel and the driven wheel are all pivotally connected to the base plate.
  • a plurality of spare holes are opened on the base plate, and the driven wheel is selectively pivotally connected to one of the plurality of spare holes.
  • the drive assembly further includes a feed motor mounted on the substrate, the output shaft of the feed motor faces downward, and the driving wheel is fixedly sleeved on the output shaft of the feed motor.
  • the driving wheel and the driven wheel are both pulleys, and the driving member is a matching timing belt.
  • the cross section of the plug post is circular.
  • the number of the card slots is 4-8.
  • a support assembly configured to support the lower turntable is provided on the rotating disk, and the rotation disk is fixedly connected to the lower turntable through the support assembly.
  • the support assembly includes a plurality of support columns, a plurality of first grooves are formed on the upper surface of the rotating disk, a plurality of second grooves are formed on the lower surface of the lower turntable, and a plurality of the second The positions of the grooves correspond to the positions of the plurality of first grooves, one end of the support column is inserted into the first groove, and the other end of the support column is inserted into the second groove.
  • a plurality of the support columns are evenly distributed along the rotation center of the rotating disk.
  • the beneficial effects brought by the medicine injection device provided by the embodiments of the present disclosure include, for example:
  • the upper turntable By providing an upper turntable, a lower turntable, a driving assembly, and a plurality of accommodating chambers, wherein the plurality of accommodating chambers are located between the upper turntable and the lower turntable, and the driving assembly is configured to drive the lower turntable to rotate.
  • the upper turntable is provided with a plurality of openings uniformly distributed along the circumferential direction thereof, and one opening is correspondingly provided in correspondence with one accommodating cavity, and an injection assembly is provided in each accommodating cavity.
  • Different medicines can be set for the injection assembly in each accommodating cavity.
  • a medicine bottle is placed at an opening of the upper turntable.
  • the injection assembly acts to inject the drug into the vial; when the drive assembly drives it to rotate and feed to the next opening corresponding to the loading position, another vial can be placed at this opening, at this time,
  • the injection assembly in the accommodating cavity communicating with the opening acts to inject the medicine into the medicine bottle.
  • the medicine injection device realizes the simultaneous preparation of multiple medicines in multiple medicine bottles, and the preparation of medicines in each medicine bottle is independent of each other and does not interfere with each other, which greatly improves the injection device of the existing medicine dispensing system and can only achieve one
  • the shortcomings of the preparation of a variety of drugs, the function is more perfect.
  • the drive assembly can drive the lower turntable to drive the upper turntable to rotate forward to feed, without waiting for a medicine bottle to be completely injected, that is to say
  • the time required for injection can be decomposed into multiple feeding processes before discharging, so that the feeding action and the injection process can be carried out at the same time, which is a good improvement in the prior art.
  • the given time consumption effectively improves the efficiency of drug preparation.
  • the pharmaceutical dispensing equipment provided by the embodiments of the present disclosure includes a mechanical arm and the above-mentioned drug injection device, the mechanical arm is configured to grab an empty bottle to the opening of the drug injection device.
  • the mechanical arm is a SCARA (Selective Compliance Assembly Robot) arm.
  • SCARA Selective Compliance Assembly Robot
  • the pharmaceutical dispensing device further includes a worktable provided above the base plate of the drug injection device, the worktable is provided with a plurality of station holes, and the robotic arm can grasp the completed medicine bottle Take it to the station hole.
  • the plurality of station holes include a plurality of first station holes and a plurality of second station holes, and the diameter of the first station hole is different from the diameter of the second station hole.
  • the pharmaceutical dispensing device further includes a detector and a detection port opened on the workbench, the detector is disposed directly below the detection port, and the robotic arm can place the station hole Grab the medicine bottle to the detection port.
  • the detection port extends toward the edge of the worktable and penetrates the edge of the worktable.
  • the mechanical arm is installed on the worktable.
  • the dispensing device further includes a control module configured to control the drive assembly, the injection assembly, and the robotic arm, and the control module is installed on the substrate.
  • the dispensing equipment further includes a waste recycling barrel provided on the substrate, and the waste recycling barrel is located below the workbench.
  • the medicine dispensing device has all the advantages of the above-mentioned medicine injection device, which will not be repeated here.
  • FIG. 1 is a schematic structural plan view of a driving assembly in a medicine injection device provided by an embodiment of the present disclosure
  • FIG. 2 is a side view of a medicine injection device provided by an embodiment of the present disclosure
  • FIG. 3 is a partial structural diagram of a drug injection device provided by an embodiment of the present disclosure.
  • FIG. 4 is a schematic structural diagram of a dispensing device provided by an embodiment of the present disclosure.
  • FIG. 5 is a schematic structural view of a dispensing device provided by an embodiment of the present disclosure from another perspective, where a driving assembly of a drug injection device is not shown.
  • orientations or positional relationships indicated by the terms “upper”, “lower”, “horizontal”, “top”, “side”, etc. are all based on the orientations or positions shown in the drawings The relationship is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the present disclosure.
  • the terms “first”, “second”, and “third” are for descriptive purposes only, and cannot be understood as indicating or implying relative importance.
  • connection should be understood in a broad sense.
  • it may be a fixed connection, a detachable connection, or an integral connection; It is directly connected, or it can be connected indirectly through an intermediate medium, which can be the connection between two components.
  • intermediate medium which can be the connection between two components.
  • Some existing automatic medicine preparation systems use the positioning and automatic grasping functions of the robotic arm to grasp the empty medicine bottle to the opening of the turntable of the injection device, and the injection device performs the medicine injection. After the injection of the drug is completed, the turntable of the injection device rotates the medicine bottle to which the medicine injection is completed to advance to the next process. At the same time, the robot arm puts an empty medicine bottle into the opening of the turntable of the injection device. Continue drug injection and feed forward until the next process.
  • the medicine injection device 100 provided in this embodiment can solve this technical problem.
  • this embodiment provides a medicine injection device 100 including an upper turntable 110, a lower turntable 120, a plurality of accommodating chambers 130 provided between the upper turntable 110 and the lower turntable 120, and
  • the driving assembly 140 configured to drive the lower turntable 120 to rotate, specifically, the upper turntable 110 is provided with a plurality of openings 111 distributed uniformly along the circumferential direction of the upper turntable 110, and the plurality of openings 111 are respectively communicated with the plurality of accommodation chambers 130, wherein An injection assembly 160 is provided in the cavity 130.
  • the working principle and working process of the medicine injection device 100 are as follows: the injection assembly 160 in each accommodating cavity 130 can be provided with different medicines.
  • a medicine bottle is placed to an opening of the upper turntable 110
  • the injection assembly 160 in the accommodating cavity 130 communicating with the opening 111 acts to inject the drug into the vial; when the driving assembly 140 drives it to rotate and feed to the next opening 111 and above
  • another medicine bottle can be placed at the opening 111.
  • the injection assembly 160 in the accommodating cavity 130 communicating with the opening 111 acts to inject the medicine into the medicine bottle .
  • the medicine injection device 100 realizes the simultaneous preparation of multiple medicines in multiple medicine bottles, and the preparation of medicines in each medicine bottle is independent of each other and does not interfere with each other, which greatly improves the injection device of the existing medicine dispensing system.
  • the drawbacks of preparing a drug are more complete functions.
