An intravenous drug dispensing robot and a drug dispensing method controlled by its operating system

Abstract

The invention discloses an intravenous drug dispensing robot, including a frame 1, on which a mother liquid powder revolution and shaking assembly, an ampoule bottle processing assembly and a liquid extraction manipulator are installed, and also includes a mother liquid powder medicine loading assembly, an ampoule bottle medicine loading assembly, a dissolving device feeding assembly, a needle processing assembly, and a garbage recycling processing assembly installed on the frame 1. A housing 1 is also fixed to the outside of the frame 1, and the mother liquid powder revolution and shaking assembly, the ampoule bottle processing assembly, the liquid extraction manipulator, the dissolving device feeding assembly, the needle processing assembly, the garbage recycling processing assembly, the mother liquid powder medicine loading assembly, and the ampoule bottle medicine loading assembly are encapsulated inside. The operating system controls the dispensing method: the operating system starts initialization, checks the dispensing prescription information and the medicine bottle information, checks the dispensing conditions of the robot, and the robot performs the medicine bottle disinfection operation according to the dispensing program, and generates a report after the dispensing is completed. The present invention can realize efficient, accurate and safe automatic dispensing.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an intravenous drug dispensing robot and a drug dispensing method controlled by its operating system. Background Art

[0002] At present, the preparation of intravenous solution is generally done manually by medical staff. The process of manual preparation of intravenous solution is as follows: hold a sterile dissolver, use the dissolver to extract the mother liquid from the mother liquid bottle, inject the mother liquid in the dissolver into the sterilized powder bottle, then manually shake the powder bottle, and then use the dissolver to extract the mixed liquid in the powder bottle, and finally inject it into the mother liquid bottle, then use a grinding wheel to scratch the bottleneck of the ampoule bottle, and then manually break the upper part of the bottleneck of the ampoule bottle, and then use the dissolver to extract the liquid in the ampoule bottle and inject it into the mother liquid bottle. The disadvantages of manual preparation of intravenous solution are:

[0003] 1) Medical staff need to manually perform a large number of drug suction, drug dissolution, and drug injection operations every day, which is labor-intensive and time-consuming. Medical staff are prone to fatigue from long-term drug dispensing and drug dissolution, which reduces drug dispensing efficiency;

[0004] 2) Medical staff often have to go in and out of the medical dispensing room frequently during work. The air is difficult to meet the cleanliness requirements of the medical dispensing room. The air contains a lot of dust, fiber bacteria, viruses and particles, which can easily enter the opened medicine bottles during the preparation of liquid medicines, causing contamination to the prepared medicines;

[0005] 3) In the process of preparing the drug solution, medical staff manually operate the dissolver and use the dissolver to frequently puncture, extract and inject between the powder bottle and the mother liquid bottle, which can easily cause the medical staff's hands to directly contaminate the piston in the dissolver. When the contaminated piston pushes the drug solution, it causes drug solution contamination;

[0006] 4) Chemotherapy drugs are cytotoxic drugs, which can cause harm to relevant staff through three pathways: inhalation through the respiratory tract, dietary intake, and skin contact. In actual work, the preparation of radioactive drugs by nursing staff has always been done manually. The preparation, preparation, and distribution of such drugs are extremely harmful to the staff. The toxicity of the drugs can cause damage to normal cells, damage normal DNA, and lead to reproductive toxicity; it can also cause cancer; if the staff is pregnant, it will affect the development of the fetus and lead to malformations;

[0007] 5) Many drugs remain stable in the form of mother solutions and powders. However, after the preparation of intravenous infusion solutions, their stability is reduced due to many factors such as the pH value and osmotic pressure of the mother solution. The longer the solution is left, the lower the efficacy of the solution will be, which will have an adverse effect on the efficacy.

[0008] To solve the above problems, the applicant filed a Chinese patent application on January 15, 2018, with application number 201820058748.0, which discloses a robot for efficiently and intelligently preparing intravenous infusion drugs. However, there are still problems:

[0009] 1) There is no drug delivery buffer zone, only a single isolation door is set. The operation window door is opened to directly place the drugs in the dispensing work chamber and then closed. External pollutants can easily enter the work chamber, and the air purification system needs to be used for a period of time before the next batch of drugs can be dispensed. The downtime and purification take a long time, and the dispensing efficiency is low;

[0010] 2) There is no drug loading device for powder bottles and mother liquid bottles. It is necessary to manually insert the powder fixtures and mother liquid fixtures with the drugs placed into the mother powder rotating and shaking mechanism one by one. Since a large amount of liquid medicine is required every day and a large number of fixtures are inserted, the labor intensity of medical staff is high;

[0011] 3) There is no dissolver loading assembly. The existing dissolver fixing device cannot automatically load and provide multiple dissolvers for the dissolver manipulator to draw and inject. Before the next batch of medicine is prepared, the dissolver must be stopped and manually replenished. Multiple batches of medicine cannot be prepared continuously, and the dispensing efficiency is low. At the same time, due to the different degrees of deviation in the concentricity of the needle tip, there is no dissolver needle tip concentricity detection component, and the needle tip concentricity cannot be automatically calibrated. There is a situation where the needle tip is bent when puncturing the rubber stopper, or the liquid bottle leaks after the needle punctures the rubber stopper;

[0012] 4) The mother powder rotating and shaking mechanism only has one batch of drug fixture fixed position. The placement of fixtures and drug dispensing cannot be carried out at the same time. The drug melter manipulator is in an idle state during the fixture placement process. Before the next batch of drugs is dispensed, the machine must be stopped and the fixture must be manually replenished. Multiple batches of drugs cannot be prepared continuously, and the drug dispensing efficiency is low;

[0013] 5) There is no CCD dissolver residual detection device and dissolver weighing device, which cannot compensate for the residual amount and affects the accuracy of drug dispensing;

[0014] 6) The ampoule handling mechanism is kept in a fixed position and cannot be pulled out of the window. People need to get into the machine to clean the contaminated area. There may even be blind spots in the cleaning process due to the small space and inability to reach in. Due to the limited space in the working chamber, cleaning and maintenance are difficult and labor-intensive, which affects the cleanliness of the working chamber and the safety of dispensing. Summary of the invention

[0015] The object of the present invention is to provide an intravenous drug dispensing robot and a method for controlling drug dispensing using its operating system to solve the problems raised in the above-mentioned background technology.

[0016] In order to achieve the above object, the present invention adopts the following technical solution:

[0017] A robot for dispensing intravenous medicines comprises a frame, on which a mother liquid powder revolution and shaking assembly, an ampoule bottle processing assembly and a liquid extraction manipulator are installed, and also comprises a mother liquid powder medicine loading assembly, an ampoule bottle medicine loading assembly, a dissolving device feeding assembly, a needle processing assembly and a garbage recycling processing assembly installed on the frame, and a shell is fixed to the outside of the frame, and the mother liquid powder revolution and shaking assembly, the ampoule bottle processing assembly, the liquid extraction manipulator, the dissolving device feeding assembly, the needle processing assembly, the garbage recycling processing assembly, the mother liquid powder medicine loading assembly and the ampoule bottle feeding assembly are encapsulated inside, and the mother liquid powder medicine loading assembly is used to transport mother liquid bottles and powder bottles to the mother liquid powder revolution and shaking assembly, and the liquid extraction manipulator takes mother liquid bottles and powder bottles from the dissolving device feeding assembly. Take the dissolver, and use the dissolver to draw the mother liquid in the mother liquid bottle into the powder bottle, the mother liquid powder revolution and shaking assembly drives the mother liquid and powder to mix and shake in the powder bottle, the ampoule bottle processing assembly can take the ampoule bottle from the ampoule bottle loading assembly, and cut and break the ampoule bottle, the liquid extraction manipulator draws the liquid medicine in the ampoule bottle, the mixed mother liquid and powder mixture into the mother liquid bottle in turn through the dissolver for mixing, the mother liquid powder loading assembly recovers the mother liquid bottle of the mixed ampoule bottle, the needle processing assembly is used to cut the needle of the dissolver after dispensing, and the garbage recycling assembly is used to recycle the dissolver after the needle is cut, the used ampoule bottle and the powder bottle.

[0018] As a further scheme of the present invention, the mother liquid powder revolution and shaking assembly comprises a revolution base, a powder bottle rotation and shaking device, a mother liquid bottle rotation and shaking device, a harmonic reducer, a synchronous belt transmission component, a revolution shaft and a disinfection device, the upper support body and the lower support body are symmetrically arranged on both sides of the revolution base, a group of powder bottle rotation and shaking devices and mother liquid bottle rotation and shaking devices are respectively installed on both sides of the revolution base, the powder bottle rotation and shaking device is located on the upper support body, the mother liquid bottle rotation and shaking device is located on the lower support body, the revolution shaft is fixedly connected to the bottom of the revolution base, the harmonic reducer drives the revolution shaft to rotate through the synchronous belt transmission component, the revolution shaft drives the revolution base to rotate, and the disinfection device is arranged on the top of the revolution base;

[0019] The powder bottle rotating and shaking device comprises a rotating mechanism 1, a powder bottle fixture seat, a powder bottle fixture, a motor 1, a synchronous belt transmission component 2 and a position sensor 1. The rotating mechanism 1 is installed on the upper support body. The rotating mechanism 1 is fixed with a plurality of powder bottle fixture seats. Each of the powder bottle fixture seats is detachably mounted with a powder bottle fixture for fixing the powder bottle. The motor 1 is arranged in the revolution base. The motor 1 drives the rotating mechanism 1 to rotate through the synchronous belt transmission component 2, so that the powder bottle rotates around the rotating mechanism 1. The upper support body is provided with a position sensor 1 for controlling the rotation angle of the rotating mechanism 1.

[0020] The mother liquid bottle rotating and shaking device comprises a mother liquid bottle fixture seat, a mother liquid bottle fixture, a second motor, a third synchronous belt transmission component and a second position sensor. The mother liquid bottle fixture seat is installed on the lower support body. The mother liquid bottle fixture seat is detachably installed with a mother liquid bottle fixture for fixing the mother liquid bottle. The second motor is arranged in the revolution base. The second motor drives the mother liquid bottle fixture seat to rotate through the third synchronous belt transmission component. The lower support body is provided with a second position sensor for controlling the rotation angle of the mother liquid bottle fixture seat.

[0021] The disinfection device 1 includes a solenoid valve, a nozzle 1, and a liquid spray control component 1. The input end of the solenoid valve is connected to the disinfectant container, the output end of the solenoid valve is connected to the nozzle 1, and the liquid spray control component 1 controls the nozzle 1 to open or close, so as to spray the disinfectant on the powder bottle;

[0022] The mother liquid powder medicine application assembly includes a mother liquid bottle jig translation device that can transport and assemble the mother liquid bottle jig to the mother liquid bottle jig seat, a powder bottle jig translation device that can transport and assemble the powder bottle jig to the powder bottle jig seat, and a medicine application translation support device that can move the mother liquid bottle jig translation device and the powder bottle jig translation device into or out of the housing;

[0023] The mother liquid bottle fixture translation device comprises a machine base 1, an electromagnet push block, a motor 3, a screw translation assembly 1, and an RFID sensor 1. A slide groove is arranged on the upper surface of the machine base 1, the electromagnet push block is arranged in the slide groove, the motor 3 is arranged in the machine base 1, the motor 3 drives the electromagnet push block to translate through the screw translation assembly 1, so that the mother liquid bottle fixture is pushed to the mother liquid bottle fixture seat through the electromagnet push block, the top of the machine base 1 is an inclined structure, and the RFID sensor 1 is arranged on the bottom surface of the slide groove;

[0024] The powder bottle fixture translation device includes a machine base 2, a translation plate 1, a motor 4, a motor 5, a screw translation assembly 2, a screw translation assembly 3, a synchronous belt transmission assembly 4, a latch docking assembly, a rotating shaft swing assembly 1, an electric cylinder, a translation jacking shaft, and an RFID sensor 2. The machine base 2 is installed on the top of the machine base 1 through the rotating shaft swing assembly 1, the motor 4 is arranged on the upper surface of the machine base 2, the translation plate 1 is arranged above the machine base 2, the motor 2 drives the translation plate 1 to translate through the screw translation assembly 2, the motor 5 is arranged on the lower surface of the translation plate 1, the screw translation assembly 3 and the latch docking assembly are each provided with two groups, and the two groups of screws The translation components three are respectively arranged on the upper surfaces of both sides of the translation plate one, and are arranged parallel to each other. The motor five drives the screw translation component three through the synchronous belt transmission component four, so that the screw translation component three drives the latch docking component to translate. The electric cylinder is arranged on the side of the machine base one, and the translation jacking shaft is arranged on the side of the machine base two. The electric cylinder adjusts the inclination angle of the translation plate one to be consistent with the inclination angle of the powder bottle fixture seat through the translation jacking shaft, so as to first move the translation plate one to make it fit with the powder bottle fixture seat, and then push the powder bottle fixture onto the powder bottle fixture seat through the latch docking component;

[0025] The medicine loading translation support device comprises a machine base 3, a motor 6, and a screw translation assembly 4. The motor 6 is arranged in the machine base 3. The motor 6 drives the machine base 1 to translate through the screw translation assembly 4.

