An automatic medicine dispensing robot

Abstract

The invention discloses an automatic dispensing robot, including an operation room, in which a dispensing device is installed; a liquid medicine transfer mechanism, an infusion bottle mechanism and a cillin bottle mechanism are installed on an integral rotating plate; the infusion bottle mechanism includes a horizontally movable infusion bottle operating device and an extrusion device fixedly installed on the integral rotating plate, the infusion bottle is installed on the infusion bottle operating device and is located between the extrusion plates of the extrusion device; the cillin bottle mechanism includes a cillin bottle horizontal operating device, a movable cillin bottle vertical operating device is installed at the front end of the cillin bottle horizontal operating device, the cillin bottle is installed on the cillin bottle vertical operating device, and a movable vibration device for dissolving the powder inside the cillin bottle is provided at the bottom of the cillin bottle. The invention effectively reduces the labor intensity of nursing staff, reduces the pollution of the infusion drug by the outside world during the dispensing and dissolving process, further accelerates the dissolution of the powder inside the cillin bottle, and thus accelerates the efficiency of automatic dispensing.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to an automatic medicine dispensing robot. Background Art

[0002] Intravenous infusion therapy is a highly specialized technology that covers parenteral infusion, nutritional support, medication and infusion. Looking back at its history, the technology began in the 17th century, but great progress occurred mainly in the 20th century.

[0003] Intravenous therapy as it is today originated in the 19th century, a century of great medical development. The first major achievement was in 1818, when James Blundell performed the first human-to-human blood transfusion in London. In 1834, Blundell performed another human-to-human blood transfusion, and the recipient was a woman who was dying of bleeding during childbirth. Blundell further believed that blood loss caused by bleeding was related to low blood volume.

[0004] An important event in the development of intravenous therapy was the cholera epidemic in Scotland in 1831. During this epidemic, Thomas Latta experimentally gave a saline solution to a patient who was dying. But Latta's treatment was successful, and the patient recovered and survived. The success of the saline injection led to the widespread use of this treatment in cholera epidemics, but the success rate was limited. More work was done later.

[0005] In the 20th century, parenteral nutrition (TPN) support also made significant progress. The father of parenteral nutrition, Dr. Stanley Dudrick, successfully infused high concentrations of glucose and protein through the subclavian superior vena cava in 1967. Due to this breakthrough, the concept of central venous therapy (CVC, commonly known as CVP) has flourished like bamboo shoots after a spring rain, leading to the invention and revolution of various central catheters and dressings.

[0006] Intravenous infusion is a routine nursing technical operation that clinical nurses must master. Although it seems simple, it requires many skills. If used properly, it can not only effectively reduce the patient's pain, but also improve work efficiency and reduce medical disputes. However, when preparing intravenous infusion fluids, clinical nurses need to draw the liquid in the large infusion from the syringe, and then inject it into the lyophilized powder to be dissolved, shake the lyophilized powder bottle, and then use a syringe to draw out the dissolved liquid in the lyophilized powder bottle and inject it into the large infusion; or use a syringe to draw out the liquid in the ampoule bottle, and then inject it into the large infusion; no matter which method is used, clinical nurses need to consume a lot of physical strength, and in the process of preparing the liquid medicine, they also need to strictly implement the aseptic technical operation principles to avoid using unqualified liquid medicine, contamination of large infusion, and prevent infusion reactions.

[0007] In addition, although there are automatic dispensing devices at present, they still have the following shortcomings: 1. The lack of isolation and protection devices cannot ensure the aseptic technical operation principles; 2. Its automatic dispensing requires the syringe bottle and the infusion bottle to be connected through a liquid medicine transfer device, but there are two rotational variable factors between the three, which makes it difficult to achieve precise positioning. In actual operation, the alignment efficiency is low, which affects the efficiency of dispensing work; 3. The frequency of dissolving the powder inside the syringe bottle is not large enough, the dissolution speed is slow and the dissolution is not complete, which also affects the efficiency of drug work. Summary of the invention

[0008] In view of the above defects or shortcomings, an object of the present invention is to provide an automatic medicine dispensing robot.

[0009] To achieve the above purpose, the technical solution of the present invention is:

[0010] An automatic medicine dispensing robot comprises an operating room, wherein a medicine dispensing device is installed in the operating room;

[0011] The dispensing device includes an integral rotating plate installed on the inner side of the operating room, and a liquid medicine transfer mechanism, an infusion bottle mechanism and a syringe bottle mechanism are installed on the integral rotating plate, and the infusion bottle mechanism and the syringe bottle mechanism are respectively located on both sides of the liquid medicine transfer mechanism; the liquid medicine transfer mechanism includes a transferor fixing plate fixedly installed on the integral rotating plate, and the liquid medicine transferor is installed at the front end of the transferor fixing plate; the infusion bottle mechanism includes a horizontally movable infusion bottle running device, and a squeezing device fixedly installed on the integral rotating plate, the infusion bottle is installed at the front end of the infusion bottle fixing plate of the infusion bottle running device, and is located between the squeezing plates of the squeezing device; the syringe bottle mechanism includes a movable syringe bottle horizontal running device, and a syringe bottle vertical running device installed on the second slider of the syringe bottle horizontal running device, and multiple syringe bottles are installed on the syringe bottle fixing plate of the syringe bottle vertical running device, and a movable vibration device for dissolving the powder inside the syringe bottle is provided at the bottom of the syringe bottle.

[0012] The vibration device includes a vibration running motor and a first lead screw installed on an integral rotating plate. The power output end of the vibration running motor is connected to one end of the first lead screw through a first sprocket and a chain. The first lead screw is connected to a right-angle connecting plate through a matching first sliding block. A vibration eccentric motor is installed on the inner side of the other end of the right-angle connecting plate. A vibration detector is installed on the inner side of the vibration eccentric motor, and the vibration detector matches the bottom of the syringe bottle.