  • the driving assembly 140 can drive the lower turntable 120 to drive the upper turntable 110 to rotate forward and feed, without waiting for a medicine bottle to be fully injected Finished, that is to say, the time required for injection can be decomposed into multiple feeding processes before discharging, so that the feeding action and the injection process can be performed at the same time, which is a good improvement in the prior art, only waiting for the medicine bottle The time that is given before the injection is completed can effectively increase the efficiency of the preparation of the drug.
  • the injection assembly 160 in each accommodating cavity 130 may also be provided with the same drug.
  • the preparation process is similar to the above-mentioned preparation process of preparing different kinds of medicines, so it will not be repeated here.
  • the medicine injection device 100 can realize the efficient preparation of the same kind of medicine.
  • the injection assembly 160 may include a syringe.
  • the syringe includes a syringe 161 movably disposed in the accommodating cavity 130, a piston 162 used in cooperation with the syringe 161, and a configuration such as A linear driving member that drives the movement of the piston 162, wherein the needle tip 1611 of the syringe 161 can protrude from the opening 111.
  • the syringe 161 is moved toward the opening 111; when the syringe 161 moves to the point 1611 where the needle tip 1611 extends from the opening 111, the linear driving member acts to drive the piston 162 to move toward the needle tip 1611.
  • the liquid in the syringe 161 is injected into the medicine bottle at the opening 111 to complete the preparation of the medicine; when the medicine needs to be taken, the linear drive member is first moved to drive the piston 162 to move toward the needle tip 1611, and then it is placed The container with the medicine is placed at the opening 111, and the syringe 161 is moved in the direction of the opening 111 until the needle tip 1611 extends into the container containing the medicine, and then, under the drive of the linear driving member, the piston 162 moves away from the needle tip Moving in the direction of 1611, the medicine in the container is drawn into the syringe 161, and the medicine is taken.
  • the syringe 161 may include a flange 1612 provided on the outer wall of the syringe 161, and the injection assembly 160 includes a driving rod 163 provided with a toothed portion 1631 and a gear engaged with the toothed portion 1631.
  • the driving gear 168 wherein the length direction of the driving rod 163 extends along the moving direction of the piston 162, and one end of the driving rod 163 is fixedly connected to the flange 1612.
  • the driving gear 168 acts to drive the driving rod 163 meshed with it to drive. Under the driving action of the driving rod 163, the power is transmitted to the flange 1612 fixedly connected thereto, thereby realizing the syringe 161 reciprocating.
  • the injection assembly 160 may further include a guide structure 164 disposed between the driving rod 163 and the wall surface of the accommodating cavity 130.
  • the guide structure 164 is configured to guide the movement process of the driving rod 163. This arrangement realizes the guidance of the driving process of the driving rod 163, and improves the efficiency of extending and retracting the needle tip 1611.
  • the guide structure 164 may include a slider fixed to the driving rod 163 and a slide rail fixed to the wall surface of the accommodating cavity 130, wherein the length direction of the slide rail extends along the movement direction of the piston 162 , The slider is slidably connected to the slide rail.
  • the sliding rail may be fixed to the driving rod 163, and the slider may be fixed to the wall surface of the accommodating cavity 130.
  • the injection assembly 160 may further include a supporting rod 165 opposite to the driving rod 163, wherein one end of the supporting rod 165 is fixedly connected to the flange 1612, and the supporting rod 165 and the accommodating cavity The wall surface of 130 is slidingly connected.
  • the setting of the support rod 165 realizes the support of the opposite side of the driving rod 163, ensures the balance of the forces on both sides of the syringe 161 during the movement, and to a certain extent avoids the card that may exist during the movement of the syringe 161 Death phenomenon, thus ensuring the reliability of the operation of the drug injection device 100 of this embodiment.
  • the linear driving member is an electric push rod 167, wherein the electric push rod 167 is mounted on the driving rod 163.
  • the linear driving member may also be a telescopic mechanism such as a cylinder or an oil cylinder.
  • the driving gear 168 rotates, driving the driving rod 163 meshed with it to move, during the driving rod 163 moves, the electric push rod 167 moves synchronously; when the driving rod 163 drives the syringe 161 to move into place , The electric push rod 167 extends, and the medicine is injected into the medicine bottle at the opening 111.
  • Such an arrangement effectively shortens the driving stroke of the electric push rod 167, thereby reducing the size of the electric push rod 167, thereby saving the installation cost of the electric push rod 167.
  • the injection assembly 160 may further include a mounting plate 166 fixedly connected between the driving rod 163 and the supporting rod 165.
  • the electric push rod 167 is disposed on the mounting plate 166.
  • the cross section of the receiving cavity 130 may be rectangular. This arrangement ensures the flatness of the inner wall of the accommodating cavity 130 and reduces the assembly requirements of the slide rail thereon.
  • the flange 1612 is disposed near the opening of the syringe 161. Such an arrangement effectively shortens the length of the driving rod 163, thereby reducing the installation cost of the driving rod 163.
  • the opening 111 may have a funnel shape, and a clamping assembly (not shown in the figure) configured to fix the medicine bottle in the opening 111 may also be provided at the opening 111.
  • the clamping assembly acts to fix the medicine bottle in the opening 111; when the preparation is completed, the clamping assembly releases the medicine bottle so that the medicine bottle can be freely taken out of the opening 111.
  • the driving assembly 140 may include a rotating disk 141 fixedly connected to the lower turntable 120 and a transmission assembly configured to drive the rotating disk 141 to rotate intermittently.
  • the rotating disk A plurality of clamping slots 1411 are evenly arranged in the circumferential direction of 141
  • the transmission assembly includes a driving wheel 142, a driven wheel 143, and a driving member 144 sleeved on the driving wheel 142 and the driven wheel 143, wherein the number of the clamping slots 1411 and the opening 111 The number is the same, the driving wheel 142 is disposed adjacent to the rotating disk 141, and the driving member 144 is provided with a plug post 1441 that can extend into the slot 1411 to pull the rotating disk 141.
  • a plurality of limiting blocks 1442 arranged at intervals along the circumferential direction of the driving member 144 are also provided on the inner side of the driving member 144, specifically, the limiting blocks 1442 extend along the axial direction of the driving wheel 142 and are stationary at the rotating disc 141 In this state, the limiting portion formed by the partial limiting block 1442 can cooperate with the arc-shaped limiting slot 1412 between the two adjacent slots 1411 to limit the rotating disk 141.
  • the working principle and working process of the medicine injection device 100 are as follows: the driving wheel 142 moves, the power is transmitted to the driven wheel 143 through the driving member 144 sleeved thereon, and the continuous uninterrupted operation of the transmission assembly is realized; when the plug post 1441 follows When the driving member 144 moves to the position of the rotating disk 141, it extends into a slot 1411 of the rotating disk 141 to rotate the rotating disk 141; when the insertion post 1441 moves the rotating disk 141 to a position, the insertion column 1441 is disengaged from the slot 1411, and as the driving member 144 continues to move, in this process, a part of the limiting block 1442 on the driving member 144 forms a complete limiting portion, and the limiting portion snaps into the adjacent two In the arc-shaped limiting groove 1412 between the two locking grooves 1411, the rotating disk 141 is locked and limited; when the driving member 144 moves to the rotating disk 141 again, it is locked into the next locking groove 1411 in the rotating disk 141 In this
  • the switching time between the two adjacent openings 111 is the time required for the post 1441 to turn around along the circumference of the driving member 144 for one week, which greatly increases the pause of the upper turntable 110 The time allows the robotic arm 200 to have enough time to place the empty bottle, which ensures the reliability of the empty bottle being placed in the corresponding opening 111, and also reduces the working speed requirement of the robotic arm 200.