[0026] The ampoule bottle processing assembly is composed of a chassis 1, an ampoule bottle transport device for transporting the ampoule bottle, an ampoule bottle positioning and lifting device for positioning and lifting the ampoule bottle to make it fall, an ampoule bottle cutting device for cutting the top of the ampoule bottle, a disinfection device 2 for disinfecting the ampoule bottle before cutting, and an ampoule bottle breaking device for breaking the ampoule bottle after cutting;

[0027] The ampoule bottle transport device comprises a clamping conveying body and a lifting and rotating mechanism for driving the clamping conveying body to lift and rotate. The clamping conveying body comprises a receiving seat, a swing arm, and a clamping manipulator. The receiving seat is installed on the top of the chassis. A swing arm is fixed on the top of the receiving seat. The clamping manipulator is fixed to the end of the swing arm.

[0028] The ampoule bottle positioning and lifting device comprises a movable bracket, a motor seven, a synchronous belt transmission component five, a rotating arm, a motor eight, a motor nine, a synchronous belt transmission component six, an outer rotating drum, a three-claw rotating clamp, an inner rotating drum, a mounting plate one, an adjusting turntable, a spring one, a swing rod, a driving swing arm, a screw stepping motor one, a lifting rod, a position sensor three and a position sensor four. The movable bracket is arranged on the outer side surface of the chassis one, the motor seven is arranged in the chassis one, the motor seven drives the movable bracket to rotate through the synchronous belt transmission component five and the rotating arm, the outer rotating drum is rotationally arranged on the upper surface of the movable bracket, the three-claw rotating clamp is fixed on the top of the outer rotating drum, the inner rotating drum is arranged in the outer rotating drum, the adjusting turntable is fixed on the top of the inner rotating drum, the outer side surface of the outer rotating drum is horizontally provided with a mounting plate one, the outer side surface of the inner rotating drum is horizontally fixed with a swing rod, the swing rod passes through the outer rotating drum and is fixedly connected with a spring one between the mounting plate one, the motor eight, the motor nine The motor 9 is respectively installed on the movable bracket, the motor 8 drives the outer drum to rotate through the synchronous belt transmission component 6, and the movable bracket is also equipped with a position sensor 3 for controlling the rotation angle of the outer drum. When the motor 9 drives the swing arm to horizontally push the swing rod to drive the inner drum to rotate, the inner drum drives the three claws in the three-claw rotating clamp to move outward respectively through the adjusting dial, and the three-claw rotating clamp is in a state of releasing the ampoule bottle. When the driving swing arm is not in contact with the swing rod, the three claws in the three-claw rotating clamp are respectively close to the center, and the three-claw rotating clamp is in a state of clamping the ampoule bottle. The screw stepper motor 1 is installed on the lower surface of the movable bracket, and the output end of the screw stepper motor 1 is fixedly connected with a lifting rod extending to the center of the three-claw rotating clamp, and the movable bracket is equipped with a position sensor 4 for providing the lifting rod position signal;

[0029] The ampoule cutting device comprises a cutter body and a lifting and rotating mechanism 2 for driving the cutter body to lift and rotate. The cutter body comprises a receiving seat 2, a swing arm 2, a spring clamping assembly, and a diamond knife wheel. The receiving seat 2 is mounted on the top of the chassis 1. The top of the receiving seat 2 is fixed with a swing arm 2. The spring clamping assembly is fixed to the end of the swing arm 2. The side of the spring clamping assembly is fixed with a diamond knife wheel for cutting the ampoule.

[0030] The second disinfection device comprises a disinfection sprayer and a second nozzle, wherein the disinfection sprayer is arranged on the top of the first chassis, and the second nozzle is installed on the disinfection sprayer, and the second nozzle corresponds to the bottleneck of the ampoule bottle placed on the ampoule bottle positioning and lifting device;

[0031] The ampoule breaking device comprises a bottle breaking body, a lifting mechanism for driving the bottle breaking body to rise and fall, and a bottle cap baffle assembly, the bottle breaking body comprises a receiving seat three, a breaking box, a motor ten, a rotating disk, a rotating breaking rod, a fixed breaking rod, and a protective cover, the bottle cap baffle assembly comprises a steering gear one, a locking piece, and a baffle, the receiving seat three is installed on the top of the chassis one, the top of the receiving seat three is fixed with a breaking box, the motor ten is installed in the breaking box, the end surface of the breaking box is rotatably provided with a rotating disk, the output end of the motor ten is fixedly connected to the center of the rotating disk, the eccentric position of the rotating disk is fixedly connected to the rotating breaking rod, the end surface of the breaking box is fixed with a fixed breaking rod parallel to the axial direction of the rotating breaking rod, the end surface of the breaking box is fixed with a protective cover, the breaking box is installed with a steering gear one, the steering gear one drives the baffle to move through the locking piece, and the baffle moves horizontally under the protective cover;

[0032] The ampoule bottle medicine loading assembly includes a chassis 2, a motor 11, a screw translation assembly 5, and an ampoule bottle supporting fixture. The motor 11 is arranged on the chassis 2. The motor 11 drives the ampoule bottle supporting fixture for placing the ampoule bottle to translate through the screw translation assembly 5, and moves to a position that is convenient for the clamping and conveying body to clamp and convey the ampoule bottle;

[0033] The dissolver feeding assembly comprises a gantry frame 1, a dissolver clamping and lifting device, a dissolver needle sleeve removal device, a CCD industrial camera, and a needle tip concentricity detection device. The dissolver clamping and lifting device is set in the gantry frame 1, the dissolver needle sleeve removal device is set in the gantry frame, the CCD industrial camera and the needle tip concentricity detection device are respectively set on the outer side of the gantry frame 1, the outer side of the gantry frame 1 is provided with a waste box placement slot, and the inner side of the gantry frame 1 is provided with a needle sleeve discharge pipe connected to the waste box placement slot;

[0034] The dissolver clamping and lifting device comprises a motor 12, a synchronous belt transmission component 7, and a plurality of dissolver clamps. The motor 12 drives a plurality of dissolver clamps for clamping the dissolver through the synchronous belt transmission component 7.

[0035] The needle sleeve removal device of the drug dissolving device comprises a guide rail 1, a mobile motor seat 1, a fixed motor seat 1, a motor 13, a screw translation assembly 6, a nut seat 1, left and right clamping parts, a spring 2, a screw stepping motor 2, and a nut seat 2. The guide rail 1 is horizontally arranged on the inner side of the door frame 1, the mobile motor seat 1 is slidably arranged on the guide rail 1, the mobile motor seat 1 is fixed with a nut seat 1, the fixed motor seat 1 is arranged on the inner side of the door frame 1, the motor 13 is installed on the fixed motor seat 1, and the motor 13 drives the nut seat 1 through the screw translation assembly 6 Translation, the left and right clamping members are arranged on the mobile motor seat 1, the left and right clamping members form a clamping state through the spring 2, the screw stepper motor 2 is installed on the mobile motor seat 1, the nut seat 2 is screwed on the output end of the screw stepper motor 2, and the bottom side of the nut seat 2 is provided with a separation cone, the screw stepper motor 2 moves the separation cone through the nut seat 2, so that it is inserted between the left and right clamping members, so that the left and right clamping members form a separated state, so that the left and right clamping members clamp the needle sleeve of the drug dissolving device and make it separate from the drug dissolving device;

[0036] The needle tip concentricity detection device comprises a second mounting plate and an optical fiber sensor, wherein the second mounting plate is provided with a detection port, and the optical fiber sensor is arranged in the detection port;

[0037] The needle processing assembly includes a frame 2, a waste box conveying and lifting device 1 for moving and lifting the waste box for recovering needles of the dissolving device, a needle cutting device for cutting off needles of the dissolving device, and a waste box cover clamping device 1 for placing the cover of the waste box for needles of the dissolving device. The waste box conveying and lifting device 1 is installed at the bottom of the frame 2, and the needle cutting device and the waste box cover clamping device 1 are respectively installed on the top of the frame 2. The frame 2 is provided with a shell 2 outside, and the needle cutting device, the waste box cover clamping device 1, and the waste box conveying and lifting device 1 are respectively encapsulated in the interior of the shell 2. The upper surface of the shell 2 is provided with a through hole 1 for facilitating the needle cutting device to cut off the needles of the dissolving device, and the side of the shell 2 is provided with an opening and closing door 1;

[0038] The waste bin conveying and lifting device 1 includes two guide rails 2, a support seat 1, a rotating shaft 1, a limiting cover, a cam 1, a cam 2, a waste bin placing plate 1, a motor 14, a left transfer slider, a right transfer slider, a synchronous belt transmission component 8, a motor 15, a position sensor 5, a wire plate, and a position sensor 6. The two guide rails 2 are arranged in parallel on the bottom surface of the frame 2. The support seat 1 is provided with two groups. The two groups of support seats 1 are respectively arranged between the two guide rails 2. The two ends of the rotating shaft 1 are respectively installed on the two groups of support seats 1. The end of the rotating shaft 1 is fixedly connected to the output end of the motor 14. The limiting cover is arranged above the guide rail 2. The two ends of the rotating shaft 1 are respectively fixedly connected to the directional Cam 1 and cam 2 pass through the limit cover, waste box placement plate 1 is arranged on the limit cover, and the bottom of the waste box placement plate 1 is fixed with a left transfer slider and a right transfer slider parallel to each other, the left transfer slider and the right transfer slider respectively pass through the limit cover and are slidably arranged on the two guide rails 2, the motor 15 is installed on the bottom surface of the frame 2, the motor 15 drives the left transfer slider to move through the synchronous belt transmission component 8, the inner side surface of the left transfer slider is installed with a position sensor 5 that provides its own position signal, the line plate is vertically arranged on the bottom surface of the frame 2, and the line plate is installed with a position sensor 6 that provides a position signal of the waste box placement plate 1;

[0039] The needle cutting device comprises a fixed motor seat 2, a motor 16, a synchronous belt transmission component 9, a screw translation component 7, a screw translation component 8, a fixed blade, a movable blade, a nut seat 3, a nut seat 4, a needle sealing tube body, a rotating and swinging mechanism, a sealing door 1, and a position sensor 7. A needle sealing tube body is fixed on the top of the frame 2 to connect the upper and lower parts thereof. A sealing door 1 is installed in the needle sealing tube body. A fixed blade is arranged on the top of the needle sealing tube body. The fixed motor seat 2 is arranged on the top of the frame 2. The motor 16 is installed on the fixed motor seat 2. The motor 16 is connected to the fixed motor seat 2 by the same The step belt transmission assembly 9 drives the screw translation assembly 7 and the screw translation assembly 8 respectively, the screw translation assembly 7 drives the nut seat 3 to translate, the nut seat 3 is fixed with a moving blade, the moving blade forms a docking with the fixed blade through translation, the moving blade and the fixed blade are mutually displaced to cut off the needle of the dissolving device, the screw translation assembly 8 drives the nut seat 4 to translate, the nut seat 4 drives the sealing door 1 to open or close through the rotating swing mechanism, and the top lower surface of the frame 2 is installed with a position sensor 7 for detecting whether the waste box for recycling needles of the dissolving device is full of needles;