[0013] The operating stroke of the vibration device is between 3 mm and 100 mm, the eccentric stroke of the vibration eccentric motor is between 2 mm and 18 mm, and the vibration time of the vibration eccentric motor is between 1 second and 30 seconds.

[0014] The medicine liquid transferor mechanism also includes a transferor removal device installed at the front end of the transferor fixing plate, and a syringe bottle removal device; the front end of the transferor fixing plate is provided with a transverse opening and a longitudinal slot perpendicular to the transverse opening, the medicine liquid transferor is installed in the transverse opening, and the fixed part of the medicine liquid transferor is engaged in the longitudinal slot of the transferor fixing plate; the transferor removal device includes a cavity opened on the inner side of the transverse opening at the front end of the transferor fixing plate, and the cavity is connected to the transverse opening, the inner wall of the cavity is provided with an L-shaped slot, and the L-shaped slot is connected to the longitudinal slot, an L-shaped top sheet is arranged in the L-shaped slot, one end of the L-shaped top sheet is in contact with the exposed side wall on the inner side of the fixed part, and the other end is connected to a reciprocating motor linear motor; the syringe bottle removal device includes a concave top sheet fixedly installed on the upper edge of the front end of the transferor fixing plate, the opening of the concave top sheet is opened toward the syringe bottle, and the edge of the concave top sheet close to the inner side of the transferor fixing plate is a hypotenuse.

[0015] The horizontal operation device of the vial includes a vial left-right operation motor installed on the overall rotating plate, a second screw is installed directly below the vial left-right operation motor, a power output end of the vial left-right operation motor is connected to one end of the second screw through a second sprocket and a second chain, and a matching second slider is installed on the second screw; the vertical operation device of the vial includes a vial vertical operation frame installed on the outside of the second slider, a third screw is vertically installed in the vial vertical operation frame, one end of the third screw is connected to the vial up-and-down operation motor, the third screw is connected to a vial fixing plate through a matching third slider, a row of vial clamps are vertically opened on one side of the vial fixing plate, the vial is clamped in the vial clamp, and a vial detector and a clamping handle are provided in the vial clamp.

[0016] The infusion bottle operating device includes an infusion bottle operating motor installed on an integral rotating plate, a fourth lead screw is installed directly below the infusion bottle operating motor, a power output end of the infusion bottle operating motor is connected to one end of the fourth lead screw via a third sprocket and a third chain, the fourth lead screw is connected to an infusion bottle fixing plate via a matching fourth slider, a large infusion clamp is provided at the other end of the infusion bottle fixing plate, the infusion bottle is installed in the large infusion clamp, and a large infusion detector and a clamping handle are provided in the large infusion clamp.

[0017] The extrusion device also includes an extrusion motor fixedly mounted on the integral rotating plate, a bidirectional lead screw is vertically mounted on one side of the extrusion motor, a power output end of the extrusion motor is connected to one end of the bidirectional lead screw via a fourth sprocket and a fourth chain, an upper extrusion plate and a lower extrusion plate are mounted on the bidirectional lead screw via matching nuts, when the extrusion motor is running, the upper extrusion plate and the lower extrusion plate are clamped close to the infusion bottle or move away from both sides of the infusion bottle; an extrusion detector is arranged above the upper extrusion plate; the extrusion stroke of the extrusion device is between 10 mm and 500 mm, the extrusion force is between 5 N and 100 N, and the extrusion time is between 0.5 seconds and 10 seconds.

[0018] The operating room is provided with a small door and a large door for convenient observation and maintenance of equipment, and heat dissipation holes for air intake and exhaust are provided on both sides and the upper surface of the operating room. The operating room is also provided with a display screen for displaying dispensing data, as well as a start button and an emergency stop button for controlling the dispensing device.

[0019] A video recording device, a waste box and a disinfection device are arranged inside the operating room, and the waste box is located directly below the transfer device removal device and the syringe bottle removal device. The disinfection device is configured as an ultraviolet lamp, and a timer is connected to the ultraviolet lamp. The video recording device is a camera; a scanning device is arranged outside the operating room, and the scanning device includes a barcode scanner for scanning the information of the dispensed drugs used, and a printer for printing the drug information.

[0020] An automatic dispensing method of an automatic dispensing robot:

[0021] 1) Clamp the liquid medicine transfer device onto the front end of the transfer device fixing plate;

[0022] 2) Install the infusion bottle mouth toward the drug liquid transfer device at the front end of the infusion bottle fixing plate; drive the infusion bottle to move close to the drug liquid transfer device through the operation of the infusion bottle running device, so that the infusion bottle mouth is punctured and connected with the puncture device of the drug liquid transfer device;

[0023] 3) Install the vial mouth toward the liquid medicine transfer device on the vial fixing plate, and place multiple vials in order from top to bottom; align the vial mouth at the top with the puncture device of the liquid medicine transfer device through the vial vertical running device;

[0024] 4) The vial horizontal operation device drives the vial vertical operation device equipped with the vial to move close to the liquid medicine transfer device, so that the vial mouth is punctured and connected with the puncture device of the liquid medicine transfer device;

[0025] 5) The integral rotating plate rotates so that the mouth of the infusion bottle is downward or obliquely downward and the mouth of the penicillin bottle is upward or obliquely upward, forming an angle between 0 and 70 degrees with the vertical axis of the ground; the squeezing plate of the squeezing device starts squeezing the infusion bottle, releases after reaching the squeezing force, and then squeezes again, and the liquid in the infusion bottle flows downward due to the pressure; the liquid inside the infusion bottle flows from the mouth of the infusion bottle into the penicillin bottle through the liquid transfer device due to pressure and gravity, flushing the powder inside the penicillin bottle until the penicillin bottle is filled with 1 / 4 to 3 / 4 of the liquid;

[0026] 6) The vibration device starts to work. When the vibration device moves to the bottom of the vial, it starts to rotate and vibrate to dissolve the powder in the vial. After the powder in the vial is completely dissolved, the vibration stops and the vial moves away from the vial.