  • the arrangement of the driving assembly 140 realizes the intermittent feeding of the rotating disk 141 during the continuous operation of the driving wheel 142.
  • the driving wheel 142 does not stop, to a certain extent, avoiding the driving wheel 142 due to its rotational inertia.
  • the inaccurate stop position improves the feeding accuracy of the rotating disk 141.
  • this arrangement also reduces the failure of the driving wheel 142 due to frequent shutdowns, and extends the working life of the driving wheel 142.
  • the driving wheel 142 and the driven wheel 143 are both sprockets, and the driving member 144 is a chain matched with the two.
  • the drug injection device 100 may further include a base plate 700. Specifically, the rotating disk 141, the driving wheel 142 and the driven wheel 143 are all pivotally connected to the base plate 700. In addition, a plurality of spare holes 710 are formed in the substrate 700, and the driven wheel 143 is pivotally connected to one of the spare holes 710.
  • a chain of different lengths can be selected according to the need, and a spare hole 710 that can match the length of the chain can be selected to install the driven wheel 143, so that the rotating disk 141 can be fed Give adjustments to the time interval.
  • the driving assembly 140 may further include a feed motor 145 mounted on the substrate 700. Specifically, the output shaft of the feed motor 145 faces downward, and the driving wheel 142 is fixedly fitted on the feed motor 145. On the output shaft. Such an arrangement makes the driving wheel 142 and the driven wheel 143 closer to the base plate 700, thereby improving the compactness of the structure of the drug injection device 100 of this embodiment.
  • the driving wheel 142 and the driven wheel 143 may be the above-mentioned sprocket setting forms, but not limited to this, other setting forms may also be used, such as: the driving wheel 142 and the driven wheel 143 It is set as a pulley, and the driving member 144 is a matching timing belt.
  • the cross section of the plug post 1441 is circular.
  • the number of the card slots 1411 may be 4-8.
  • the number of the card slots 1411 is 6.
  • the number of the receiving cavity 130 is also 6 and the number of the opening 111 is also 6.
  • the number of the card slots 1411 can also be 4, 5, 7, 8, etc.
  • a supporting assembly configured to support the lower turntable 120 may be provided on the rotating disc 141, wherein the rotating disc 141 is fixedly connected to the lower turntable 120 through the supporting assembly.
  • the support assembly includes a plurality of support columns 150, a plurality of first grooves are formed on the upper surface of the rotating disk 141, and a plurality of second grooves are formed on the lower surface of the lower turntable 120.
  • the positions of the first grooves correspond to each other, one end of the support post 150 is inserted into the first groove, and the other end of the support post 150 is inserted into the second groove.
  • the plurality of support columns 150 are uniformly distributed in a ring shape along the rotation center of the rotating disk 141.
  • this embodiment also provides a medicine dispensing device, including a robot arm 200 and the above-mentioned medicine injection device 100.
  • the robot arm 200 is configured to grab the empty bottle to the opening 111 of the drug injection device 100; then, the injection assembly 160 acts to inject the drug in the syringe 161 into the empty bottle.
  • the driving assembly 140 moves simultaneously to realize the forward feeding of the medicine bottle; when the rotary disk 141 is forward fed to the next opening 111 opposite to the grab position of the robot arm 200, the robot arm 200 grabs the next empty bottle
  • the injection assembly 160 corresponding to the opening 111 is operated to inject the medicine into the medicine bottle.
  • the robot arm 200 can remove the medicine bottle to be unloaded for the next process.
  • the medicine dispensing equipment By disposing the above-mentioned medicine injection device 100 in the medicine dispensing equipment, correspondingly, the medicine dispensing equipment has all the advantages of the medicine injection device 100 described above, which will not be repeated here.
  • the robot arm 200 may be a SCARA robot.
  • the dispensing device may further include a worktable 300 provided above the base plate 700, wherein the worktable 300 is provided with a plurality of station holes, and the robotic arm 200 is capable of injecting Grab the finished medicine bottle to the station hole.
  • the mechanical arm 200 acts to grab the completed injection bottle moved to the blanking station to the hole of the station to proceed Other processes.
  • the process at the station hole includes a heating process and an oscillating process.
  • the plurality of station holes may include a plurality of first station holes 310 and a plurality of second station holes 320, wherein the diameters of the first station holes 310 and the second station holes 320 The aperture is different.
  • This arrangement satisfies the need for drug preparation for medicine bottles with different apertures, and improves the generalization of the drug injection device 100 of this embodiment.
  • the pharmaceutical dispensing device may further include a detector 500 and a detection port 330 opened on the workbench 300.
  • the detector 500 is disposed directly below the detection port 330.
  • the robot arm 200 can grab the medicine bottle at the station hole to the detection port 330.
  • the robotic arm 200 grabs it above the detection port 330 to place it in the detector 500 through the detection port 330 to realize the detection of the formulated medicine .
  • the detection port 330 extends toward the edge of the worktable 300 and penetrates the edge of the worktable 300. Such an arrangement improves the openness of the detection port 330 and reduces the interference caused by the workbench 300 during the gripping and placing of the mechanical arm 200.
  • the robot arm 200 is installed on the workbench 300. Such an arrangement improves the degree of integration of the dispensing device of this embodiment and reduces its space occupation.
  • the pharmaceutical dispensing device may further include a control module 600 configured to control each driving structure of the pharmaceutical dispensing device.
  • the control module 600 is installed on the substrate 700.
  • Each driving structure includes the above-mentioned driving assembly 140, injection assembly 160, and robotic arm 200.
  • the dispensing equipment may further include a waste recycling port opened on the workbench 300 and a waste recycling barrel 400 provided on the substrate 700, wherein the waste recycling barrel 400 is located at the waste recycling port Directly below.
  • the robot arm 200 grabs the medicine bottle in the detector 500 and grabs the unqualified medicine bottle from the detector 500 to In the waste recycling barrel 400, the waste recycling barrel 400 performs centralized collection and processing.
  • This configuration achieves an effective distinction between qualified and unqualified medicine bottles, and to a certain extent avoids the confusion caused by the random placement of unqualified medicine bottles.
  • the driving assembly 140 shown in FIG. 1 includes a rotating disk 141, a driving wheel 142, a driven wheel 143, and a driving member 144 covering the driving wheel 142 and the driven wheel 143.
  • the rotating disk 141 is provided along the rotating disk 141
  • the driving wheel 142 is disposed adjacent to the rotating disk 141, and the driving member 144 is provided with a slot capable of extending into the clamping slot In 1411, the pin 1441 of the rotating disk 141 is turned, and the inside of the driving member 144 is provided with a plurality of limiting blocks 1442 arranged at intervals along the circumferential direction of the driving member 144.
  • the limiting blocks 1442 extend in the axial direction of the driving wheel 142. Moreover, in the stationary state of the rotating disk 141, the limiting portion formed by the partial limiting block 1442 can cooperate with the arc-shaped limiting groove 1412 between two adjacent clamping slots 1411 to limit the rotating disk 141.
  • the medicine injection device 100 shown in FIG. 2 includes an upper turntable 110, a lower turntable 120, a plurality of accommodating chambers 130 disposed between the upper turntable 110 and the lower turntable 120, and configured to drive the lower turntable 120 to rotate
  • the driving assembly 140, the upper turntable 110 is provided with an opening 111 communicating with the accommodating cavity 130, the components of the driving assembly 140 are shown in FIG. 1, the components of the driving assembly 140 are mounted on the base plate 700;
  • the lower turntable 120 is connected.