[0040] The waste bin cover clamping device 1 includes a servo 2, a fixed clamping member, a movable clamping member 1, a guide shaft, a spring 3, and a bearing seat 1. The servo 2 is arranged on the top of the frame 2, the fixed clamping member is fixed to the lower surface of the top of the frame 2, the output end of the servo 2 is fixedly connected with a guide shaft, the servo 2 pushes the movable clamping member 1 through the guide shaft, the fixed clamping member and the movable clamping member 1 are formed to clamp or release the waste bin cover, the bearing seat 1 supports the guide shaft, and a spring 3 is arranged between the output end of the servo 2 and the servo 2;

[0041] The waste recycling and processing assembly includes a waste box conveying and lifting device 2, a waste box cover clamping device 2, and a waste box sealing device. The waste box conveying and lifting device 2 and the waste box cover clamping device 2 are respectively provided with two groups. The two groups of waste box conveying and lifting devices 2 are used to move and lift the waste boxes for recycling ampoules and powder bottles and the waste boxes for recycling dissolving devices. The two groups of waste box cover clamping devices 2 are respectively used to place the waste box covers for recycling ampoules and powder bottles and the waste boxes for recycling dissolving devices. The waste box sealing device is used to separate the waste box for recovering the dissolving device, the ampoule bottle and the powder bottle from the outside world. The waste box sealing device is provided with three groups. The three groups of waste box sealing devices correspond to the liquid extraction manipulator, the ampoule bottle processing assembly and the mother liquid powder revolution and shaking assembly upward respectively. When recovering the dissolving device, the ampoule bottle and the powder bottle, the waste box sealing device is in an open state, otherwise it is in a closed state.

[0042] The waste box conveying and lifting device 2 includes a guide rail 3, a motor 17, a synchronous belt transmission component 10, a translation plate 2, a lifting and placing body, a limit block, a motor 18, a synchronous belt transmission component 11, and a cam 3. The two guide rails 3 are arranged in parallel on the bottom surface of the frame 1. The motor 17 is installed on the bottom surface of the frame 1. The motor 17 drives the translation plate 2 to move on the guide rail 3 through the synchronous belt transmission component 10. The lifting and placing body is arranged above the translation plate 2. The translation plate 2 limits the synchronous displacement of the lifting and placing body with the limit block. The motor 18 drives the cam 3 to rotate through the synchronous belt transmission component 11. The cam 3 drives the lifting and placing body to rise or fall, so as to realize the movement of the waste box placed on the lifting and placing body.

[0043] The waste bin cover clamping device 2 comprises a support rod, a mounting plate 3, a motor 19, a rotating hinge, a pull rod, a flip clamping member 1, a flip clamping member 2, and a rotating shaft 2. The mounting plate 3 is arranged above the waste bin conveying and lifting device 2 and is supported by the support rod. The motor 19 is arranged on the upper surface of the mounting plate 3. The output end of the motor 19 is fixedly connected with a rotating hinge. The flip clamping member 1 and the flip clamping member 2 are respectively rotatably mounted on both sides of the mounting plate 3 through the rotating shaft 2. One end of the two pull rods are respectively hingedly mounted on the two rotating shafts 2. The motor 19 pulls the other end of the two pull rods through the rotating hinge to drive the flip clamping member 1 and the flip clamping member 2 to perform fan-shaped movement to realize the release or clamping of the waste bin cover.

[0044] The waste box sealing device comprises a sealing box, a screw stepper motor three, a sealing door two, a nut seat five, two sealing door guide support plates, a roller, and a drop hopper. The sealing box is arranged in the mounting plate three, and the sealing box is provided with a delivery channel that connects the mounting plate three up and down. The screw stepper motor three is installed in the sealing box, and the nut seat five is screwed on the output end of the screw stepper motor three. The two sealing door guide support plates are respectively arranged on both sides of the nut seat five, and the upper surfaces of the two sealing door guide support plates are provided with inner concave parts. The roller is located in the inner concave part, and the bottom surface of the inner concave part is provided with a high position and a low position with a height difference, and a slope is provided between the high position and the low position. The sealing door two is arranged in the sealing box, and the sealing door two is rolled in the inner concave part by the roller. When the nut seat five is close to the delivery channel, the sealing door two rises and closes the delivery channel, and when the nut seat five is away from the delivery channel, the sealing door two descends and opens the delivery channel, and the drop hopper is arranged in the delivery channel.

[0045] The liquid extraction robot adopts the technology and structure of the drug melter robot in a robot for efficiently and intelligently preparing intravenous infusion drugs disclosed in application number 201820058748.0, which belongs to the prior art and will not be repeated here.

[0046] As a further solution of the present invention, the frame one is provided with a drug application buffer zone and a drug dispensing work zone, the mother liquid powder revolution and shaking assembly, the ampoule bottle processing assembly, the dissolver feeding assembly, the needle processing assembly, and the garbage recycling processing assembly are located in the drug dispensing work zone, the mother liquid powder drug application assembly and the ampoule bottle drug application assembly are located in the drug application buffer zone, the drug application buffer zone is equipped with a door frame three, the door frame three is equipped with an inner isolation gate assembly and an outer isolation gate assembly, the inner isolation gate assembly is used to isolate the drug application buffer zone from the drug dispensing work zone, and the outer isolation gate assembly is used to isolate the drug application buffer zone from the outside world;

[0047] The inner isolation gate assembly comprises a mounting bracket 1, a motor 21, a rotating shaft 3, a driving pulley 2, a driven pulley 2, a synchronous belt 2, a mobile clamping piece 2, a mobile glass door 1, a position sensor 9, and a stop bar. The mounting bracket 1 is fixedly connected to the inner side surface of the door frame 3, the motor 21 is mounted on the mounting bracket 1, the output end of the motor 21 is fixedly connected to the rotating shaft 3, the motor 21 drives the driving pulley 2 through the rotating shaft 3, the driving pulley 2 is connected to the driven pulley 2 through the synchronous belt 2, and a height difference is formed between the driving pulley 2 and the driven pulley 2, the mobile glass door 1 is mounted on the synchronous belt 2 through the mobile clamping piece 2, the synchronous belt 2 is used to drive the mobile glass door 1 to move, the top and bottom of the mounting bracket 1 are respectively installed with position sensors 9 for detecting the active position of the mobile glass door 1, and the mounting bracket 1 is horizontally provided with a stop bar;

[0048] The external isolation gate assembly includes a mounting bracket 2, a motor 22, a synchronous belt drive component 12, a rotating shaft 4, a driving pulley 3, a synchronous belt 3, a movable glass door 2, a counterweight, a guide cylinder, a position sensor 10, and a reinforcing rib. The mounting bracket 2 is fixedly connected to the outer side surface of the door frame 3, and the motor 22 is installed on the top of the mounting bracket 2. The motor 22 drives the rotating shaft 4 through the synchronous belt drive component 12. The rotating shaft 4 drives the synchronous belt 3 through the driving pulley 3. The end of the synchronous belt 3 drives the movable glass door 2 to move. A counterweight is installed at the bottom of the movable glass door 2. A guide cylinder that can be socketed with the counterweight is installed at the bottom of the mounting bracket 2. Position sensors 10 for detecting the active position of the movable glass door 2 are respectively installed at the top and bottom of the mounting bracket 2. The mounting bracket 2 is horizontally provided with reinforcing ribs.

[0049] As a further scheme of the present invention, the powder bottle fixture includes a fixture body 1, a clamping jaw shaft, a spring pressure block, a spring 4, and a powder bottle clamp. The fixture body 1 is a hollow structure. A plurality of pairs of powder bottle clamps for clamping the bottleneck of the powder bottle are hingedly installed on one side of the fixture body 1. Each of the powder bottle clamps is connected to the clamping jaw shaft placed in the fixture body 1. A spring pressure block is arranged between each pair of the powder bottle clamps. A spring 4 is installed at the bottom of the spring pressure block. Pin holes cooperating with the pin docking assembly are respectively arranged at both ends of the fixture body 1. A plurality of powder bottle placement grooves cooperating with each pair of the powder bottle clamps are arranged on the upper surface of the fixture body 1. The powder bottle fixture seat is provided with left and right rails 1 cooperating with the fixture body 1.

[0050] As a further scheme of the present invention, the mother liquid bottle fixture includes a treatment body 2, a clamping body, a receiving block, a pressure cover, a locking hook, and a spring 5. The clamping body is arranged on the upper surface of the treatment body 2, and a plurality of receiving blocks are installed on the clamping body. The receiving blocks are movably equipped with pressure covers for fixing the bottle mouth position of the mother liquid bottle. The pressure cover is connected to the receiving block through a locking hook. A spring 5 is also installed in the receiving block, and the two ends of the spring 5 are respectively in contact with the mother liquid bottle and the receiving block. The upper surface of the treatment body 2 is provided with a mother liquid bottle placement groove that cooperates with the clamping body, and the mother liquid bottle fixture seat is provided with left and right clamping rails 2 that cooperate with the treatment body 2.

[0051] As a further solution of the present invention, the lifting and rotating mechanism 1 and the lifting and rotating mechanism 2 are both composed of a lifting assembly and a rotating assembly. The lifting mechanism and the lifting assembly have the same structural composition. The lifting assembly includes a lifting motor, a fixed bracket 1, a screw rod 3, a lifting body, a rotating lifting shaft, and a receiving plate. The fixed bracket 1 is arranged in the chassis 1. The bottom of the fixed bracket 1 is equipped with a lifting motor. The end of the screw rod 3 is fixedly connected to the output end of the lifting motor. The lifting body cooperates with the screw rod 3 to form a spiral pair transmission, and the lifting body slides with the fixed bracket 1. The top of the lifting body is equipped with a rotating lifting shaft that rotates with it, and the rotating lifting shaft passes through the fixed bracket 1. The top of the bracket one is fixedly connected to the receiving disk, and the rotating assembly includes a fixed bracket two, a driving pulley four, a driven pulley three, a synchronous belt four, and a rotating motor. The fixed bracket two is arranged on the side of the fixed bracket one, and the rotating motor is installed on the fixed bracket two. The driving pulley four is fixedly connected to the output end of the rotating motor, and the driven pulley three is installed on the rotating lifting shaft and can drive the rotating lifting shaft to rotate. The driving pulley four is connected to the driven pulley three through the synchronous belt four. The receiving disk in the lifting and rotating mechanism one is fixedly connected to the receiving seat one, the receiving disk in the lifting and rotating mechanism two is fixedly connected to the receiving seat two, and the receiving disk in the lifting mechanism is fixedly connected to the receiving seat three.

[0052] As a further solution of the present invention, the frame 1 is also equipped with a weighing device, an air purification device and a computer control panel, and the housing 1 is provided with an opening and closing door 2.

[0053] As a further solution of the present invention, the ampoule bottle handling assembly further includes an ampoule assembly rotating support assembly and a cam handle assembly, the chassis 1 can be rotated around the ampoule assembly rotating support assembly, and the chassis 1 can be released or fixed by the cam handle assembly;

[0054] The ampoule assembly rotation support component comprises a fixed tube body, an angular contact bearing, a bearing spacer sleeve, a rotating tube body, a cover, and a top cover. The fixed tube body is vertically arranged on the upper surface of the frame one, the cover is arranged on the top of the fixed tube body, the top cover is covered on the cover, the rotating tube body is sleeved on the fixed tube body, the angular contact bearing is provided with two groups, the two groups of angular contact bearings are arranged between the rotating tube body and the fixed tube body, and the bearing spacer sleeve is arranged between the two groups of angular contact bearings;

[0055] The cam handle assembly includes a cam handle, an ampoule assembly locking block, a handle fixing seat, a micro switch driving block, and a micro switch. The ampoule assembly locking block is arranged on the upper surface of the frame one, the handle fixing seat is arranged in the ampoule assembly locking block, the cam handle is installed on the outer side of the handle fixing seat, the cam handle drives the micro switch through the micro switch driving block, and the side of the chassis one is provided with a card hole that can be carded with the micro switch.