[0027] 7) The integral rotating plate rotates again, so that the mouth of the infusion bottle is upward or obliquely upward, and the mouth of the penicillin bottle is downward or obliquely downward, and the angle with the vertical axis of the ground is 0 to 50 degrees; the squeezing plate of the squeezing device squeezes again, and the gas passes through the transfer device to squeeze the gas of the lower infusion bottle into the penicillin bottle, so that the penicillin bottle is filled with positive pressure, and the squeezing plate is released after the squeezing force is reached; the liquid in the penicillin bottle flows back into the infusion bottle through the transfer device due to the relationship between positive pressure and gravity; the penicillin bottle that has completed the preparation moves away from the liquid medicine transfer device through the penicillin bottle horizontal operation device, so that the penicillin bottle is separated from the puncture needle of the transfer device;

[0028] 8) The vial vertical running device transports the next undissolved vial to the dispensing position.

[0029] 9) Repeat steps 4-8 until all the vials are dissolved into the infusion bottle; the infusion bottle is moved away from the drug transfer device through the infusion bottle running device, so that the infusion bottle mouth is separated from the puncture device of the transfer device.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] The invention provides an automatic medicine dispensing robot. The vibration device, which is the first of its kind on the syringe bottle mechanism, drives the liquid and powder in the syringe bottle to dissolve in a vortex shape through the operation of the eccentric motor at the bottom of the syringe bottle, and quickly completes the dissolution, further speeding up the medicine dispensing efficiency and improving the work efficiency. Through the coordinated connection of the infusion bottle running device, the syringe bottle horizontal running device and the syringe bottle vertical running device with the liquid medicine transfer device, the medicine dispensing automation of the syringe bottle and the infusion bottle can be combined, effectively reducing the labor intensity of the nursing staff. Since the infusion bottle running device can control the horizontal and linear motion of the infusion bottle, the infusion bottle can be automatically dispensing medicine. Whether it is the control of the horizontal linear motion of the vial by the horizontal running device of the vial, or the control of the up and down linear motion of the vial by the vertical running device of the vial, they are all separate independent control devices that do not interfere with each other, reducing the inaccurate positioning caused by the superposition of motions and further improving work efficiency; at the same time, due to the addition of an 8000 operating room with an outer cover on the outside of the dispenser device, the contamination of the infusion drugs by the outside world during the dispensing and dissolving process is reduced, ensuring a sterile operating environment. The sterile operating room reduces the contamination of the infusion drugs by the outside world during the dispensing and dissolving process, and achieves one bottle and one injection for each dissolving and dispensing.

[0032] The automatic dispensing method of the present invention enables an infusion bottle mechanism and a syringe bottle mechanism to flip through a rotatable integral rotating plate to accelerate the dissolution of powder inside the syringe bottle, and rotates a vibrating eccentric motor of a vibrating device on the syringe bottle mechanism to form resonance, so that the liquid inside the syringe bottle forms a vortex to dissolve the powder inside the syringe bottle, further accelerating the dissolution of the powder inside the syringe bottle, thereby accelerating the automatic dispensing processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the structure of the automatic dispensing robot of the device of the present invention;

[0034] Figure 2 yes Figure 1 Main view of the middle and external structure;

[0035] Figure 3 This is a schematic diagram of the internal structure of the automatic dispensing robot of the device of the present invention;

[0036] Figure 4 This is a front view of the internal structure of the automatic dispensing robot of the device of the present invention;

[0037] Figure 5 This is a left side view of the internal structure of the automatic dispensing robot of the device of the present invention;

[0038] Figure 6 This is the right side view of the internal structure of the automatic dispensing robot of the present invention.

[0039] Figure 7 This is a top view of the internal structure of the automatic dispensing robot of the device of the present invention;

[0040] Figure 8 The main structure of the liquid medicine transfer device of the present invention is Figure 1 ;

[0041] Fig. 9 The main structure of the liquid medicine transfer device of the present invention is Figure 2 ;

[0042] Fig.10 It is a top view of the structure of the liquid medicine transfer device of the present invention;

[0043] Fig.11 It is a schematic diagram of the installation structure of the front end of the transfer device fixing plate in the liquid medicine transfer device mechanism of the device of the present invention;

[0044] Fig.12 yes Fig.11 A sectional view of the front end of the middle transfer device fixing plate.

[0045] In the figure, 1000 is a liquid transfer device, 1001 is an infusion bottle puncture device, 1002 is a syringe bottle puncture device, 1003 is a fixing part, 1004 is a liquid channel, 1005 is a protective cap, 2001 is a transfer device fixing plate, 2002 is a transfer device removal device, 2003 is a syringe bottle removal device, 3001 is an extrusion detector, 3002 is an upper extrusion plate, 3003 is an extrusion motor, 3004 is a lower extrusion plate, 4001 is an infusion bottle fixing plate, 4002 is an infusion bottle clamp, 4003 is an infusion bottle detector, 4004 is an infusion bottle running motor, 4005 is an infusion bottle, 5001 is a syringe bottle clamp, 500 2 vial detector, 5003 vial up and down running motor, 5004 vial left and right running motor, 5005 vial, 5006 vial fixing plate, 5007 vial vertical running rack, 6001 integral rotating motor, 6002 integral rotating plate, 7001 vibration detector, 7002 vibration running motor, 7003 vibration eccentric motor, 7004 right-angle connecting plate, 8000 operation room, 8001 small door, 8002 main door, 8003, air intake and exhaust holes, 8004 waste box, 8005 start button, 8006 emergency stop button, 8007 display screen. DETAILED DESCRIPTION

[0046] The present invention will be described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the present invention.