  • the injection assembly 160 includes a syringe 161 movably disposed in the accommodating cavity 130, a piston 162 used in cooperation with the syringe 161, and a piston 162 configured to drive A moving electric push rod 167, a drive rod 163 provided with a toothed portion 1631, a drive gear 168 meshed with the toothed portion 1631, a guide structure 164 provided between the drive rod 163 and the wall surface of the accommodating cavity 130, and The support rod 165 opposite to the drive rod 163 and the mounting plate 166 fixedly connected between the drive rod 163 and the support rod 165; the needle tip 1611 of the syringe 161 can extend from the opening 111; the length direction of the drive rod 163 is along the piston 162 The movement direction extends, and one end of the driving rod 163 is fixedly connected to the flange 1612 provided on the outer wall of the syringe 161; the guide structure 164 is configured to guide
  • the dispensing equipment shown in FIGS. 4 and 5 includes a robot arm 200, a table 300, a waste recycling barrel 400, a detector 500, a control module 600 and a substrate 700; the robot arm 200 is configured to The empty bottle is grabbed to the opening 111 of the drug injection device 100; the table 300 is provided with a plurality of first station holes 310, a plurality of second station holes 320, and a detection port 330, and the aperture of the first station hole 310 The hole diameter of the second station hole 320 is different; the detection port 330 extends toward the edge of the table 300 and penetrates the edge of the table 300; the detector 500 is disposed directly below the detection port 330, and the robot arm 200 can insert the station hole Grab the medicine bottle at the detection port 330; the control module 600 is configured to control each driving structure of the dispensing equipment; the robot arm 200 is configured to grab the medicine bottle in the detector 500 and remove the unqualified medicine bottle from the inspection The device 500 grabs the waste recycling barrel 400, and
  • the present disclosure provides a drug injection device and a dispensing device, which has a simple structure and low cost, and can realize the simultaneous preparation of multiple drugs in multiple vials, and the preparation of drugs in each vial is independent of each other. Do not interfere with each other.

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Abstract

本公开实施例提供了一种药物注射装置及配药设备，涉及医疗设备技术领域，为解决现有配药系统的注射装置功能单一的问题而设计。该药物注射装置包括上转盘、下转盘、设置在上转盘和下转盘之间的多个容置腔，以及配置成驱动下转盘转动的驱动组件，上转盘设置有多个沿上转盘周向均布的开口，多个开口分别与多个容置腔一一对应地连通，容置腔中设置有注射组件。该配药设备包括上述药物注射装置。本公开实施例提供的药物注射装置及配药设备实现了多个药瓶中多种药物的同时配制，且各药瓶中药物的配制相互独立，互不干涉，很好地改善了现有配药系统的注射装置只能实现对一种药物进行配制的弊端，功能更加完善。

Description

药物注射装置及配药设备
相关申请的交叉引用
本公开要求于2018年12月24日提交中国专利局的申请号为2018115845418、名称为“药物注射装置及配药设备”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及医疗设备技术领域，尤其涉及一种药物注射装置及配药设备。
背景技术
现有技术中，对于药物的配制多通过人工完成，不仅工作量大，提高了医护人员的劳动强度，而且，在药物配制过程中还极有可能出现因失误而导致的药物配错情形，因而存在着较高的安全隐患。有鉴于此，一些企业研制出了药物自动配制系统，虽然实现了药物的自动注射与向前进给功能，但是其只能满足一种药物的注射需求，功能单一。
发明内容
本公开的目的包括，例如，提供一种药物注射装置，以解决现有配药系统的注射装置功能单一的技术问题。
本公开的目的还包括，提供一种配药设备，以解决现有配药系统的注射装置功能单一的技术问题。
本公开的实施例可以这样实现：
本公开实施例提供的一种药物注射装置，包括上转盘、下转盘、设置在所 述上转盘和所述下转盘之间的多个容置腔，以及配置成驱动所述下转盘转动的驱动组件，所述上转盘设置有多个沿所述上转盘周向均布的开口，多个所述开口分别与多个所述容置腔一一对应地连通，所述容置腔中设置有注射组件。
可选地，所述注射组件包括注射器，所述注射器包括可移动地设置于所述容置腔中的针筒、与所述针筒配合使用的活塞和配置成驱动所述活塞运动的直线驱动件，所述针筒的针尖能够自所述开口伸出。