[0056] The present invention also provides a method for controlling the dispensing of an intravenous drug solution dispensing robot by an operating system, wherein the intravenous drug solution dispensing robot implements the intravenous drug solution dispensing operation based on the control of the operating system, wherein the operating system includes a dispensing management system, an automatic drug loading and unloading system, a setting management system and a dispensing information processing system, wherein the dispensing management system includes an HIS system docking module, a dispensing information verification module, a medicine bottle detection and identification module, a dispensing process planning module, an accurate drug dosage control module and a dispensing report module, wherein the automatic drug loading and unloading system includes a mother liquid drug loading module, a powder drug loading module and an ampoule drug loading module, wherein the setting management system includes a user management module, a drug configuration parameter modification module and a dispensing control optional function setting module, wherein the dispensing information processing system includes a video monitoring module, a dispensing history recording module and a prescription management module;

[0057] The operating system controlled medication dispensing method comprises the following steps:

[0058] S1: The operating system starts initialization, downloads the prescription information from the HIS system, and automatically reviews the prescription information to confirm the correctness of the prescription information. If the prescription information is incorrect, it will standby and alarm;

[0059] S2: Scan the QR code of the medicine bottle and obtain the information of the medicine bottle, automatically check whether the prescription information and the bottle information are consistent, if the prescription information and the bottle information are consistent, generate the dispensing information, automatically transport and load the medicine bottle, and the operating system enters the ready state for dispensing, otherwise an alarm prompts, check the medicine bottle and check again after correction;

[0060] S3: Check whether the robot has normal dispensing conditions. If so, start the dispensing program. Otherwise, alarm, wait, and check again after the robot is corrected.

[0061] S4: The robot performs the disinfection of the medicine bottle according to the dispensing procedure, and then the dissolver loading assembly with the dissolver is placed to remove the needle cover of the dissolver from the dissolver. The liquid extraction robot takes the dissolver with the needle cover removed, uses the optical fiber sensor to detect the concentricity offset of the needle tip of the dissolver, and uses the weighing device to measure the weight of the dissolver.

[0062] S5: The liquid extraction manipulator uses a dissolver to extract mother liquid from the mother liquid bottle as a solvent, injects the mother liquid into the powder bottle, and the mother liquid powder revolution shaking assembly shakes and dissolves the powder bottle, and then extracts the corresponding amount of mixed liquid from the powder bottle and injects it into the mother liquid bottle. The ampoule bottle processing assembly clamps, transports, disinfects, cuts, and breaks the ampoule bottle. The dissolver is used to extract the corresponding amount of liquid from the ampoule bottle with the bottle head broken off and injects it into the mother liquid bottle. The CCD industrial camera () is used to take a picture of the current dissolver, and the weighing device is used to measure the current weight of the dissolver, and the residual liquid in the dissolver is calculated to ensure that the liquid is drained cleanly and the dispensing accuracy is high.

[0063] S6: After the dispensing operation is completed, the mother liquid powder loading assembly recycles the mother liquid bottle with the prepared medicine solution, the needle processing assembly cuts the needle of the dissolving device, and the used powder bottles and ampoules, and the dissolving device after the needle is cut are discarded into the garbage recycling processing assembly, and the operating system generates a dispensing completion report.

[0064] Beneficial effects of the present invention:

[0065] 1. This robot has added the function of automatically conveying medicine bottle fixtures and dissolvers. While applying medicine, the operating system can pre-process, identify, import, check, prepare and output dispensing information. The mother liquid powder revolution and shaking assembly is equipped with multiple batches of medicine fixture fixing positions. The medicine application and dispensing operations are independent of each other and can be carried out simultaneously. The dissolver loading assembly can hold multiple dissolvers and can automatically calibrate the concentricity of the dissolver needle tip, which is provided to the liquid extraction manipulator for liquid extraction operations to meet the needs of accurate puncture of the rubber plug by extracting the liquid. After the dispensing is completed, the needle processing assembly cuts the dissolver needle, and the garbage recycling processing assembly stores the used medicine bottles and dissolvers. There is no need to stop the machine to process the used dissolvers or configure new dissolvers, which greatly improves the dispensing efficiency and accuracy.

[0066] 2. This robot is equipped with a drug loading buffer area and a drug dispensing work area. The drug loading buffer area is the area for placing and conveying medicine bottle fixtures, and the drug dispensing work area is the area for performing drug dispensing operations. The drug loading buffer area and the drug dispensing work area are isolated from each other. Air purification will be carried out before the mother liquid powder drug loading assembly conveys the drugs to ensure that the drug dispensing work area can always maintain a clean and sterile environment. At the same time, it also prevents medical staff from being harmed by drugs, ensuring the safety of drug dispensing and the health of medical staff.

[0067] 3. This robot is equipped with a CCD industrial camera and a weighing device. The CCD industrial camera can take pictures of the residual liquid medicine in the dissolver, and the weighing device measures the weight of the dissolver and automatically calculates the residual amount of liquid medicine in the dissolver to prevent deviation in the amount of medicine when the liquid medicine is sucked, thus achieving accurate dispensing.

[0068] 4. The ampoule handling assembly in this robot can realize rotational motion and be pulled out of the dispensing work area. Medical staff can have enough space to clean and maintain the dispensing work area. It is also convenient to clean the medicine bottle debris generated after dispensing, ensure the cleanliness of the dispensing work area, and ensure the safety of dispensing. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 It is an overall schematic diagram of an intravenous drug dispensing robot of the present invention.

[0070] Figure 2 The present invention is a schematic diagram of the internal structure of an intravenous drug dispensing robot.

[0071] Figure 3 It is a structural schematic diagram of a mother liquid powder revolution and shaking assembly.

[0072] Figure 4 It is a schematic diagram of the structure of the mother liquid powder dosing assembly.

[0073] Figure 5 It is a schematic diagram of the internal structure of the powder bottle fixture translation device in the mother liquid powder feeding assembly.

[0074] Figure 6 It is an overall schematic diagram of the ampoule bottle handling assembly.

[0075] Figure 7 It is a schematic diagram of the internal structure of chassis 1 in the ampoule bottle processing assembly.

[0076] Figure 8 The invention is a structural schematic diagram of an ampoule positioning and lifting device in an ampoule handling assembly.

[0077] Fig. 9 It is a side view of the ampoule positioning and lifting device in the ampoule handling assembly.

[0078] Fig.10 It is a cross-sectional view of an ampoule positioning and lifting device in an ampoule handling assembly.

[0079] Fig.11 It is a structural schematic diagram of the disinfection device 2 in the ampoule bottle processing assembly.

[0080] Fig.12 It is a cross-sectional view of the bottle breaking body in the ampoule bottle breaking device.

[0081] Fig.13 The utility model is a structural schematic diagram of a bottle cap baffle assembly in an ampoule bottle breaking device.

[0082] Fig.14 is a cross-sectional view of an ampoule assembly rotating support assembly in an ampoule bottle handling assembly.

[0083] Fig.15 It is a structural schematic diagram of an ampoule bottle medicine loading assembly.

[0084] Fig.16 It is a front view of the dissolver feeding assembly.

[0085] Fig.17 It is the rear view of the dissolver loading assembly.

[0086] Fig.18 It is a schematic diagram of the internal structure of the dissolver feeding assembly.

[0087] Fig.19 It is a structural schematic diagram of a needle cover removal device of a drug dissolving device.

[0088] Fig. 20 Schematic diagram of the entire needle handling assembly.

[0089] Fig.21 Schematic diagram of the internal structure of the needle handling assembly.

[0090] Fig. 22 It is a structural schematic diagram of a hidden limit cover of a waste box conveying and lifting device.

[0091] Fig.23 It is a top view of the needle cutting device and the waste box cover clamping device in the needle processing assembly.

[0092] Fig.24 It is a bottom view of the needle cutting device and the waste box cover clamping device in the needle processing assembly.

[0093] Fig.25 It is an overall schematic diagram of the garbage recycling and processing assembly.

[0094] Fig.26 It is a structural schematic diagram of the waste box conveying and lifting device 2 in the garbage recycling and processing assembly.

[0095] Fig. 27 It is a structural schematic diagram of the second waste bin cover clamping device in the garbage recycling and processing assembly.

[0096] Fig.28 It is a top view of the waste bin sealing device in the waste recycling and processing assembly.

[0097] Fig.29 It is a side view of the waste bin sealing device in the waste recycling and processing assembly.

[0098] Fig.30 It is a schematic diagram of the structure of the drug buffer zone.

[0099] Fig.31 It is a structural schematic diagram of the inner isolation gate assembly in the medicine application buffer zone.

[0100] Fig.32 It is a schematic diagram of the structure of the internal and external isolation gate assembly of the medicine application buffer zone.

[0101] Fig.33 It is a structural schematic diagram of a powder bottle fixture.

[0102] Fig.34 It is a schematic diagram of the internal structure of the powder bottle fixture.

[0103] Fig.35 It is a structural schematic diagram of the mother liquid bottle fixture.

[0104] Fig.36 It is a structural schematic diagram of the lifting and rotating mechanism 1. DETAILED DESCRIPTION

[0105] The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings.

[0106] See also Figure 1 to Figure 36In an embodiment of the present invention, an intravenous drug dispensing robot includes a frame 1, on which a mother liquid powder revolution and shaking assembly 2, an ampoule bottle processing assembly 3 and a liquid extraction manipulator 4 are installed, and also includes a mother liquid powder medicine loading assembly 5, an ampoule bottle medicine loading assembly 6, a dissolving device feeding assembly 7, a needle processing assembly 8, and a garbage recycling processing assembly 9 installed on the frame 1. The frame 1 is also fixed with a shell 10 on the outside, and the mother liquid powder revolution and shaking assembly 2, the ampoule bottle processing assembly 3, the liquid extraction manipulator 4, the dissolving device feeding assembly 7, the needle processing assembly 8, the garbage recycling processing assembly 9, the mother liquid powder medicine loading assembly 5, and the ampoule bottle medicine loading assembly 6 are encapsulated inside, and the mother liquid powder medicine loading assembly 5 is used to transport mother liquid bottles and powder bottles to the mother liquid powder revolution and shaking assembly 2, and the liquid extraction manipulator 4 takes the dissolver from the dissolver feeding assembly 7, and pumps the mother liquid in the mother liquid bottle into the powder bottle through the dissolver, and the mother liquid and powder are mixed and shaken in the powder bottle by the mother liquid powder revolution and shaking assembly 2. The ampoule bottle processing assembly 3 can take the ampoule bottle from the ampoule bottle feeding assembly 6, and cut and break the ampoule bottle. The liquid extraction manipulator 4 sequentially pumps the liquid medicine in the ampoule bottle, the mixed mother liquid and powder mixture into the mother liquid bottle through the dissolver for mixing. The mother liquid powder feeding assembly 5 recycles the mother liquid bottle of the mixed ampoule bottle. The needle processing assembly 8 is used for cutting the needle of the dissolver after dispensing, and the garbage recycling processing assembly 9 is used for recycling the dissolver after the needle is cut, the used ampoule bottle and the powder bottle.