[0047] like Figure 1 As shown in FIG. 12 , an automatic dispensing robot is characterized by comprising an operating room 8000 , wherein a dispensing device is installed in the operating room 8000 ;

[0048] The dispensing device includes an integral rotating plate 6002 installed inside the operating room 8000, and an integral rotating motor 6001 is connected to the middle of the integral rotating plate 6002, and the integral rotating motor 6001 is located outside the operating room 8000. A liquid medicine transfer mechanism, an infusion bottle mechanism and a syringe bottle mechanism are installed on the integral rotating plate 6002, and the infusion bottle mechanism and the syringe bottle mechanism are respectively located on both sides of the liquid medicine transfer mechanism; the infusion bottle mechanism includes an infusion bottle operating device that can be horizontally moved, and a squeezing device 3000 fixedly installed on the integral rotating plate 6002, and the infusion bottle 4005 is installed on the infusion bottle of the infusion bottle operating device. The front end of the fixed plate 4001 is located between the extrusion plates of the extrusion device 3000; the vial mechanism includes a movable vial horizontal running device and a vial vertical running device installed on the second slider of the vial horizontal running device, the vial 5005 is installed on the vial fixed plate 5006 of the vial vertical running device, and the bottom of the vial 5005 is provided with a movable vibration device for dissolving the powder inside the vial; the liquid medicine transfer mechanism includes a transfer fixed plate 2001 fixedly installed on the integral rotating plate 6002, and the liquid medicine transfer 1000 is installed at the front end of the transfer fixed plate 2001. The use of an automatic dispensing robot can reduce the labor intensity of nursing staff. This technology can reduce the contamination of infusion drugs by the outside world during the dispensing and dissolving process. When preparing liquid medicine with the present invention, nursing staff can also focus on reviewing the compatibility and compliance of drugs during the preparation process.

[0049] like Figure 3 , Figure 4 , Fig.11 as well as Fig.12 As shown, the drug liquid transferor mechanism also includes a vial removal device 2003 and a transferor removal device 2002 installed on the transferor fixing plate 2001, the vial removal device 2003 is located directly above the drug liquid transferor 1000 and close to one side of the vial 5005, and the transferor removal device 2002 is located on the rear side of the drug liquid transferor 1000.

[0050] Furthermore, the drug liquid transfer mechanism also includes a transfer removal device 2002 and a vial removal device 2003 installed at the front end of the transfer fixing plate 2001; the front end of the transfer fixing plate 2001 is provided with a transverse opening and a longitudinal slot perpendicular to the transverse opening, the drug liquid transferor 1000 is installed in the transverse opening, and the fixing portion 1003 of the drug liquid transferor 1000 is engaged in the longitudinal slot of the transfer fixing plate 2001; the transfer removal device 2002 includes a transverse opening at the front end of the transfer fixing plate 2001, and a vial removal device 2003 is provided at the front end of the transfer fixing plate 2001. The cavity is toward the inner side of the opening, and the cavity is connected with the transverse opening. Two L-shaped slots are symmetrically arranged on the inner wall of the cavity, and one end of the L-shaped slot is connected with the longitudinal slot. L-shaped top sheets with the same structure are arranged in the L-shaped slots. One end of the L-shaped top sheet contacts the exposed side wall of the inner side of the fixed part 1003 of the liquid medicine transfer device 1000, and the other end is connected with a reciprocating motor linear motor. When the dispensing is completed, the reciprocating motor linear motor starts to push the L-shaped top sheet to move in the L-shaped slot at the front end of the transfer device fixed plate 2001, thereby pushing the liquid medicine transfer device 100 0 moves outward to eject and remove the liquid medicine transfer device 1000, and the telescopic stroke of the preferred reciprocating motor linear motor is 3 cm; the vial removal device 2003 includes a concave top sheet fixedly mounted on the upper edge of the front end of the transfer device fixing plate 2001, the opening of the concave top sheet is opened toward the vial 5005, the edge of the concave top sheet close to the inner side of the transfer device fixing plate 2001 is a hypotenuse, and the midpoint of the hypotenuse on the concave top sheet is located on the midline of the vial after the dispensing is completed, and the outer end point of the hypotenuse is located on the side close to the transfer device fixing plate 2001 The inner side of the outer body of the vial, and the end point of the inner side of the bevel is located on the outer side of the outer body of the vial away from the transfer device fixing plate 2001; when the dispensing is completed, the position of the next vial is adjusted, and the vial after the dispensing is completed moves upward in sequence. When the vial to be dispensed moves linearly close to the liquid medicine transferor 1000 for puncture, the vial after the dispensing is in contact with the vial 5005 under the action of the inner bevel of the concave top sheet, and there is a gradually increasing outward pressure on the vial until the bevel of the concave top sheet removes the vial from the vial clamp 5001.

[0051] like Figure 8As shown in FIG. 10 , the liquid medicine transfer device 1000 is designed as a double plug, one plug is inserted into the infusion bottle, and the other plug is connected to the vial, and a through liquid passage is formed in the middle of the two plugs. The liquid medicine transfer device 1000 includes an infusion bottle piercer 1001, a vial piercer 1002, and a fixing portion 1003. The infusion bottle piercer 1001 is connected to the vial piercer 1002 through a liquid passage 1004, and the fixing portion 1003 is arranged outside the infusion bottle piercer 1001 and the vial piercer 1002. A self-sealing mechanism is arranged in the liquid passage 1004 on the vial piercer 1002 side, and when the vial piercer 1002 is connected to the vial 5005, the self-sealing mechanism is opened. Both the infusion bottle piercer 1001 and the syringe bottle piercer 1002 are provided with protective caps 1005, so that the liquid medicine transfer device 1000 can be kept sterile before use. This arrangement is convenient for actual use.