可选地，所述针筒包括设置在所述针筒外壁的凸缘，所述注射组件包括设置有齿形部的驱动杆和与所述齿形部啮合传动的驱动齿轮，所述驱动杆的长度方向沿所述活塞的运动方向延伸，且所述驱动杆的一端与所述凸缘固定连接。
可选地，所述注射组件还包括设置在所述驱动杆与所述容置腔的壁面之间的导向结构，所述导向结构配置成对所述驱动杆的运动过程进行导向。
可选地，所述导向结构包括固设于所述驱动杆的滑块和固设于所述容置腔的壁面的滑轨，所述滑轨的长度方向沿所述活塞的运动方向延伸，所述滑块可滑动的连接于所述滑轨。
可选地，所述注射组件还包括与所述驱动杆相对设置的支撑杆，所述支撑杆的一端与所述凸缘固定连接，且所述支撑杆与所述容置腔的壁面滑动连接。
可选地，所述直线驱动件包括电动推杆，所述电动推杆安装在所述驱动杆上。
可选地，所述注射组件还包括固定连接在所述驱动杆与所述支撑杆之间的安装板，所述电动推杆设置在所述安装板上。
可选地，所述容置腔的横截面为矩形。
可选地，所述凸缘靠近所述针筒的开孔设置。
可选地，所述开口呈漏斗形。
可选地，所述驱动组件包括与所述下转盘固定连接的旋转盘和配置成驱动所述旋转盘间歇转动的传动组件，所述旋转盘的周向均匀布置有多个卡槽，所述卡槽的数量与所述开口的数量相同，所述传动组件包括主动轮、从动轮以及套设于所述主动轮和所述从动轮的驱动件，所述主动轮邻近所述旋转盘设置，所述驱动件上设置有能够伸入所述卡槽中以拨动所述旋转盘的插柱，所述驱动件的内侧还设置有沿所述驱动件的周向间隔设置的多个限位块，所述限位块沿所述主动轮的轴向延伸，且在所述旋转盘的静止状态，部分所述限位块形成的限位部能够与相邻两个所述卡槽之间的弧形限位槽配合以对所述旋转盘限位。
可选地，所述主动轮和所述从动轮均为链轮，所述驱动件为匹配设置的链条。
可选地，还包括基板，所述旋转盘、所述主动轮和所述从动轮均枢接于所述基板。
可选地，所述基板上开设有多个备用孔，所述从动轮择一地枢接于多个所述备用孔中的一个。
可选地，所述驱动组件还包括安装于所述基板的进给电机，所述进给电机的输出轴朝下，所述主动轮固定套装在所述进给电机的输出轴上。
可选地，所述主动轮和所述从动轮均为带轮，所述驱动件为匹配设置的同步带。
可选地，所述插柱的横截面为圆形。
可选地，所述卡槽的数量为4-8个。
可选地，所述旋转盘上设置有配置成支撑所述下转盘的支撑组件，所述旋转盘通过所述支撑组件与所述下转盘固定连接。
可选地，所述支撑组件包括多个支撑柱，所述旋转盘的上表面开设有多个 第一槽，所述下转盘的下表面开设有多个第二槽，多个所述第二槽的位置与多个所述第一槽的位置一一对应，所述支撑柱的一端插入所述第一槽，所述支撑柱的另一端插入所述第二槽。
可选地，多个所述支撑柱沿所述旋转盘的转动中心环形均布。
本公开实施例提供的药物注射装置带来的有益效果包括，例如：
通过设置上转盘、下转盘、驱动组件和多个容置腔，其中，多个容置腔位于上转盘与下转盘之间，驱动组件配置成驱动下转盘转动。并且，上转盘设置有多个沿其周向均布的开口，一个开口与一个容置腔对应地连通设置，每一个容置腔中均设置有注射组件。
每个容置腔中的注射组件可以设置不同的药物，在进行药物配制的过程中，将一种药瓶放置至上转盘的一个开口处，此时，与该开口相连通的容置腔中的注射组件动作，将该种药物注射至药瓶中；当驱动组件驱动其转动进给至下一开口与上料位置相对应时，可以将另一种药瓶放置至该开口处，此时，与该开口相连通的容置腔中的注射组件动作，将该种药物注射至药瓶中。该药物注射装置实现了多个药瓶中多种药物的同时配制，且各药瓶中药物的配制相互独立，互不干涉，很好地改善了现有配药系统的注射装置只能实现对一种药物进行配制的弊端，功能更加完善。
此外，该药物注射装置中，在注射组件对药瓶进行注射的过程中，驱动组件便可驱动下转盘以带动上转盘向前转动进给，而无需等到一个药瓶完全注射完毕，也就是说，注射所需的时间可以分解至下料前的多次进给过程中，使得进给动作与注射过程可以同时进行，很好地改善了现有技术中只能等药瓶注射完毕才能向前进给的时间消耗，有效地提高了药物的配制效率。
本公开的实施例提供的配药设备，包括机械臂和上述药物注射装置，所述 机械臂配置成将空瓶抓取至所述药物注射装置的开口处。
可选地，所述机械臂为SCARA(Selective Compliance Assembly Robot Arm，选择顺应性装配机器手臂)机械手。
可选地，所述配药设备还包括设置在所述药物注射装置的基板的上方的工作台，所述工作台上设置有多个工位孔，所述机械臂能够将注射完成的药瓶抓取至所述工位孔处。
可选地，多个所述工位孔包括多个第一工位孔和多个第二工位孔，所述第一工位孔的孔径与所述第二工位孔的孔径不同。
可选地，所述配药设备还包括检测器和开设在所述工作台上的检测口，所述检测器设置在所述检测口的正下方，所述机械臂能够将所述工位孔处的药瓶抓取至所述检测口处。
可选地，所述检测口向所述工作台的边缘延伸，并贯穿所述工作台的边缘。
可选地，所述机械臂安装在所述工作台上。
可选地，所述配药设备还包括配置成控制所述驱动组件、所述注射组件以及所述机械臂的控制模块，所述控制模块安装在所述基板上。
可选地，所述配药设备还包括设置于所述基板的废料回收桶，所述废料回收桶位于所述工作台的下方。
本公开实施例提供的配药设备带来的有益效果包括，例如：
通过在配药设备中设置上述药物注射装置，相应的，该配药设备具有上述药物注射装置的所有优势，在此不再一一赘述。
附图说明
为了更清楚地说明本公开实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本公开的某些实施例， 因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本公开实施例提供的药物注射装置中，驱动组件的俯视结构示意图；
图2为本公开实施例提供的药物注射装置的侧视图；
图3为本公开实施例提供的药物注射装置的局部结构图；
图4为本公开实施例提供的配药设备的结构示意图；
图5为本公开实施例提供的配药设备在另一视角下的结构示意图，其中，药物注射装置的驱动组件未示出。
附图标记：100-药物注射装置；200-机械臂；300-工作台；400-废料回收桶；500-检测器；600-控制模块；700-基板；110-上转盘；120-下转盘；130-容置腔；140-驱动组件；150-支撑柱；160-注射组件；111-开口；141-旋转盘；142-主动轮；143-从动轮；144-驱动件；145-进给电机；1411-卡槽；1412-弧形限位槽；1441-插柱；1442-限位块；161-针筒；162-活塞；163-驱动杆；164-导向结构；165-支撑杆；166-安装板；167-电动推杆；168-驱动齿轮；1611-针尖；1612-凸缘；1631-齿形部；310-第一工位孔；320-第二工位孔；330-检测口；710-备用孔。
具体实施方式
为使本公开的目的、技术方案和优点更加清楚，下面将结合附图对本公开的技术方案进行清楚、完整的描述。显然，所描述的实施例仅是本公开的一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
在本公开的描述中，需要说明的是，术语“上”、“下”、“水平”、“顶”、“侧”等指示的方位或位置关系均为基于附图所示的方位或位置关系，仅仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本公开的描述中，需要说明的是，除非另有明确的规定和限定，术语“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本公开中的具体含义。
需要说明的是，在不冲突的情况下，本公开的实施例中的特征可以相互结合。
现有的一些药物自动配制系统利用机械臂的定位及自动抓取功能，能够将空药瓶抓取至注射装置转盘的开口处，由注射装置进行药物注射。当药物注射完毕后，注射装置的转盘将完成药物注射的药瓶旋转向前进给，以进入下一工序，与此同时，机械臂再将一个空药瓶放入注射装置的转盘的开口中，继续进行药物注射和向前进给，直至进入下一工序。