[0107] As a further solution of the present invention, the mother liquid powder revolution and shaking assembly 2 includes a revolution base 100, a powder bottle rotation and shaking device 200, a mother liquid bottle rotation and shaking device 300, a harmonic reducer 400, a synchronous belt drive assembly 500, a revolution shaft 600 and a disinfection device 700, and the two sides of the revolution base 100 are symmetrically provided with an upper support body 101 and a lower support body 102, and the two sides of the revolution base 100 are respectively installed with a group of powder bottle rotation and shaking devices 200 and mother liquid bottle rotation and shaking devices. The rotary shaking device 300, the powder bottle rotary shaking device 200 is located on the upper support body 101, the mother liquid bottle rotary shaking device 300 is located on the lower support body 102, the revolution shaft 600 is fixedly connected to the bottom of the revolution base 100, the harmonic reducer 1400 drives the revolution shaft 600 to rotate through the synchronous belt transmission assembly 1500, the revolution shaft 600 drives the revolution base 100 to rotate, and the disinfection device 1700 is arranged on the top of the revolution base 100;

[0108] The powder bottle rotating and shaking device 200 includes a rotating mechanism 201, a powder bottle fixture seat 202, a powder bottle fixture 203, a motor 204, a synchronous belt transmission component 205 and a position sensor 206. The rotating mechanism 201 is installed on the upper support body 101. The rotating mechanism 201 is fixed with multiple powder bottle fixture seats 202. Each of the powder bottle fixture seats 202 can be detachably installed with a powder bottle fixture 203 for fixing the powder bottle. The motor 204 is arranged in the revolution base 100. The motor 204 drives the rotating mechanism 201 to rotate through the synchronous belt transmission component 205, so that the powder bottle rotates around the rotating mechanism 201. The upper support body 101 is provided with a position sensor 206 for controlling the rotation angle of the rotating mechanism 201.

[0109] The mother liquid bottle rotating and shaking device 300 includes a mother liquid bottle fixture seat 301, a mother liquid bottle fixture 302, a second motor 303, a third synchronous belt drive component 304 and a second position sensor 305. The mother liquid bottle fixture seat 301 is installed on the lower support body 102. The mother liquid bottle fixture seat 301 is detachably installed with a mother liquid bottle fixture 302 for fixing the mother liquid bottle. The second motor 303 is arranged in the revolution base 100. The second motor 303 drives the mother liquid bottle fixture seat 301 to rotate through the third synchronous belt drive component 304. The lower support body 102 is provided with a second position sensor 305 for controlling the rotation angle of the mother liquid bottle fixture seat 301.

[0110] The disinfection device 700 includes a solenoid valve 701, a nozzle 702, and a liquid spray control component 703. The input end of the solenoid valve 701 is connected to the disinfectant container, the output end of the solenoid valve 701 is connected to the nozzle 702, and the liquid spray control component 703 controls the nozzle 702 to open or close, so as to spray the disinfectant on the powder bottle.

[0111] The mother liquid powder medicine application assembly 5 includes a mother liquid bottle jig translation device 800 that can transport and assemble the mother liquid bottle jig 302 to the mother liquid bottle jig seat 301, a powder bottle jig translation device 900 that can transport and assemble the powder bottle jig 203 to the powder bottle jig seat 202, and a medicine application translation support device 1000 that can move the mother liquid bottle jig translation device 800 and the powder bottle jig translation device 900 into or out of the housing 10;

[0112] The mother liquid bottle fixture translation device 800 includes a base 801, an electromagnet push block 802, a motor 803, a screw translation assembly 804, and an RFID sensor 805. The upper surface of the base 801 is provided with a slide groove 806, the electromagnet push block 802 is arranged in the slide groove 806, the motor 803 is arranged in the base 801, the motor 803 drives the electromagnet push block 802 to translate through the screw translation assembly 804, and realizes that the mother liquid bottle fixture 302 is pushed to the mother liquid bottle fixture seat 301 through the electromagnet push block 802, the top of the base 801 is an inclined structure, and the RFID sensor 805 is arranged on the bottom surface of the slide groove 806;

[0113] The powder bottle fixture translation device 900 includes a base 2 901, a translation plate 1 902, a motor 4 903, a motor 5 904, a screw translation assembly 2 905, a screw translation assembly 3 906, a synchronous belt drive assembly 4 907, a latch docking assembly 908, a rotating shaft swing assembly 1 909, an electric cylinder 910, a translation lifting shaft 911, and an RFID sensor 2 912. The base 2 901 is installed on the top of the base 1 801 through the rotating shaft swing assembly 1 909, the motor 4 903 is arranged on the upper surface of the base 2 901, the translation plate 1 902 is arranged above the base 2 901, the motor 2 303 drives the translation plate 1 902 to translate through the screw translation assembly 2 905, the motor 5 904 is arranged on the lower surface of the translation plate 1 902, and the screw translation assembly 3 906 and the latch docking assembly 908 are both provided with Two groups, the two groups of screw translation components three 906 are respectively arranged on the upper surfaces of both sides of the translation plate one 902, and are arranged parallel to each other, the motor five 904 drives the screw translation component three 906 through the synchronous belt transmission component four 907, so that the screw translation component three 906 drives the latch docking component 908 to translate, the electric cylinder 910 is arranged on the side of the base one 801, and the translation jacking shaft 911 is arranged on the side of the base two 901, and the electric cylinder 910 adjusts the inclination angle of the translation plate one 902 to be consistent with the inclination angle of the powder bottle fixture seat 202 through the translation jacking shaft 911, so as to first move the translation plate one 902 to make it fit with the powder bottle fixture seat 202, and then push the powder bottle fixture 203 onto the powder bottle fixture seat 202 through the latch docking component 908;

[0114] The medicine application translation support device 1000 includes a machine base 3 1001, a motor 6 1002, and a screw translation assembly 4 1003. The motor 6 1002 is arranged in the machine base 3 1001. The motor 6 1002 drives the machine base 1 801 to translate through the screw translation assembly 4 1003.

[0115] The ampoule bottle processing assembly 3 is composed of a chassis 1100, an ampoule bottle transport device 1200 for transporting the ampoule bottle, an ampoule bottle positioning and lifting device 1300 for positioning and lifting the ampoule bottle to make it fall, an ampoule bottle cutting device 1400 for cutting the top of the ampoule bottle, a disinfection device 2 1500 for disinfecting the ampoule bottle before cutting, and an ampoule bottle breaking device 1600 for breaking the ampoule bottle after cutting;

[0116] The ampoule bottle transport device 1200 includes a clamping conveying body 1201 and a lifting and rotating mechanism 1202 for driving the clamping conveying body 1201 to lift and rotate. The clamping conveying body 1201 includes a receiving seat 1203, a swing arm 1204, and a clamping manipulator 1205. The receiving seat 1203 is installed on the top of the chassis 1100. The top of the receiving seat 1203 is fixed with a swing arm 1204. The clamping manipulator 1205 is fixed to the end of the swing arm 1204.

[0117] The ampoule positioning and lifting device 1300 includes a movable bracket 1301, a motor 1302, a synchronous belt drive assembly 1303, a rotating arm 1304, a motor 1305, a motor 1306, a synchronous belt drive assembly 1307, an outer drum 1308, a three-claw rotating clamp 1309, an inner drum 1310, a mounting plate 1311, an adjustment dial 1312, a spring 1313, a swing rod 1314, a driving swing arm 1315, a screw stepper motor 1316, a lifting rod 1317, a position sensor 3 1318 and a position sensor 4 1319. The movable bracket 1301 is arranged on the outer side of the chassis 1100, and the motor 1302 is arranged on the outer side of the chassis 1100. In the box 1100, the motor 7 1302 drives the movable bracket 1301 to rotate through the synchronous belt transmission component 5 1303 and the rotating arm 1304, the outer rotating cylinder 1308 is rotatably arranged on the upper surface of the movable bracket 1301, the three-claw rotating clamp 1309 is fixed on the top of the outer rotating cylinder 1308, the inner rotating cylinder 1310 is arranged in the outer rotating cylinder 1308, the adjusting dial 1312 is fixed on the top of the inner rotating cylinder 1310, the outer side surface of the outer rotating cylinder 1308 is horizontally provided with a mounting plate 1311, the outer side surface of the inner rotating cylinder 1310 is horizontally fixed with a swing rod 1314, the swing rod 1314 passes through the outer rotating cylinder 1308 and A spring 1313 is fixedly connected to the mounting plate 1311. Motor 8 1305 and motor 9 1306 are respectively mounted on the movable bracket 1301. Motor 8 1305 drives the outer drum 1308 to rotate through synchronous belt transmission assembly 6 1307. The movable bracket 1301 is also equipped with a position sensor 3 1318 for controlling the rotation angle of the outer drum 1308. When motor 9 1306 drives the swing arm 1315 to horizontally push the swing rod 1314 to drive the inner drum 1310 to rotate, the inner drum 1310 drives the three-claw rotating clamp 1309 through the adjusting dial 1312. The three claws of the three-claw rotating jaw 1309 move outwards respectively, and the three-claw rotating jaw 1309 is in a state of releasing the ampoule bottle. When the driving swing arm 1315 is not in contact with the swing rod 1314, the three claws in the three-claw rotating jaw 1309 approach the center respectively, and the three-claw rotating jaw 1309 is in a state of clamping the ampoule bottle. The screw stepper motor 1316 is installed on the lower surface of the movable bracket 1301, and the output end of the screw stepper motor 1316 is fixedly connected with a lifting rod 1317 extending to the center of the three-claw rotating jaw 1309. The movable bracket 1301 is installed with a position sensor 1319 for providing a position signal of the lifting rod 1317.

[0118] The ampoule cutting device 1400 comprises a cutter body 1401 and a lifting and rotating mechanism 1402 for driving the cutter body 1401 to lift and rotate. The cutter body 1401 comprises a receiving seat 1403, a swing arm 1404, a spring clamping assembly 1405, and a diamond cutter wheel 1406. The receiving seat 1403 is mounted on the top of the chassis 1100. The swing arm 1404 is fixed to the top of the receiving seat 1403. The spring clamping assembly 1405 is fixed to the end of the swing arm 1404. The diamond cutter wheel 1406 for cutting ampoules is fixed to the side of the spring clamping assembly 1405.

[0119] The second disinfection device 1500 includes a disinfection sprayer 1501 and a second nozzle 1502. The disinfection sprayer 1501 is arranged on the top of the chassis 1100. The disinfection sprayer 1501 is equipped with a second nozzle 1502. The second nozzle 1502 corresponds to the bottleneck of the ampoule bottle placed on the ampoule bottle positioning and lifting device 1300.

[0120] The ampoule breaking device 1600 includes a bottle breaking body 1601, a lifting mechanism 1613 for driving the bottle breaking body 1601 to rise and fall, and a bottle cap baffle assembly 1602. The bottle breaking body 1601 includes a receiving seat 3 1603, a breaking box 1604, a motor 1605, a rotating disk 1606, a rotating breaking rod 1607, a fixed breaking rod 1608, and a protective cover 1609. The bottle cap baffle assembly 1602 includes a steering gear 1610, a locking member 1611, and a baffle 1612. The receiving seat 3 1603 is installed on the top of the chassis 1100. The breaking box 1604 is fixed on the top of the receiving seat 3 1603. The breaking box 1604 is installed with a motor 1605. , the end surface of the breaking box 1604 is rotatably provided with a rotating disk 1606, the output end of the motor 1605 is fixedly connected to the center of the rotating disk 1606, the eccentric position of the rotating disk 1606 is fixedly connected with a rotating breaking rod 1607, the end surface of the breaking box 1604 is fixed with a fixed breaking rod 1608 parallel to the axial direction of the rotating breaking rod 1607, the end surface of the breaking box 1604 is fixed with a protective cover 1609, a servo 1610 is installed in the breaking box 1604, the servo 1610 drives the baffle 1612 to move through the locking member 1611, and the baffle 1612 moves horizontally under the protective cover 1609;

[0121] The ampoule bottle medicine loading assembly 6 includes a chassis 2 1700, a motor 11 1800, a screw translation assembly 5 1900, and an ampoule bottle supporting fixture 2000. The motor 11 1800 is arranged on the chassis 2 1700. The motor 11 1800 drives the ampoule bottle supporting fixture 2000 for placing the ampoule bottle to translate through the screw translation assembly 5 1900, and moves to facilitate the clamping and conveying body 1201 to clamp and convey the ampoule bottle;

[0122] The dissolver feeding assembly 7 includes a gantry frame 2100, a dissolver clamping and lifting device 2200, a dissolver needle sleeve removal device 2300, a CCD industrial camera 2400, and a needle tip concentricity detection device 2500. The dissolver clamping and lifting device 2200 is set in the gantry frame 2100, the dissolver needle sleeve removal device 2300 is set in the gantry frame 2100, the CCD industrial camera 2400 and the needle tip concentricity detection device 2500 are respectively arranged on the outer side of the gantry frame 2100, the outer side of the gantry frame 2100 is provided with a waste box placement groove 2600, and the inner side of the gantry frame 2100 is provided with a needle sleeve discharge pipe 2700 connected to the waste box placement groove 2600;

[0123] The dissolving device clamping and lifting device 2200 comprises a motor 12 2201, a synchronous belt transmission component 7 2202, and a plurality of dissolving device clamps 2203. The motor 12 2201 drives a plurality of dissolving device clamps 2203 for clamping the dissolving device through the synchronous belt transmission component 7 2202.