[0052] Specifically, Figure 3 , Figure 4 as well as Figure 7 As shown, the vibration device includes a vibration running motor 7002 and a first lead screw installed on the integral rotating plate 6002, the power output end of the vibration running motor 7002 is connected to one end of the first lead screw through a first sprocket and a chain, the first lead screw is connected to a right-angle connecting plate 7004 through a matching first sliding block, a vibration eccentric motor 7003 is installed on the inner side of the other end of the right-angle connecting plate 7400, a vibration detector 7001 is installed on the inner side of the vibration eccentric motor 7003, and the vibration detector 7001 is matched with the bottom of the syringe bottle 5005. When the vial 5005 is connected to the infusion bottle 4005, the vibration device runs close to the bottom of the vial. When the vial detector 5002 detects the bottom of the vial, the vibration eccentric motor 7003 starts to run to generate eccentric resonance, so that the liquid inside the vial forms a vortex to dissolve the powder inside the vial. After the dissolution is completed, the vibration device runs in the opposite direction and leaves the vial 5005. The running stroke of the vibration device is between 10 mm and 500 mm, the eccentric stroke of the vibration eccentric motor 7003 is between 2 mm and 18 mm, and the vibration time of the vibration eccentric motor 7003 is between 1 second and 30 seconds.

[0053] In the present invention, the syringe bottle horizontal movement device includes a syringe bottle left and right movement motor 5004 installed on the integral rotating plate 6002, a second screw is installed directly below the syringe bottle left and right movement motor 5004, a power output end of the syringe bottle left and right movement motor 5004 is connected to one end of the second screw through a second sprocket and a second chain, and a matching second slider is installed on the second screw.

[0054] Furthermore, the vial vertical operation device includes a vial vertical operation frame 5007 installed on the outside of the second slider, a third screw is vertically installed in the vial vertical operation frame 5007, one end of the third screw is connected to the vial up and down operation motor 5003, the third screw is connected to the vial fixing plate 5006 through a matching third slider, one side of the vial fixing plate 5006 is vertically opened with a row of vial clamps 5001, the vial 5005 is clamped in the vial clamp 5001, and a vial detector 5002 and a clamping handle are provided in the vial clamp 5001, and the preferred model of the vial detector 5002 is E3F-DS30L4.

[0055] Preferably, a plurality of vial clamps 5001 are provided on the other side of the vial fixing plate 5006, and the plurality of vial clamps 5001 are all vertically located on the same straight line. The vial 5005 is clamped in the vial clamp 5001, and a vial detector 5002 and a clamping handle are provided inside the vial clamp 5001. The number of clamping handles on the vial clamp 5001 is set to 2 to 6, so that when the vial 5005 is placed in the vial clamp 5001, it will not loosen due to operation or vibration.

[0056] The infusion bottle operating device includes an infusion bottle operating motor 4004 installed on the integral rotating plate 6002, a fourth lead screw is installed directly below the infusion bottle operating motor 4004, a power output end of the infusion bottle operating motor 4004 is connected to one end of the fourth lead screw through a third sprocket and a third chain, the fourth lead screw is connected to an infusion bottle fixing plate 4001 through a matching fourth slider, an infusion bottle clamp 4002 is provided at the other end of the infusion bottle fixing plate 4001, the infusion bottle 4005 is installed in the infusion bottle clamp 4002, an infusion bottle detector 4003 and a clamping handle are provided in the infusion bottle clamp 4002, and the model of the infusion bottle detector 4003 is EZE-X3D1-NZ.

[0057] It should be noted that the connection or disconnection of the infusion bottle 4005, the syringe bottle 5005 and the medicine liquid transferor 1000 is achieved by the large infusion operation device driving the infusion bottle 4005 to move horizontally, and the syringe bottle horizontal operation device driving the syringe bottle vertical operation device equipped with the syringe bottle 5005 to move horizontally, so as to move closer to the middle of the medicine liquid transferor 1000 or move to both sides of the medicine liquid transferor 1000.

[0058] Furthermore, the extrusion device also includes an extrusion motor 3003 fixedly mounted on the integral rotating plate 6002, a bidirectional lead screw is vertically mounted on one side of the extrusion motor 3003, a power output end of the extrusion motor 3003 is connected to one end of the bidirectional lead screw via a fourth sprocket and a fourth chain, an upper extrusion plate 3002 and a lower extrusion plate 3004 are mounted on the bidirectional lead screw via matching nuts, when the extrusion motor 3003 is running, the upper extrusion plate 3002 and the lower extrusion plate 3004 are clamped close to the infusion bottle 4005 or move away from both sides of the infusion bottle 4005; an extrusion detector 3001 is arranged above the upper extrusion plate 3002, preferably, the model of the extrusion detector 3001 is YBLX-ME-8108; the extrusion stroke of the extrusion device is between 10 mm and 500 mm, the extrusion force is between 5 N and 100 N, and the extrusion time is 0.5 seconds to 10 seconds. After the syringe bottle 5005 and the infusion bottle 4005 are connected by the liquid transfer device 1000 (the liquid passages are connected), when the infusion bottle rotates to the upper part through the integral rotating plate 6002 (the liquid blocks the large infusion puncture device), the infusion bottle 4005 is squeezed and released. After multiple times, the liquid in the infusion bottle is squeezed into the syringe bottle; when the infusion bottle passes through the integral rotating plate 6002 to the lower part (the liquid blocks the syringe bottle puncture device), the infusion bottle is squeezed and released. After multiple times, the liquid in the syringe bottle 5005 is returned to the infusion bottle through air pressure. It should be noted that the bidirectional screw is made on a screw with two sections of threads with different rotation directions, that is, one section of right-handed thread and one section of left-handed thread. The right-handed and left-handed nuts screwed thereon are respectively connected to the upper extrusion plate 3002 and the lower extrusion plate 3004. When the bidirectional screw rotates, the upper extrusion plate 3002 and the lower extrusion plate 3004 quickly approach or separate with the nut, thereby generating the required mechanical function.