发明人在研究中发现，这种系统虽然实现了药物的自动注射与向前进给功能，但是其只能满足一种药物的注射需求，功能单一。本实施例提供的一种药物注射装置100可以解决该技术问题。
如图1至图5所示，本实施例提供了一种药物注射装置100，包括上转盘110、下转盘120、设置在上转盘110和下转盘120之间的多个容置腔130，以 及配置成驱动下转盘120转动的驱动组件140，具体地，上转盘110设置有多个沿上转盘110周向均布的开口111，多个开口111分别与多个容置腔130连通，其中，容置腔130中设置有注射组件160。
该药物注射装置100的工作原理及工作过程为：每个容置腔130中的注射组件160可以设置不同的药物，在进行药物配制的过程中，将一种药瓶放置至上转盘110的一个开口111处，此时，与该开口111相连通的容置腔130中的注射组件160动作，将该种药物注射至药瓶中；当驱动组件140驱动其转动进给至下一开口111与上料位置相对应时，可以将另一种药瓶放置至该开口111处，此时，与该开口111相连通的容置腔130中的注射组件160动作，将该种药物注射至药瓶中。该药物注射装置100实现了多个药瓶中多种药物的同时配制，且各药瓶中药物的配制相互独立，互不干涉，很好地改善了现有配药系统的注射装置只能实现对一种药物进行配制的弊端，功能更加完善。
此外，该药物注射装置100中，在注射组件160对药瓶进行注射的过程中，驱动组件140便可驱动下转盘120以带动上转盘110向前转动进给，而无需等到一个药瓶完全注射完毕，也就是说，注射所需的时间可以分解至下料前的多次进给过程中，使得进给动作与注射过程可以同时进行，很好地改善了现有技术中只能等药瓶注射完毕才能向前进给的时间消耗，有效地提高了药物的配制效率。
需要说明的是，本实施例中，该药物注射装置100中，各容置腔130中的注射组件160还可以设置相同的药物。在配制一种药物的过程中，配制过程与上述配制不同种药物的配制过程相似，故不再赘述，此时，该药物注射装置100能够实现同种药物的高效配制。
请继续参照图3，本实施例中，注射组件160可以包括注射器，具体地， 注射器包括可移动地设置在容置腔130中的针筒161、与针筒161配合使用的活塞162和配置成驱动活塞162运动的直线驱动件，其中，针筒161的针尖1611能够自开口111伸出。
在进行药物配制的过程中，使针筒161朝开口111方向移动；当针筒161移动至其针尖1611自开口111处伸出时，直线驱动件动作，驱动活塞162朝针尖1611方向移动，将针筒161内的液体注射至位于开口111处的药瓶中，完成药物的配制；当需要进行药物采取时，先使直线驱动件动作，驱动活塞162朝针尖1611方向移动，然后，将盛放有药物的容器放置于开口111处，并使针筒161朝开口111方向移动至其针尖1611伸入至盛放有药物的容器中，之后，在直线驱动件的驱动下，活塞162朝远离针尖1611的方向移动，将容器中的药物抽取至针筒161内，实现对药物的采取。
请继续参照图3，本实施例中，针筒161可以包括设置在针筒161外壁的凸缘1612，注射组件160包括设置有齿形部1631的驱动杆163和与齿形部1631啮合传动的驱动齿轮168，其中，驱动杆163的长度方向沿活塞162的运动方向延伸，且驱动杆163的一端与凸缘1612固定连接。
在进行药物配制和采取的过程中，驱动齿轮168动作，驱动与其啮合传动的驱动杆163动作，在驱动杆163的驱动作用下，动力传递至与其固定连接的凸缘1612处，从而实现针筒161的往复移动。
请继续参照图3，本实施例中，注射组件160还可以包括设置在驱动杆163与容置腔130的壁面之间的导向结构164。
在驱动杆163驱动针筒161朝靠近开口111或远离开口111方向运动的过程中，导向结构164配置成对驱动杆163的运动过程进行导向。这样的设置，实现了对驱动杆163运动过程的引导，提高了针尖1611伸出与缩回的效率。
具体地，本实施例中，导向结构164可以包括固设于驱动杆163的滑块和固设于容置腔130的壁面的滑轨，其中，滑轨的长度方向沿活塞162的运动方向延伸，滑块可滑动的连接于该滑轨。其他实施例中，同理的，也可以是滑轨与驱动杆163固定，滑块与容置腔130的壁面固定。
请继续参照图3，本实施例中，注射组件160还可以包括与驱动杆163相对设置的支撑杆165，其中，支撑杆165的一端与凸缘1612固定连接，且支撑杆165与容置腔130的壁面滑动连接。
支撑杆165的设置，实现了对驱动杆163相对侧的支撑，保证了针筒161移动过程中其两侧的受力平衡性，在一定程度上避免了针筒161移动过程中可能存在的卡死现象，从而保证了本实施例药物注射装置100的工作可靠性。
可选地，本实施例中，直线驱动件为电动推杆167，其中，电动推杆167安装在驱动杆163上。可选地，直线驱动件也可以为气缸、油缸等伸缩机构。
在进行药物配制的过程中，驱动齿轮168转动，驱动与其啮合传动的驱动杆163移动，在驱动杆163移动的过程中，电动推杆167同步移动；当驱动杆163驱动针筒161移动到位后，电动推杆167伸出，将药物注射至开口111处的药瓶中。
这样的设置，有效地缩短了电动推杆167的驱动行程，从而减少了电动推杆167的尺寸，进而节省了电动推杆167的设置成本。
请继续参照图3，本实施例中，注射组件160还可以包括固定连接在驱动杆163与支撑杆165之间的安装板166，其中，电动推杆167设置在安装板166上。
本实施例中，容置腔130的横截面可以为矩形。这样的设置，保证了容置腔130内壁的平整性，降低了滑轨在其上的装配要求。
请继续参照图3，本实施例中，可选地，凸缘1612靠近针筒161的开孔设置。这样的设置，有效地缩短了驱动杆163的长度，从而降低了驱动杆163的设置成本。
本实施例中，开口111可以呈漏斗形，并且，在开口111处还可以设置配置成将药瓶固定于开口111中的夹紧组件(图中未示出)。在进行药物配制时，夹紧组件动作，将药瓶固定于开口111中；当配制完成后，夹紧组件将药瓶释放，以使药瓶可以自由地从开口111中被取出。
请继续参照图1、图2和图4，本实施例中，驱动组件140可以包括与下转盘120固定连接的旋转盘141和配置成驱动旋转盘141间歇转动的传动组件，具体地，旋转盘141的周向均匀布置有多个卡槽1411，传动组件包括主动轮142、从动轮143以及套设于主动轮142和从动轮143的驱动件144，其中，卡槽1411的数量与开口111的数量相同，主动轮142邻近旋转盘141设置，驱动件144上设置有能够伸入卡槽1411中以拨动旋转盘141的插柱1441。并且，驱动件144的内侧还设置有沿驱动件144的周向间隔布置的多个限位块1442，具体地，限位块1442沿主动轮142的轴向延伸，且在旋转盘141的静止状态，部分限位块1442形成的限位部能够与相邻两个卡槽1411之间的弧形限位槽1412配合以对旋转盘141限位。
该药物注射装置100的工作原理及工作过程为：主动轮142运动，通过套设于其的驱动件144将动力传递至从动轮143处，实现传动组件的连续不间断运转；当插柱1441跟随驱动件144运动至旋转盘141的位置处时，伸入旋转盘141的一个卡槽1411中，以拨动旋转盘141转动；当插柱1441拨动旋转盘141进给一个位置时，插柱1441从该卡槽1411中脱离，并随着驱动件144继续运动，在此过程中，驱动件144上的部分限位块1442形成完整的限位部， 且该限位部卡入相邻两个卡槽1411之间的弧形限位槽1412中，对旋转盘141进行锁止限位；当驱动件144再次运动至旋转盘141处时，卡入旋转盘141中的下一个卡槽1411中，此过程中，限位块1442形成的限位部从弧形限位槽1412中脱离，以再次驱动旋转盘141转动进给一个工位。在驱动组件140驱动旋转盘141转动的过程中，与放置有空瓶的开口111相对的容置腔130中的注射组件160工作，将药物注射入该空瓶中。