[0124] The dissolving device 2300 comprises a guide rail 2301, a mobile motor seat 2302, a fixed motor seat 2303, a motor 13 2304, a screw translation assembly 6 2305, a nut seat 1 2306, left and right clamps 2307, a spring 2308, a screw stepper motor 2309, and a nut seat 2310. The guide rail 2301 is horizontally arranged on the inner side of the door frame 2100, the mobile motor seat 2302 is slidably arranged on the guide rail 2301, the mobile motor seat 2302 is fixed with a nut seat 2306, the fixed motor seat 2303 is arranged on the inner side of the door frame 2100, the motor 13 2304 is installed on the fixed motor seat 2303, and the motor 13 2304 is moved by the screw translation assembly Six 2305 drives nut seat one 2306 to translate, left and right clamping members 2307 are arranged on the mobile motor seat one 2302, and the left and right clamping members 2307 form a clamping state through spring two 2308, screw stepper motor two 2309 is installed on the mobile motor seat one 2302, nut seat two 2310 is screwed on the output end of the screw stepper motor two 2309, and the bottom side of the nut seat two 2310 is provided with a separation cone 2311, and the screw stepper motor two 2309 moves the separation cone 2311 through the nut seat two 2310 to insert it between the left and right clamping members 2307, so that the left and right clamping members 2307 form a separated state, so that the left and right clamping members 2307 clamp the needle sleeve of the drug dissolving device and make it separate from the drug dissolving device;

[0125] The needle tip concentricity detection device 2500 comprises a second mounting plate 2501 and an optical fiber sensor 2502. The second mounting plate 2501 is provided with a detection port 2503, and the optical fiber sensor 2502 is arranged in the detection port 2503.

[0126] The needle handling assembly 8 includes a frame 2800, a waste box conveying and lifting device 2900 for moving and lifting the waste box for recovering needles of the dissolving device, a needle cutting device 3000 for cutting off needles of the dissolving device, and a waste box cover clamping device 3100 for placing the cover of the waste box for needles of the dissolving device. The waste box conveying and lifting device 2900 is installed at the bottom of the frame 2800, and the needle cutting device 3000 and the waste box cover clamping device 3100 are respectively installed at the bottom of the frame 2800. The top of the second frame 2800, the second frame 2800 is provided with a second housing 3200, the needle cutting device 3000, the waste bin cover clamping device 3100, and the waste bin conveying and lifting device 2900 are respectively encapsulated inside the second housing 3200, the upper surface of the second housing 3200 is provided with a through hole 3300 for facilitating the needle cutting device 3000 to cut the needle of the drug dissolving device, and the side of the second housing 3200 is provided with an opening and closing door 3400;

[0127] The waste box conveying and lifting device 1 2900 includes two guide rails 2 2901, a support seat 1 2902, a rotating shaft 1 2903, a limit cover 2904, a cam 1 2905, a cam 2 2906, a waste box placement plate 1 2907, a motor 14 2908, a left transfer slider 2909, a right transfer slider 2910, a synchronous belt transmission component 8 2911, a motor 15 2912, a position sensor 5 2913, a wire plate 2914, a position sensor 6 2915, two guide rails 2 2901 is arranged parallel to the bottom surface of the frame 2800, and there are two groups of support seats 1 2902. The two groups of support seats 1 2902 are respectively arranged between the two guide rails 2901, and the two ends of the rotating shaft 1 2903 are respectively installed on the two groups of support seats 1 2902. The end of the rotating shaft 1 2903 is fixedly connected to the output end of the motor 14 2908, and the limit cover 2904 is arranged above the guide rail 2901. The two ends are respectively fixed with a cam 1 2905 and a cam 2906 which pass through the limit cover 2904 upwards, a waste box placing plate 1 2907 is arranged on the limit cover 2904, and a left transfer slider 2909 and a right transfer slider 2910 which are parallel to each other are fixed at the bottom of the waste box placing plate 1 2907, and the left transfer slider 2909 and the right transfer slider 2910 respectively pass through the limit cover 2904 and are slidably arranged on the two guide rails 2901, and the motor 15 2912 is installed on the On the bottom surface of the frame 2800, the motor 15 2912 drives the left transfer slider 2909 to move through the synchronous belt transmission assembly 8 2911, and the inner side of the left transfer slider 2909 is installed with a position sensor 5 2913 that provides its own position signal, and the line plate 2914 is vertically arranged on the bottom surface of the frame 2800, and the line plate 2914 is installed with a position sensor 6 2915 that provides the position signal of the waste box placement plate 1 2907;

[0128] The needle cutting device 3000 comprises a fixed motor seat 2 3001, a motor 16 3002, a synchronous belt drive assembly 9 3003, a screw translation assembly 7 3004, a screw translation assembly 8 3005, a fixed blade 3006, a movable blade 3007, a nut seat 3008, a nut seat 4 3009, a needle sealing tube body 3010, a rotating and swinging mechanism 3011, a sealing door 1 3012, and a position sensor 7 3013. The top of the frame 2 2800 is fixed with a needle sealing tube body 3010 that connects the upper and lower parts thereof. A sealing door 1 3012 is installed in the needle sealing tube body 3010. The top of the needle sealing tube body 3010 is provided with a fixed blade 3006. The fixed motor seat 2 3001 is arranged on the top of the frame 2 2800. The motor 16 3002 is installed on the fixed motor seat 2 3001. The motor sixteen 3002 drives the screw translation assembly seven 3004 and the screw translation assembly eight 3005 respectively through the synchronous belt transmission assembly nine 3003, the screw translation assembly seven 3004 drives the nut seat three 3008 to translate, the nut seat three 3008 is fixed with a mobile blade 3007, the mobile blade 3007 forms a docking with the fixed blade 3006 through translation, the mobile blade 3007 and the fixed blade 3006 are mutually displaced to cut off the needle of the dissolving device, the screw translation assembly eight 3005 drives the nut seat four 3009 to translate, the nut seat four 3009 drives the sealing door one 3012 to open or close through the rotating swing mechanism 3011, and the top lower surface of the frame two 2800 is installed with a position sensor seven 3013 for detecting whether the waste box for recycling needles of the dissolving device is full of needles;

[0129] The waste bin cover clamping device 1 3100 comprises a servo 2 3101, a fixed clamping member 3102, a movable clamping member 1 3103, a guide shaft 3104, a spring 3105, and a bearing seat 1 3106. The servo 2 3101 is arranged on the top of the frame 2 2800, the fixed clamping member 3102 is fixed to the lower surface of the top of the frame 2 2800, the output end of the servo 2 3101 is fixedly connected with the guide shaft 3104, the servo 2 3101 pushes the movable clamping member 1 3103 through the guide shaft 3104, the fixed clamping member 3102 and the movable clamping member 1 3103 are formed to clamp or release the waste bin cover, the bearing seat 1 3106 supports the guide shaft 3104, and a spring 3105 is arranged between the output end of the servo 2 3101 and the servo 2 3101;

[0130] The waste recycling and processing assembly 9 includes a waste box conveying and lifting device 3500, a waste box cover clamping device 3600, and a waste box sealing device 3700. The waste box conveying and lifting device 3500 and the waste box cover clamping device 3600 are respectively provided with two groups. The two groups of waste box conveying and lifting devices 3500 are used to move and lift the waste box for recycling ampoules and powder bottles and the waste box for recycling the dissolving device. The two groups of waste box cover clamping devices 3600 are respectively used to place the waste box cover for recycling ampoules and powder bottles and the waste box for recycling the dissolving device. The waste box cover of the medicine dissolving device is released to seal the box when the box is full. The waste box sealing device 3700 is used to separate the waste box for recovering the medicine dissolving device, ampoule bottle and powder bottle from the outside world. The waste box sealing device 3700 is provided with three groups. The three groups of waste box sealing devices 3700 correspond to the liquid extraction manipulator 4, the ampoule bottle processing assembly 3, and the mother liquid powder revolution and shaking assembly 2 upward respectively. When the medicine dissolving device, ampoule bottle and powder bottle are recovered, the waste box sealing device 3700 is in an open state, otherwise it is in a closed state;

[0131] The waste box conveying and lifting device 2 3500 includes a guide rail 3 3501, a motor 17 3502, a synchronous belt transmission component 10 3503, a translation plate 2 3504, a lifting and placing body 3505, a limit block 3506, a motor 18 3507, a synchronous belt transmission component 11 3508, and a cam 3 3509. The two guide rails 3 3501 are arranged in parallel on the bottom surface of the frame 1, and the motor 17 3502 is installed on the bottom surface of the frame 1. The motor 17 3502 is driven by the synchronous belt transmission component 10 3503. The second translation plate 3504 is driven to move on the third guide rail 3501, and the lifting and placing body 3505 is arranged above the second translation plate 3504. The second translation plate 3504 limits the synchronous displacement of the lifting and placing body 3505 with it through the limit block 3506. The motor 18 3507 drives the cam 3 3509 to rotate through the synchronous belt transmission component 11 3508, and the cam 3 3509 drives the lifting and placing body 3505 to rise or fall, so as to realize the movement of the waste box placed on the lifting and placing body 3505;

[0132] The waste bin cover clamping device 2 3600 comprises a support rod 3601, a mounting plate 3 3602, a motor 19 3603, a rotating hinge 3604, a pull rod 3605, a flip clamping member 1 3606, a flip clamping member 2 3607, and a rotating shaft 2 3608. The mounting plate 3 3602 is disposed above the waste bin conveying and lifting device 2 3500 and is supported by the support rod 3601. The motor 19 3603 is disposed on the upper surface of the mounting plate 3 3602. The output end of the motor 19 3603 is fixedly connected to the mounting plate 3 There is a rotating hinge 3604, a flip clamp 1 3606, and a flip clamp 2 3607 are respectively rotatably mounted on both sides of the mounting plate 3 3602 through a rotating shaft 2 3608, one end of two pull rods 3605 are respectively hingedly mounted on the two rotating shafts 2 3608, and the motor 19 3603 pulls the other end of the two pull rods 3605 through the rotating hinge 3604 to drive the flip clamp 1 3606 and the flip clamp 2 3607 to perform fan-shaped movement, so as to realize the release or clamping of the waste box cover;

[0133] The waste box sealing device 3700 includes a sealing box 3701, a screw stepper motor 3702, a sealing door 2 3703, a nut seat 5 3704, two sealing door guide support plates 3705, a roller 3706, and a drop hopper 3707. The sealing box 3701 is arranged in the mounting plate 3 3602. The sealing box 3701 is provided with a delivery channel 3708 that connects the mounting plate 3 3602 up and down. The screw stepper motor 3 3702 is installed in the sealing box 3701. The nut seat 5 3704 is screwed on the output end of the screw stepper motor 3 3702. The two sealing door guide support plates 3705 are respectively arranged on both sides of the nut seat 5 3704. The upper surfaces of the two sealing door guide support plates 3705 are provided with inner concave portions 3709. The roller 3706 is provided with a plurality of rollers 3707. 706 is located in the inner concave portion 3709, the bottom surface of the inner concave portion 3709 is provided with a high position 3710 and a low position 3711 with a height difference, a slope 3712 is provided between the high position 3710 and the low position 3711, the sealing door 2 3703 is provided in the sealing box 3701, the sealing door 2 3703 is rolled in the inner concave portion 3709 by the roller 3706, when the nut seat 5 3704 is close to the delivery channel 3708, the sealing door 2 3703 rises and closes the delivery channel 3708, when the nut seat 5 3704 is away from the delivery channel 3708, the sealing door 2 3703 descends and opens the delivery channel 3708, and the drop hopper 3707 is provided in the delivery channel 3708;

[0134] The liquid extraction manipulator 4 adopts the technology and structure of a drug dissolving device manipulator in a robot for efficiently and intelligently preparing intravenous infusion drugs disclosed in application number 201820058748.0, which belongs to the prior art and will not be described in detail here.