[0059] In the present invention, the integral rotating motor 6001 drives the integral rotating plate 6002 to rotate, so that the infusion bottle 4005 and the syringe bottle 5005 can exchange heights. When the infusion bottle 4005 squeezes out liquid, the integral rotating plate 6002 rotates upward, so that the infusion bottle mouth is downward or obliquely downward and the syringe bottle mouth is upward or obliquely upward, forming an angle of 0° to 70° with the vertical axis of the ground; when the infusion bottle 4005 withdraws liquid, the integral rotating plate 6002 rotates downward, so that the infusion bottle mouth is upward or obliquely upward and the syringe bottle mouth is downward or obliquely downward, forming an angle of 0° to 50° with the vertical axis of the ground.

[0060] The operating room 8000 is provided with a small door 8001 and a large door 8002 for easy observation and maintenance of equipment. Heat dissipation holes 8003 for air intake and exhaust are provided on both sides and the upper surface of the operating room 8000. The operating room 8000 is also provided with a display screen 8007 for displaying dispensing data, as well as a start button 8005 and an emergency stop button 8006 for controlling the dispensing device.

[0061] The operation room 8000 is internally provided with a video recording device, a waste box 8004 and a disinfection device, and the waste box is located directly below the transferor removal device 2002 and the vial removal device 2003, and the prepared drug transferor 1000 and the empty vial 5005 are collected in the waste box. The disinfection device is configured as an ultraviolet lamp, and a timer is connected to the ultraviolet lamp. The video recording device is a camera; a scanning device is externally provided with the operation room 8000, and the scanning device includes a barcode scanner for scanning the information of the prepared drugs, and a printer for printing the drug information.

[0062] The working principle and working process of the present invention are:

[0063] 1) Turn on the power, turn on the equipment, conduct self-inspection and disinfect the inner compartment of the automatic dispensing robot;

[0064] 2) Place the vial 5005 at the position of the vial clamp 5001 with the mouth of the vial facing the vial piercer 1002. When the vial detector 5002 detects the vial 5005, the vial clamp 5001 is tightened to fix the vial 5005 on the vial clamp 5001. Place the second vial downwards, and place multiple vials 5005 in sequence.

[0065] 3) Place the liquid medicine transfer device 1000 on the transfer device fixing plate 2001 and remove the protective cap 1005 of the liquid medicine transfer device;

[0066] 4) Scan the information of the infusion bottle 4005, and place the infusion bottle mouth toward the infusion bottle puncture device 1001 at the position of the infusion bottle clamp 4002. When the infusion bottle detector 4003 detects the infusion bottle 4005, the infusion bottle clamp 4002 is tightened to clamp the bottle mouth of the infusion bottle 4005. Fix the infusion bottle 4005 on the fixed connection plate 4006;

[0067] 5) Select the degree of solubility (easily soluble, poorly soluble, extremely poorly soluble) on the display screen 8007 in the operation room and click the start button 8005, and the automatic dispensing machine starts to operate;

[0068] 6) The infusion bottle clamp 4002 drives the fixed connecting plate 4006 to move rightward through the infusion bottle running motor 4004, so that the mouth of the infusion bottle 4005 is punctured and connected with the infusion bottle puncture device 1001 of the liquid medicine transfer device 1000;

[0069] 7) At the same time, the vial clamp 5001 drives the vial up-and-down motor 5003 to move leftward through the vial left-and-right motor 5004, so that the vial 5005 installed on the vial up-and-down motor 5003 is punctured and connected with the vial piercer 1002 of the liquid medicine transfer device 1000;

[0070] 8) The integral rotating motor 6001 rotates, driving the integral rotating plate 6002 to rotate, so that the mouth of the infusion bottle 4005 is downward or obliquely downward, and the mouth of the cillin bottle 5005 is upward or obliquely upward, forming an angle between 0 and 70 degrees with the vertical axis of the ground;

[0071] 9) The squeezing plate of the squeezing device starts squeezing the infusion bottle 4005, and releases after reaching the squeezing force, and then squeezes again, and the liquid in the infusion bottle 4005 flows downward due to the pressure.

[0072] 10) Due to pressure and gravity, the liquid inside the infusion bottle 4005 flows into the vial 5005 from the mouth of the infusion bottle 4005 through the liquid channel 1004 of the liquid transfer device 1000, flushing the powder inside the vial until the vial is filled with 1 / 4 to 3 / 4 of the liquid;

[0073] 11) At the same time, the vibration operation motor 7002 works, driving the vibration eccentric motor 7003 and the vibration detector 7001 to move toward the vial 5005. When the vibration detector 7001 contacts the bottom of the vial 5005, the vibration eccentric motor 7003 starts to rotate and vibrate to generate resonance, so that the liquid inside the vial forms a vortex to dissolve the powder inside the vial. After the dissolution is completed, the powder in the vial 5005 is dissolved. The vibration time is 1 to 60 seconds, and the vibration distance of the eccentric motor is 2 mm to 18 mm;

[0074] 12) After the powder in the vial 5005 is completely dissolved, the vibrating eccentric motor 7003 stops and moves away from the vial 5005 under the action of the vibrating running motor 7002;

[0075] 13) The integral rotating motor 6001 works to drive the integral rotating plate 6002 to rotate, so that the mouth of the infusion bottle 4005 is upward or obliquely upward, and the mouth of the syringe bottle 5005 is downward or obliquely downward, and the angle between the vertical axis of the ground and the angle is 0 to 50 degrees;

[0076] 14) The squeezing plate of the squeezing device squeezes again, and the gas passes through the liquid channel 1004 of the liquid transfer device 1000, squeezing the gas of the lower infusion bottle 4005 into the inside of the vial 5005, so that the vial 505 is filled with positive pressure, and the squeezing plate is released after the squeezing force is reached;

[0077] 15) Due to the positive pressure and gravity, the liquid inside the vial 5005 flows back into the infusion bottle 4005 through the liquid channel 1004 of the liquid transfer device 1000.

[0078] 16) The vial clamp 5001 moves to the right through the vial horizontal operation device, so that the vial 5005 is separated from the vial puncture needle 1002 of the liquid medicine transfer device 1000.