该药物注射装置100在工作过程中，其相邻两开口111之间的切换时间为插柱1441沿着驱动件144的周长转过一周所需的时间，大大增加了上转盘110的暂停等待时间，使得机械臂200能够有充足的时间对空瓶进行放置，保证了空瓶被放入相应开口111中的可靠性，同时也降低了对机械臂200的工作速度要求。
此外，这种驱动组件140的设置形式，实现了主动轮142连续工作过程中旋转盘141的间歇进给，主动轮142无歇停，在一定程度上避免了因主动轮142转动惯性而导致其停止位置不准确的情形，从而提高了旋转盘141的进给精确性。而且，这种设置形式，还降低了因停机频率多而导致的主动轮142工作失效的情形，延长了主动轮142的工作寿命。
请继续参照图4，本实施例中，具体地，主动轮142和从动轮143均为链轮，驱动件144为与二者匹配设置的链条。
请继续参照图2、图4和图5，本实施例中，该药物注射装置100还可以包括基板700，具体地，旋转盘141、主动轮142和从动轮143均枢接于基板700。并且，基板700上开设有多个备用孔710，从动轮143择一地枢接于多个备用孔710中的一个。
当需要对旋转盘141的进给时间间隔进行调整时，可以根据需要选择不同 长度的链条，并选择能够与该链条长度配合的备用孔710进行从动轮143的安装，从而实现对旋转盘141进给时间间隔的调整。
请继续参照图4，本实施例中，驱动组件140还可以包括安装于基板700的进给电机145，具体地，进给电机145的输出轴朝下，主动轮142固定套装在进给电机145的输出轴上。这样的设置，使得主动轮142和从动轮143更加靠近于基板700，从而提高了本实施例药物注射装置100的结构紧凑程度。
需要说明的是，本实施例中，主动轮142和从动轮143可以是上述链轮的设置形式，但不仅仅局限于此，还可以采用其他设置形式，如：将主动轮142和从动轮143设置为带轮，驱动件144为匹配设置的同步带。
请继续参照图1，本实施例中，可选地，插柱1441的横截面为圆形。
本实施例中，卡槽1411的数量可以为4-8个，可选地，卡槽1411的数量为6个，对应地，容置腔130的数量也为6个，开口111的数量也为6个。同理，卡槽1411的数量也可以为4个、5个、7个、8个等。
请继续参照图2，本实施例中，旋转盘141上可以设置有配置成支撑下转盘120的支撑组件，其中，旋转盘141通过支撑组件与下转盘120固定连接。具体地，支撑组件包括多个支撑柱150，旋转盘141的上表面开设有多个第一槽，下转盘120的下表面开设有多个第二槽，多个第二槽的位置与多个第一槽的位置一一对应，支撑柱150的一端插入第一槽，支撑柱150的另一端插入第二槽。并且，多个支撑柱150沿旋转盘141的转动中心环形均布。
此外，本实施例还提供了一种配药设备，包括机械臂200和上述药物注射装置100。
该配药设备工作过程中，首先，机械臂200配置成将空瓶抓取至药物注射 装置100的开口111处；然后，注射组件160动作，将针筒161中的药物注射至空瓶中，在此过程中，驱动组件140同时动作，实现药瓶的向前进给；当旋转盘141向前进给至下一开口111与机械臂200的抓取位置相对时，机械臂200再将下一空瓶抓取至该开口111中，然后与该开口111相对应的注射组件160动作，将药物注射至药瓶中。当配药完成的药瓶进给至下料工位处时，机械臂200可以将待下料的药瓶取走，以进行下一道工序。
通过在配药设备中设置上述药物注射装置100，相应的，该配药设备具有上述药物注射装置100的所有优势，在此不再一一赘述。
请继续参照图4和图5，本实施例中，机械臂200可以为SCARA机械手。
请继续参照图4和图5，本实施例中，该配药设备还可以包括设置在基板700上方的工作台300，其中，工作台300上设置有多个工位孔，机械臂200能够将注射完成的药瓶抓取至工位孔处。
当驱动组件140驱动开口111中的药瓶向前进给至下料工位处时，机械臂200动作，将运动至下料工位的已完成注射的药瓶抓取至工位孔处，进行其他工序。其中，工位孔处的工序包括加热工序和振荡工序等。
具体地，本实施例中，多个工位孔可以包括多个第一工位孔310和多个第二工位孔320，其中，第一工位孔310的孔径与第二工位孔320的孔径不同。这样的设置，满足了对不同孔径药瓶的药物配制需求，提高了本实施例药物注射装置100的通用化程度。
请继续参照图4和图5，本实施例中，该配药设备还可以包括检测器500和开设在工作台300上的检测口330，具体地，检测器500设置在检测口330的正下方，机械臂200能够将工位孔处的药瓶抓取至检测口330处。
当药瓶在工位孔处完成加热和振荡等工序后，机械臂200将其抓取至检测 口330上方，以通过检测口330将其放入检测器500中，实现对所配制药物的检测。
请继续参照图4和图5，本实施例中，检测口330向工作台300的边缘延伸，并贯穿工作台300的边缘。这样的设置，提高了检测口330的开放性，降低了机械臂200抓取放置过程中，工作台300对其造成的干涉影响。
请继续参照图4和图5，本实施例中，机械臂200安装在工作台300上。这样的设置，提高了本实施例配药设备的集成化程度，降低了其空间占用。
请继续参照图4和图5，本实施例中，该配药设备还可以包括配置成控制配药设备的各驱动结构的控制模块600，具体地，控制模块600安装在基板700上。各驱动结构包括上述提及的驱动组件140、注射组件160以及机械臂200等，在利用该配药设备进行药物的配制时，可以通过向控制模块600输入命令指令，利用控制模块600实现对各驱动结构及不同工序的自动控制，这样的设置，大大提高了本实施例配药设备的自动化程度。
请继续参照图4和图5，本实施例中，该配药设备还可以包括开设于工作台300的废料回收口以及设置于基板700的废料回收桶400，其中，废料回收桶400位于废料回收口的正下方。
该配药设备工作过程中，当检测器500完成对药瓶中药物的检测后，机械臂200对检测器500中的药瓶进行抓取，将不合格的药瓶从检测器500中抓取至废料回收桶400中，由废料回收桶400进行集中收集和处理。这样的设置，实现了对合格药瓶和不合格药瓶的有效区分，并在一定程度上避免了因不合格药瓶随意放置而导致的混淆现象。
在一些实施例中：
请参考图1：图1示出的驱动组件140包括旋转盘141、主动轮142、从动轮143以及套设主动轮142和从动轮143的驱动件144，旋转盘141设置有沿该旋转盘141周向均匀分布的六个卡槽1411，相邻的两个卡槽1411之间形成有弧形限位槽1412；主动轮142邻近旋转盘141设置，驱动件144上设置有能够伸入卡槽1411中以拨动旋转盘141的插柱1441，驱动件144的内侧设置有沿驱动件144的周向间隔布置的多个限位块1442，限位块1442沿主动轮142的轴向延伸，且在旋转盘141的静止状态，部分限位块1442形成的限位部能够与相邻两个卡槽1411之间的弧形限位槽1412配合以对旋转盘141限位。
请参考图2，图2示出的药物注射装置100包括上转盘110、下转盘120、设置在上转盘110和下转盘120之间的多个容置腔130，以及配置成驱动下转盘120转动的驱动组件140，上转盘110设置有与容置腔130连通的开口111，驱动组件140的各部件参见图1，驱动组件140的各部件安装在基板700上；旋转盘141通过支撑柱150与下转盘120连接。
请参考图3，图3示出的药物注射装置100中，注射组件160包括可移动地设置在容置腔130中的针筒161、与针筒161配合使用的活塞162、配置成驱动活塞162运动的电动推杆167、设置有齿形部1631的驱动杆163、与齿形部1631啮合传动的驱动齿轮168、设置在驱动杆163与容置腔130的壁面之间的导向结构164、与驱动杆163相对设置的支撑杆165以及固定连接在驱动杆163与支撑杆165之间的安装板166；针筒161的针尖1611能够自开口111伸出；驱动杆163的长度方向沿活塞162的运动方向延伸，且驱动杆163的一端与设置在针筒161外壁的凸缘1612固定连接；导向结构164配置成对驱动杆163的运动过程进行导向；支撑杆165的一端与凸缘1612固定连接，且支 撑杆165与容置腔130的壁面滑动连接；电动推杆167设置在安装板166上。