[0135] As a further solution of the present invention, the frame 1 is provided with a drug application buffer zone 11 and a drug dispensing work area 12, the mother liquid powder revolution and shaking assembly 2, the ampoule bottle processing assembly 3, the dissolver feeding assembly 7, the needle processing assembly 8, and the garbage recycling processing assembly 9 are located in the drug dispensing work area 12, the mother liquid powder drug application assembly 5 and the ampoule bottle drug application assembly 6 are located in the drug application buffer zone 11, the drug application buffer zone 11 is installed with a door frame 3 4300, the door frame 3 4300 is installed with an inner isolation gate assembly 4400 and an outer isolation gate assembly 4500, the inner isolation gate assembly 4400 is used to isolate the drug application buffer zone 11 from the drug dispensing work area 12, and the outer isolation gate assembly 4500 is used to isolate the drug application buffer zone 11 from the outside world;

[0136] The inner isolation gate assembly 4400 includes a mounting bracket 1 4401, a motor 21 4402, a rotating shaft 3 4403, a driving pulley 2 4404, a driven pulley 2 4405, a synchronous belt 2 4406, a mobile clamp 2 4407, a mobile glass door 1 4408, a position sensor 9 4409, and a stop bar 4410. The mounting bracket 1 4401 is fixedly connected to the inner side of the door frame 3 4300, and the motor 21 4402 is installed on the mounting bracket 1 4401. The output end of the motor 21 4402 is fixedly connected to the rotating shaft 3 4403. The motor 21 4402 drives the driving Pulley 2 4404, the active pulley 2 4404 is connected to the driven pulley 2 4405 through a synchronous belt 2 4406, and a height difference is formed between the active pulley 2 4404 and the driven pulley 2 4405, a movable glass door 1 4408 is installed on the synchronous belt 2 4406 through a movable clamp 2 4407, and the synchronous belt 2 4406 is used to drive the movable glass door 1 4408 to move, and the top and bottom of the mounting bracket 1 4401 are respectively installed with position sensors 9 4409 for detecting the active position of the movable glass door 1 4408, and the mounting bracket 1 4401 is horizontally provided with a stop bar 4410;

[0137] The outer isolation gate assembly 4500 includes a mounting bracket 2 4501, a motor 22 4502, a synchronous belt drive assembly 12 4503, a rotating shaft 4504, a driving pulley 3 4505, a synchronous belt 3 4506, a movable glass door 2 4507, a counterweight 4508, a guide cylinder 4509, a position sensor 10 4510, and a reinforcing rib 4511. The mounting bracket 2 4501 is fixedly connected to the outer side surface of the door frame 3 4300, and the motor 22 4502 is installed on the top of the mounting bracket 2 4501. The motor 22 4502 drives the rotating shaft 4 through the synchronous belt drive assembly 12 4503. 4504, the rotating shaft four 4504 drives the synchronous belt three 4506 through the active pulley three 4505, and the end of the synchronous belt three 4506 drives the movable glass door two 4507 to move, and the bottom of the movable glass door two 4507 is installed with a counterweight block 4508, and the bottom of the mounting bracket two 4501 is installed with a guide cylinder 4509 that can be sleeved with the counterweight block 4508, and the top and bottom of the mounting bracket two 4501 are respectively installed with a position sensor ten 4510 for detecting the active position of the movable glass door two 4507, and the mounting bracket two 4501 is horizontally provided with a reinforcing rib 4511.

[0138] As a further solution of the present invention, the powder bottle fixture 203 includes a fixture body 2031, a clamping shaft 2032, a spring pressure block 2033, a spring four 2034, and a powder bottle clamp 2035. The fixture body 2031 is a hollow structure, and one side of the fixture body 2031 is hingedly installed with multiple pairs of powder bottle clamps 2035 for clamping the bottleneck of the powder bottle. Each of the powder bottle clamps 2035 is connected to the clamping shaft 2032 disposed in the fixture body 2031, and each pair of the powder A spring pressure block 2033 is provided between the bottle clamping jaws 2035, and a spring four 2034 is installed at the bottom of the spring pressure block 2033. The two ends of the treatment body 2031 are respectively provided with pin holes 2036 that cooperate with the pin docking assembly 908. The upper surface of the treatment body 2031 is provided with a plurality of powder bottle placement grooves 2037 that cooperate with each pair of powder bottle clamping jaws 2035. The powder bottle fixture seat 202 is provided with left and right rails 2038 that cooperate with the treatment body 2031.

[0139] As a further solution of the present invention, the mother liquid bottle fixture 302 includes a second fixture body 3021, a clamping body 3022, a receiving block 3023, a pressure cover 3024, a locking hook 3025, and a spring 5 3026. The clamping body 3022 is arranged on the upper surface of the second fixture body 3021, and a plurality of receiving blocks 3023 are installed on the clamping body 3022. The receiving blocks 3023 are all movably installed with pressure covers 3024, which are used to fix the bottle mouth position of the mother liquid bottle. The pressure cover 3024 is connected to the receiving block 3023 through a locking hook 3025, and a spring 5 3026 is installed in the receiving block 3023. The two ends of the spring 5 3026 are respectively in contact with the mother liquid bottle and the receiving block 3023. The upper surface of the second treatment body 3021 is provided with a mother liquid bottle placement groove 3027 that cooperates with the clamping body 3022, and the mother liquid bottle fixture seat 301 is provided with left and right rails 3028 that cooperate with the second treatment body 3021.

[0140] As a further solution of the present invention, the lifting and rotating mechanism 1 1202 and the lifting and rotating mechanism 2 1402 are both composed of a lifting assembly 4600 and a rotating assembly 4700. The lifting mechanism 1613 has the same structural composition as the lifting assembly 4600. The lifting assembly 4600 includes a lifting motor 4601, a fixed bracket 1 4602, a screw rod 3 4603, a lifting body 4604, a rotating lifting shaft 4605, and a receiving plate 4606. The fixed bracket 1 4602 is arranged on the machine In the box 1100, a lifting motor 4601 is installed at the bottom of the fixed bracket 1 4602, the end of the screw rod 3 4603 is fixedly connected to the output end of the lifting motor 4601, the lifting body 4604 cooperates with the screw rod 3 4603 to form a spiral pair transmission, and the lifting body 4604 and the fixed bracket 1 4602 are slidably matched, and a rotating lifting shaft 4605 that rotates with it is installed on the top of the lifting body 4604, and the rotating lifting shaft 4605 passes through the fixed bracket 1 460 2 is fixedly connected to the receiving plate 4606, the rotating assembly 4700 includes a fixed bracket 2 4701, a driving pulley 4 4702, a driven pulley 3 4703, a synchronous belt 4 4704, and a rotating motor 4705, the fixed bracket 2 4701 is arranged on the side of the fixed bracket 1 4602, the rotating motor 4705 is installed on the fixed bracket 2 4701, the driving pulley 4 4702 is fixedly connected to the output end of the rotating motor 4705, and the driven pulley 3 4703 is installed on the rotating lifting The lifting and rotating mechanism 1 1202 is connected with the receiving plate 4606 of the receiving seat 1 1203, the receiving plate 4606 of the lifting and rotating mechanism 2 1402 is connected with the receiving seat 2 1403, and the receiving plate 4606 of the lifting and rotating mechanism 1613 is connected with the receiving seat 3 1603.

[0141] As a further solution of the present invention, the frame 1 is also equipped with a weighing device 13, an air purification device 14 and a computer control panel 15, and the housing 10 is provided with an opening and closing door 2 16.

[0142] As a further solution of the present invention, the ampoule bottle processing assembly 3 further includes an ampoule assembly rotating support assembly 4800 and a cam handle assembly 4900. The chassis 1100 can be rotated around the ampoule assembly rotating support assembly 4800, and the chassis 1100 can be released or fixed by the cam handle assembly 4900.

[0143] The ampoule assembly rotating support component 4800 comprises a fixed tube body 4801, an angular contact bearing 4802, a bearing spacer sleeve 4803, a rotating tube body 4804, a cover 4805, and a top cover 4806. The fixed tube body 4801 is vertically arranged on the upper surface of the frame 1, the cover 4805 is arranged on the top of the fixed tube body 4801, the top cover 4806 covers the cover 4805, the rotating tube body 4804 is sleeved on the fixed tube body 4801, the angular contact bearing 4802 is provided with two groups, the two groups of angular contact bearings 4802 are arranged between the rotating tube body 4804 and the fixed tube body 4801, and the bearing spacer sleeve 4803 is arranged between the two groups of angular contact bearings 4802;

[0144] The cam handle assembly 4900 includes a cam handle 4901, an ampoule assembly locking block 4902, a handle fixing seat 4903, a micro switch driving block 4904, and a micro switch 4905. The ampoule assembly locking block 4902 is arranged on the upper surface of the frame 1, the handle fixing seat 4903 is arranged in the ampoule assembly locking block 4902, the cam handle 4901 is installed on the outer side of the handle fixing seat 4903, the cam handle 4901 drives the micro switch 4905 through the micro switch driving block 4904, and the side of the chassis 1100 is provided with a clamping hole 4906 that can be clamped with the micro switch 4905.