[0079] 17) The vial up and down motor 5003 is operated to transport the next undissolved vial 5005 to the dispensing position, and the dissolved vial 5005 is removed by the vial removal device 2003 and falls into the waste box 8004 of the operating room 8000;

[0080] 18) Repeat steps 7-17 until all the vials 5005 are dissolved into the infusion bottle 4005;

[0081] 19) The infusion bottle fixing plate 4001 is moved away from the drug liquid transfer device 1000 by the infusion bottle running motor 4004, so that the infusion bottle 4005 mouth is separated from the infusion bottle puncture device 1001 of the drug liquid transfer device 1000;

[0082] 20) The liquid medicine transferor 1000 is removed by the transferor removal device 2002 to the waste box 8004 of the operating room 8000;

[0083] 21) After the medication is dispensed, the clamp 4002 of the infusion bottle is loosened, the infusion bottle 4005 is taken out, and the printing device prints the medication information.

[0084] The automatic dispensing robot using the practical device can reduce the labor intensity of nursing staff. This technology can reduce the contamination of infusion drugs by the outside world during the dispensing and dissolving process. When preparing liquid medicine using the present invention, nursing staff can also focus on reviewing the compatibility and compliance of drugs during the preparation process.

[0085] It is obvious to those skilled in the art that the above-mentioned specific examples are only preferred embodiments of the present invention. Therefore, the improvements and changes that may be made by those skilled in the art to certain parts of the present invention still embody the principles of the present invention and achieve the purpose of the present invention, and all belong to the scope of protection of the present invention.

Claims

1. An automatic dispensing robot, characterized in that: It comprises an operating room (8000), wherein a medicine dispensing device is installed in the operating room (8000); The medicine dispensing device comprises an integral rotating plate (6002) installed inside an operating room (8000), on which a liquid medicine transfer mechanism, an infusion bottle mechanism and a syringe bottle mechanism are installed, and the infusion bottle mechanism and the syringe bottle mechanism are respectively located on both sides of the liquid medicine transfer mechanism; the liquid medicine transfer mechanism comprises a transfer fixing plate (2001) fixedly installed on the integral rotating plate (6002), and a liquid medicine transferor (1000) is installed at the front end of the transfer fixing plate (2001); the infusion bottle mechanism comprises an infusion bottle running device that can be moved horizontally, and a fixedly installed An extrusion device is mounted on the integral rotating plate (6002); an infusion bottle (4005) is mounted on the front end of an infusion bottle fixing plate (4001) of the infusion bottle running device and is located between the extrusion plates of the extrusion device; the vial mechanism comprises a movable vial horizontal running device and a vial vertical running device mounted on the second slider of the vial horizontal running device; a plurality of vials (5005) are mounted on the vial fixing plate (5006) of the vial vertical running device; a movable vibration device for dissolving the powder inside the vial is provided at the bottom of the vial (5005); The drug liquid transfer mechanism also includes a transfer removal device (2002) installed at the front end of the transfer fixing plate (2001), and a vial removal device (2003); the front end of the transfer fixing plate (2001) is provided with a transverse opening and a longitudinal slot perpendicular to the transverse opening, the drug liquid transferor (1000) is installed in the transverse opening, and the fixing portion (1003) of the drug liquid transferor (1000) is engaged in the longitudinal slot of the transfer fixing plate (2001); the transfer removal device (2002) includes a transverse opening at the front end of the transfer fixing plate (2001) and a vial removal device (2003). A cavity is formed toward the inner side of the opening, and the cavity is connected with the transverse opening, an L-shaped slot is formed on the inner wall of the cavity, and the L-shaped slot is connected with the longitudinal slot, an L-shaped top sheet is arranged in the L-shaped slot, one end of the L-shaped top sheet is in contact with the exposed inner side wall of the fixing part (1003), and the other end is connected with a reciprocating motor linear motor; the syringe bottle removal device (2003) comprises a concave top sheet fixedly mounted on the upper edge of the front end of the transfer device fixing plate (2001), the opening of the concave top sheet is opened toward the syringe bottle (5005), and the edge of the concave top sheet close to the inner side of the transfer device fixing plate (2001) is a beveled edge; The vial horizontal operation device comprises a vial left-right operation motor (5004) mounted on the integral rotating plate (6002), a second lead screw being mounted directly below the vial left-right operation motor (5004), a power output end of the vial left-right operation motor (5004) being connected to one end of the second lead screw via a second sprocket and a second chain, a second slider being mounted on the second lead screw; the vial vertical operation device comprises a vial vertical operation frame (5007) mounted on the outside of the second slider, the vial A third screw is vertically installed in the vertical running frame (5007), one end of the third screw is connected to a vial up and down running motor (5003), the third screw is connected to a vial fixing plate (5006) via a matching third slider, one side of the vial fixing plate (5006) is vertically provided with a row of vial clamps (5001), the vial (5005) is clamped in the vial clamp (5001), and a vial detector (5002) and a clamping handle are arranged in the vial clamp (5001); The infusion bottle operation device comprises an infusion bottle operation motor (4004) mounted on an integral rotating plate (6002); a fourth lead screw is mounted directly below the infusion bottle operation motor (4004); a power output end of the infusion bottle operation motor (4004) is connected to one end of the fourth lead screw via a third sprocket and a third chain; the fourth lead screw is connected to an infusion bottle fixing plate (4001) via a matching fourth slider; a large infusion clamp (4002) is provided at the other end of the infusion bottle fixing plate (4001); the infusion bottle (4005) is mounted in the large infusion clamp (4002); a large infusion detector (4003) and a clamping handle are provided in the large infusion clamp (4002); The extrusion device also includes an extrusion motor (3003) fixedly mounted on the integral rotating plate (6002), a bidirectional lead screw being vertically mounted on one side of the extrusion motor (3003), a power output end of the extrusion motor (3003) being connected to one end of the bidirectional lead screw via a fourth sprocket and a fourth chain, and an upper extrusion plate (3002) and a lower extrusion plate (3004) being mounted on the bidirectional lead screw via matching nuts.