请参考图4和图5，图4和图5中示出的配药设备包括机械臂200、工作台300、废料回收桶400、检测器500、控制模块600和基板700；机械臂200配置成将空瓶抓取至药物注射装置100的开口111处；工作台300上设置有多个第一工位孔310、多个第二工位孔320以及检测口330，第一工位孔310的孔径与第二工位孔320的孔径不同；检测口330向工作台300的边缘延伸，并贯穿工作台300的边缘；检测器500设置在检测口330的正下方，机械臂200能够将工位孔处的药瓶抓取至检测口330处；控制模块600配置成控制配药设备的各驱动结构；机械臂200配置成对检测器500中的药瓶进行抓取，将不合格的药瓶从检测器500中抓取至废料回收桶400中，由废料回收桶400进行集中收集和处理；配药设备中的其他结构均安装在基板700上，基板700上还设置有备用孔710，使得从动轮143可以择一地枢接于多个备用孔710中的一个；进给电机145的输出轴朝下，主动轮142固定套装在进给电机145的输出轴上。
最后应说明的是：以上实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开实施例技术方案的范围。
工业实用性：
综上所述，本公开提供了一种药物注射装置及配药设备，其结构简单，造价低，可以实现多个药瓶中多种药物的同时配制，且各药瓶中药物的配制相互独立，互不干涉。

Claims (16)

  1. 一种药物注射装置，其特征在于，包括上转盘(110)、下转盘(120)、设置在所述上转盘(110)和所述下转盘(120)之间的多个容置腔(130)，以及配置成驱动所述下转盘(120)转动的驱动组件(140)，所述上转盘(110)设置有多个沿所述上转盘(110)周向均布的开口(111)，多个所述开口(111)分别与多个所述容置腔(130)一一对应地连通，所述容置腔(130)中设置有注射组件(160)。
  2. 根据权利要求1所述的药物注射装置，其特征在于，所述注射组件(160)包括注射器，所述注射器包括可移动地设置于所述容置腔(130)中的针筒(161)、与所述针筒(161)配合使用的活塞(162)和配置成驱动所述活塞(162)运动的直线驱动件，所述针筒(161)的针尖(1611)能够自所述开口(111)伸出。
  3. 根据权利要求2所述的药物注射装置，其特征在于，所述针筒(161)包括设置在所述针筒(161)外壁的凸缘(1612)，所述注射组件(160)包括设置有齿形部(1631)的驱动杆(163)和与所述齿形部(1631)啮合传动的驱动齿轮(168)，所述驱动杆(163)的长度方向沿所述活塞(162)的运动方向延伸，且所述驱动杆(163)的一端与所述凸缘(1612)固定连接。
  4. 根据权利要求3所述的药物注射装置，其特征在于，所述注射组件(160)还包括设置在所述驱动杆(163)与所述容置腔(130)的壁面之间的导向结构(164)，所述导向结构(164)配置成对所述驱动杆(163)的运动过程进行导向。
  5. 根据权利要求4所述的药物注射装置，其特征在于，所述导向结构(164)包括固设于所述驱动杆(163)的滑块和固设于所述容置腔(130)的壁面的滑轨，所述滑轨的长度方向沿所述活塞(162)的运动方向延伸，所述滑块可滑动的连接于所述滑轨。
  6. 根据权利要求3-5任一项所述的药物注射装置，其特征在于，所述注射 组件(160)还包括与所述驱动杆(163)相对设置的支撑杆(165)，所述支撑杆(165)的一端与所述凸缘(1612)固定连接，且所述支撑杆(165)与所述容置腔(130)的壁面滑动连接。
  7. 根据权利要求3-6任一项所述的药物注射装置，其特征在于，所述直线驱动件包括电动推杆(167)，所述电动推杆(167)安装在所述驱动杆(163)上。
  8. 根据权利要求1-7任一项所述的药物注射装置，其特征在于，所述驱动组件(140)包括与所述下转盘(120)固定连接的旋转盘(141)和配置成驱动所述旋转盘(141)间歇转动的传动组件，所述旋转盘(141)的周向均匀布置有多个卡槽(1411)，所述卡槽(1411)的数量与所述开口(111)的数量相同，所述传动组件包括主动轮(142)、从动轮(143)以及套设于所述主动轮(142)和所述从动轮(143)的驱动件(144)，所述主动轮(142)邻近所述旋转盘(141)设置，所述驱动件(144)上设置有能够伸入所述卡槽(1411)中以拨动所述旋转盘(141)的插柱(1441)，所述驱动件(144)的内侧还设置有沿所述驱动件(144)的周向间隔布置的多个限位块(1442)，所述限位块(1442)沿所述主动轮(142)的轴向延伸，且在所述旋转盘(141)的静止状态，部分所述限位块(1442)形成的限位部能够与相邻两个所述卡槽(1411)之间的弧形限位槽(1412)配合以对所述旋转盘(141)限位。
  9. 根据权利要求8所述的药物注射装置，其特征在于，所述旋转盘(141)上设置有配置成支撑所述下转盘(120)的支撑组件，所述旋转盘(141)通过所述支撑组件与所述下转盘(120)固定连接，所述支撑组件包括多个支撑柱(150)，所述旋转盘(141)的上表面开设有多个第一槽，所述下转盘(120)的下表面开设有多个第二槽，多个所述第二槽的位置与多个所述第一槽的位置一一对应，所述支撑柱(150)的一端插入所述第一槽，所述支撑柱(150)的另一端插入所述第二槽，多个所述支撑柱(150)沿所述旋转盘(141)的转动中心环形均布。
  10. 一种配药设备，其特征在于，包括机械臂(200)和权利要求1-9任一项所述的药物注射装置(100)，所述机械臂(200)配置成将空瓶抓取至所述药物注射装置(100)的开口(111)处。
  11. 根据权利要求10所述的配药设备，其特征在于，所述配药设备还包括设置在所述药物注射装置(100)的基板(700)的上方的工作台(300)，所述工作台(300)上设置有多个工位孔，所述机械臂(200)能够将注射完成的药瓶抓取至所述工位孔处。
  12. 根据权利要求11所述的配药设备，其特征在于，多个所述工位孔包括多个第一工位孔(310)和所述第二工位孔(320)，所述第一工位孔(310)的孔径与所述第二工位孔(320)的孔径不同。
  13. 根据权利要求11或12所述的配药设备，其特征在于，所述配药设备还包括检测器(500)和开设在所述工作台(300)上的检测口(330)，所述检测器(500)设置在所述检测口(330)的正下方，所述机械臂(200)能够将所述工位孔处的药瓶抓取至所述检测口(330)处。
  14. 根据权利要求13所述的配药设备，其特征在于，所述检测口(330)向所述工作台(300)的边缘延伸，并贯穿所述工作台(300)的边缘。
  15. 根据权利要求11-14任一项所述的配药设备，其特征在于，所述配药设备还包括配置成控制所述驱动组件(140)、所述注射组件(160)以及所述机械臂(200)的控制模块(600)，所述控制模块(600)安装在所述基板(700)上。
  16. 根据权利要求11-15任一项所述的配药设备，其特征在于，所述配药设备还包括设置于所述基板(700)的废料回收桶(400)，所述废料回收桶(400)位于所述工作台(300)的下方。
PCT/CN2019/070007 2018-12-24 2019-01-02 药物注射装置及配药设备 WO2020133556A1 (zh)

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