2. The automatic dispensing robot according to claim 1, characterized in that: The vibration device comprises a vibration running motor (7002) and a first lead screw installed on an integral rotating plate (6002); the power output end of the vibration running motor (7002) is connected to one end of the first lead screw via a first sprocket and a chain; the first lead screw is connected to a right-angle connecting plate via a matching first sliding block; a vibration eccentric motor (7003) is installed on the inner side of the other end of the right-angle connecting plate; a vibration detector (7001) is installed on the inner side of the vibration eccentric motor (7003); and the vibration detector (7001) matches the bottom of the vial (5005).

3. The automatic dispensing robot according to claim 2, characterized in that: The operating stroke of the vibration device is between 3 mm and 100 mm, the eccentric stroke of the vibration eccentric motor (7003) is between 2 mm and 18 mm, and the vibration time of the vibration eccentric motor (7003) is between 1 second and 30 seconds.

4. The automatic dispensing robot according to claim 1, characterized in that: When the squeezing motor (3003) is running, the upper squeezing plate (3002) and the lower squeezing plate (3004) are moved close to the infusion bottle (4005) to clamp or move away from the two sides of the infusion bottle (4005); an squeezing detector (3001) is arranged above the upper squeezing plate (3002); the squeezing stroke of the squeezing device is between 10 mm and 500 mm, the squeezing force is between 5 N and 100 N, and the squeezing time is between 0.5 seconds and 10 seconds.

5. The automatic dispensing robot according to claim 1, characterized in that: The operating room (8000) is provided with a small door (8001) and a large door (8002) for easy observation and maintenance of equipment. The two sides and the upper surface of the operating room (8000) are provided with heat dissipation holes (8003) for air intake and exhaust. The operating room (8000) is also provided with a display screen (8007) for displaying dispensing data, and a start button (8005) and an emergency stop button (8006) for controlling the dispensing device.

6. The automatic dispensing robot according to claim 1, characterized in that: The operating room (8000) is provided with a video recording device, a waste box (8004) and a disinfection device, and the waste box is located directly below the transfer device removal device (2002) and the vial removal device (2003). The disinfection device is configured as an ultraviolet lamp, and a timer is connected to the ultraviolet lamp. The video recording device is a camera. The operating room (8000) is provided with a scanning device outside. The scanning device includes a barcode scanner for scanning the information of the dispensed drugs, and a printer for printing the drug information.

7. An automatic dispensing method based on the automatic dispensing robot according to claim 1: 1) Clamp the liquid medicine transfer device (1000) onto the front end of the transfer device fixing plate (2001); 2) Install the infusion bottle (4005) at the front end of the infusion bottle fixing plate (4001) with the bottle mouth facing the drug liquid transfer device (1000); drive the infusion bottle (4005) to move close to the drug liquid transfer device (1000) through the operation of the infusion bottle operating device, so that the bottle mouth of the infusion bottle (4005) is punctured and connected with the puncture device of the drug liquid transfer device (1000); 3) Install the vial (5005) on the vial fixing plate (5006) with the mouth of the vial facing the liquid medicine transfer device (1000), and place multiple vials (5005) in order from top to bottom; align the mouth of the vial (5005) at the top with the puncture device of the liquid medicine transfer device (1000) by using the vial vertical operation device; 4) The vial horizontal operation device drives the vial vertical operation device on which the vial (5005) is installed to move close to the liquid medicine transfer device (1000), so that the mouth of the vial (5005) is pierced and connected with the piercer of the liquid medicine transfer device (1000); 5) The integral rotating plate (6002) rotates so that the mouth of the infusion bottle (4005) is facing downward or obliquely downward and the mouth of the syringe bottle (5005) is facing upward or obliquely upward, forming an angle between 0 and 70 degrees with the vertical axis of the ground; the squeezing plate of the squeezing device starts squeezing the infusion bottle (4005), releases after reaching the squeezing force, and then squeezes again, and the liquid in the infusion bottle (4005) flows downward due to the pressure; the liquid in the infusion bottle (4005) flows into the syringe bottle (5005) from the mouth of the infusion bottle (4005) through the liquid transfer device (1000) due to pressure and gravity, and rinses the powder in the syringe bottle until the syringe bottle is filled with 1 / 4 to 3 / 4 of the liquid; 6) The vibration device starts to work. When the vibration device moves to the bottom of the vial (5005), it starts to rotate and vibrate to dissolve the powder in the vial (5005); after the powder in the vial (5005) is completely dissolved, the vibration stops and the vial moves away from the vial (5005); 7) The integral rotating plate (6002) rotates again, so that the mouth of the infusion bottle (4005) is upward or obliquely upward, and the mouth of the syringe bottle (5005) is downward or obliquely downward, and the angle is 0 to 50 degrees with the vertical axis of the ground; the squeezing plate of the squeezing device squeezes again, and the gas passes through the liquid medicine transfer device (1000), squeezing the gas of the lower infusion bottle (4005) into the inside of the syringe bottle (5005), so that the syringe bottle (5005) is filled with positive pressure, and the squeezing plate is released after the squeezing force is reached; the liquid inside the syringe bottle (5005) flows back into the infusion bottle (4005) through the liquid medicine transfer device (1000) due to the relationship between positive pressure and gravity; the syringe bottle (5005) that has completed the preparation of the medicine moves away from the liquid medicine transfer device (1000) through the syringe bottle horizontal operation device, so that the syringe bottle (5005) is separated from the puncture needle of the liquid medicine transfer device (1000); 8) The vial vertical running device transports the next undissolved vial (5005) to the dispensing position. 9) Repeat steps 4-8 until all the syringe bottles (5005) are dissolved into the infusion bottle (4005); the infusion bottle (4005) is moved away from the drug liquid transfer device (1000) through the infusion bottle operating device, so that the mouth of the infusion bottle (4005) is separated from the puncture device of the drug liquid transfer device (1000).

Images