[0145] Working principle of the robot: The robot is in the initial state. In the drug loading buffer 11, multiple sets of mother liquid bottle jigs 302 with mother liquid bottles are placed on the mother liquid bottle jig translation device 800, multiple sets of powder bottle jigs 203 with powder bottles are placed on the powder bottle jig translation device 900, and the ampoule bottle support jig 2000 with multiple ampoules is placed on the ampoule bottle drug loading assembly 6. At the same time, several dissolvers are placed on the dissolver loading assembly 7. The waste box placement slot 2600 and the needle processing assembly 8 in the dissolver loading assembly 7 are placed on the ampoule bottle drug loading assembly 6. The waste bin placement plate 1 2907 in the waste collection and treatment assembly 9 and the lifting placement body 3505 in the waste collection and treatment assembly 9 are used to place the corresponding waste bins, and then the opening and closing door 1 3400 and the opening and closing door 2 16 are closed. At the same time, the movable glass door 2 4507 in the outer isolation gate assembly 4500 is closed to seal the medicine buffer area 11. The air purification device 14 starts to perform air purification on the medicine buffer area 11 and the medicine dispensing work area 12 respectively. After the air purification is completed, the movable glass door 1 4408 in the inner isolation gate assembly 4400 is opened, and the dissolving device loading assembly 7 is installed. The ampoule bottle support fixture 2000 moves and approaches the ampoule bottle processing assembly 3, the drug application translation support device 1000 makes the mother liquid bottle fixture translation device 800 and the powder bottle fixture translation device 900 move and approach the mother liquid powder revolution and shaking assembly 2, the mother liquid bottle fixture translation device 800 pushes the mother liquid bottle fixture 302 onto the mother liquid bottle fixture seat 301, and the powder bottle fixture translation device 900 pushes the powder bottle fixture 203 onto the powder bottle fixture seat 202, the mother liquid powder revolution and shaking assembly 2 revolves as a whole, and the side of the mother liquid powder revolution and shaking assembly 2 that is not applied with the drug is moved. Towards the mother liquid powder medicine-loading assembly 5, the other side with medicine-loaded faces the liquid extraction manipulator 4, the mother liquid powder medicine-loading assembly 5 repeats the medicine-loading operation, the liquid extraction manipulator 4 takes the dissolver from the dissolver loading assembly 7, inserts the needle of the dissolver into the detection port 2503, detects the concentricity offset of the needle tip, and places it on the weighing device 13 to measure the weight of the dissolver, and then moves to the front of the mother liquid bottle fixture 302 according to the pre-set motion trajectory, inserts the dissolver into the mother liquid bottle and accurately extracts liquid, and the dissolver carried by the liquid extraction manipulator 4 retreats to a safe position for standby;

[0146] The powder bottle fixture seat 202 rotates to the injection position according to the set angle, and uses the disinfection device 700 to perform the disinfection operation. The liquid extraction manipulator 4 injects all the extracted mother liquid into the powder bottle. The powder bottle fixture seat 202 in the powder bottle rotating and shaking device 200 starts to rotate, and the powder and mother liquid in the powder bottle are shaken and dissolved. Then the liquid extraction manipulator 4 extracts the mother liquid bottle and injects the powder bottle. While the powder bottle rotating and shaking device 200 performs a series of actions to shake the powder bottle, the ampoule bottle processing assembly 3 is also performing the ampoule bottle processing operation at the same time;

[0147] The ampoule bottle transport device 1200 in the ampoule bottle handling assembly 3 clamps the ampoule bottle from the ampoule bottle supporting fixture 2000 and transports it to the position of the three-claw rotating clamp 1309 in the ampoule bottle positioning and lifting device 1300. The ampoule bottle is clamped by the three-claw rotating clamp 1309. First, the motor eight 1305 in the ampoule bottle positioning and lifting device 1300 is actuated to rotate the ampoule bottle as a whole. While the ampoule bottle is rotating, the disinfection device two 1500 disinfects the bottleneck of the ampoule bottle, and then the cutter body 1401 starts to move, with The diamond knife wheel 1406 on the cutter body 1401 approaches the bottleneck of the ampoule bottle, and the ampoule bottle rotates again. The diamond knife wheel 1406 cuts a cutting mark on the bottleneck of the ampoule bottle, and then the motor 1302 in the ampoule bottle positioning and lifting device 1300 is actuated to make the movable bracket 1301 rotate with the ampoule bottle, and the ampoule bottle is swung to the ampoule bottle breaking device 1600, and the ampoule bottle breaking device 1600 is actuated to break the ampoule bottle along the cutting mark of the bottleneck; the dissolving device carried by the liquid extraction robot 4 is inserted into the mouth of the ampoule bottle And accurately extract the liquid, at the same time, the movable bracket 1301 will rotate, tilt the ampoule bottle, cooperate with the liquid extraction work of the liquid extraction robot 4, the screw stepper motor 1316 in the ampoule bottle positioning and lifting device 1300 will move, and the lifting rod 1317 will be used to push the ampoule bottle that has been exhausted out of the three-claw rotating clamp 1309, and the pushed out ampoule bottle and the broken ampoule bottle cap will fall into the drop hopper 3707 and be discarded into a group of waste boxes in the garbage recycling and processing assembly 9; after the powder bottle rotating and shaking device 200 completes the shaking action, The dissolver carried by the liquid extraction manipulator 4 is on standby at the extraction and injection position, and the dissolver will extract the ampoule solution into the mother solution bottle, and then extract the dissolved mixed solution of the powder bottle and inject it into the mother solution bottle. After a series of actions such as extraction and injection are completed, the dissolver carried by the liquid extraction manipulator 4 moves to the lens of the CCD industrial camera 2400, photographs the residual liquid medicine in the dissolver, uses a weighing device to measure the current weight of the dissolver, and automatically calculates the residual liquid medicine in the dissolver to prevent deviation in the amount of medicine when the liquid medicine is extracted, so as to achieve accurate dispensing;

[0148] The motor 2 303 in the mother liquid bottle rotating and shaking device 300 is actuated to rotate the mother liquid bottle fixture seat 301 to shake and dissolve the mixed solution in the mother liquid bottle. The powder bottle rotating and shaking device 200 rotates the powder bottle fixture seat 202 downward, and then the powder bottle clamp 2035 releases the powder bottle, and the spring pressure block 2033 pushes the powder bottle out of the powder bottle clamp 2035. The powder bottle falls into the drop hopper 3707 and is discarded into a group of waste bins in the garbage recycling and processing assembly 9. The drug dissolving device carried by the liquid extraction manipulator 4 is processed by the needle processing assembly 8 for needle cutting. The cut drug dissolver is discarded into another set of waste bins in the garbage recycling assembly 9 and recycled separately from the used ampoules and powder bottles; finally, the mother liquid powder revolution and shaking assembly 2 revolves as a whole, and the powder bottle rotation and shaking devices 200 and the mother liquid bottle rotation and shaking devices 300 on both sides exchange positions again, and the liquid extraction robot 4 continues to perform the dispensing operation, and the electromagnet pushing block 802 in the mother liquid bottle fixture translation device 800 adsorbs the mother liquid bottle fixture 301, and recycles the mother liquid bottle after the dispensing is completed, and the powder bottle fixture translation device 900 recycles the empty powder bottle fixture 203.

[0149] The present invention also provides an intravenous drug dispensing robot that implements intravenous drug dispensing operations based on the control of an operating system. The operating system includes a drug dispensing management system, an automatic drug loading and unloading system, a setting management system, and a drug dispensing information processing system. The drug dispensing management system includes an HIS system docking module, a drug dispensing information verification module, a medicine bottle detection and identification module, a drug dispensing process planning module, an accurate drug dosage control module, and a drug dispensing report module. The automatic drug loading and unloading system includes a mother liquid drug loading module, a powder drug loading module, and an ampoule drug loading module. The setting management system includes a user management module, a drug configuration parameter modification module, and a drug dispensing control optional function setting module. The drug dispensing information processing system includes a video monitoring module, a drug dispensing history recording module, and a prescription management module.

[0150] The operating system controlled medication dispensing method comprises the following steps:

[0151] S1: The operating system starts initialization, downloads the prescription information from the HIS system, and automatically reviews the prescription information to confirm the correctness of the prescription information. If the prescription information is incorrect, it will standby and alarm;

[0152] S2: Scan the QR code of the medicine bottle and obtain the information of the medicine bottle, automatically check whether the prescription information and the bottle information are consistent, if the prescription information and the bottle information are consistent, generate the dispensing information, automatically transport and load the medicine bottle, and the operating system enters the ready state for dispensing, otherwise an alarm prompts, check the medicine bottle and check again after correction;

[0153] S3: Check whether the robot has normal dispensing conditions. If so, start the dispensing program. Otherwise, alarm, wait, and check again after the robot is corrected.

[0154] S4: The robot performs the disinfection of the medicine bottle according to the dispensing procedure, and then the dissolving device loading assembly 7 with the dissolving device is placed to remove the needle cover of the dissolving device from the dissolving device, and the liquid extraction manipulator 4 takes the dissolving device with the needle cover removed, and uses the optical fiber sensor 2502 to detect the concentricity offset of the needle tip of the dissolving device, and uses the weighing device 13 to measure the weight of the dissolving device;

[0155] S5: the liquid extraction manipulator 4 uses the dissolver to extract the mother liquid from the mother liquid bottle as a solvent, injects the mother liquid into the powder bottle, the mother liquid powder revolution shaking assembly 2 shakes and dissolves the powder bottle, and then extracts the corresponding amount of mixed liquid from the powder bottle and injects it into the mother liquid bottle, the ampoule bottle processing assembly 3 clamps, transports, disinfects, cuts, and breaks the ampoule bottle, uses the dissolver to extract the corresponding amount of liquid from the ampoule bottle with the bottle head broken off and injects it into the mother liquid bottle, uses the CCD industrial camera 2400 to shoot the current dissolver, and uses the weighing device 13 to measure the current weight of the dissolver, calculates the residual liquid in the dissolver, and ensures that the liquid is drained cleanly and the dispensing accuracy;

[0156] S6: After the dispensing operation is completed, the mother liquid powder loading assembly 5 recycles the mother liquid bottle with the prepared medicine solution, the needle processing assembly 8 cuts the needle of the dissolving device, and the used powder bottle and ampoule bottle, and the dissolving device after the needle is cut are discarded into the garbage recycling processing assembly 9, and the operating system generates a dispensing completion report.

[0157] It should be pointed out here that the motors, sensors, etc. inside the machines such as the mother liquid powder revolution and shaking assembly 2, the ampoule bottle processing assembly 3, the liquid extraction robot 4, the mother liquid powder loading assembly 5, the ampoule bottle loading assembly 6, the dissolver loading assembly 7, the needle processing assembly 8, the garbage recycling processing assembly 9 and the loading buffer zone 11 are all controlled by the computer, and their circuit connection relationship is not described in detail here, but it does not affect the integrity of this technical solution.

[0158] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0159] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An intravenous drug dispensing robot, comprising a frame (1), wherein the frame (1) is equipped with a mother liquid powder revolution and homogenization assembly (2), an ampoule bottle processing assembly (3) and a liquid extraction manipulator (4), characterized in that: The machine also includes a mother liquid powder medicine loading assembly (5), an ampoule bottle medicine loading assembly (6), a dissolving device feeding assembly (7), a needle processing assembly (8), and a garbage recycling processing assembly (9) installed on a frame (1). The frame (1) is also fixed with a housing (10) on the outside, and the mother liquid powder revolution and shaking assembly (2), the ampoule bottle processing assembly (3), the liquid extraction manipulator (4), the dissolving device feeding assembly (7), the needle processing assembly (8), the garbage recycling processing assembly (9), the mother liquid powder medicine loading assembly (5), and the ampoule bottle medicine loading assembly (6) are encapsulated inside. The mother liquid powder medicine loading assembly (5) is used to transport mother liquid bottles and powder bottles to the mother liquid powder revolution and shaking assembly (2). The liquid extraction manipulator (4) takes the dissolving device from the dissolving device feeding assembly (7), and The mother liquid in the mother liquid bottle is pumped into the powder bottle through the dissolving device, and the mother liquid powder revolution and shaking assembly (2) is driven to mix and shake the mother liquid and powder in the powder bottle. The ampoule bottle processing assembly (3) can take the ampoule bottle from the ampoule bottle drug loading assembly (6) and cut and break the ampoule bottle. The liquid extraction manipulator (4) sequentially pumps the liquid medicine in the ampoule bottle, the mixed mother liquid and the powder mixture into the mother liquid bottle through the dissolving device for mixing. The mother liquid powder drug loading assembly (5) recovers the mother liquid bottle containing the mixed liquid medicine, mother liquid and powder in the ampoule bottle. The needle processing assembly (8) is used to cut the needle of the dissolving device after the drug is prepared. The garbage recycling processing assembly (9) is used to recover the dissolving device after the needle is cut, the used ampoule bottle and the powder bottle. The mother liquid powder revolution and shaking assembly (2) comprises a revolution base (100), a powder bottle rotation and shaking device (200), a mother liquid bottle rotation and shaking device (300), a harmonic reducer (400), a synchronous belt transmission component (500), a revolution shaft (600) and a disinfection device (700), wherein the two sides of the revolution base (100) are symmetrically provided with an upper support body (101) and a lower support body (102), and the two sides of the revolution base (100) are respectively installed with a group of powder bottle rotation and shaking devices (200) and mother liquid bottle rotation and shaking devices (300). 0), the powder bottle rotating and shaking device (200) is located on the upper support body (101), the mother liquid bottle rotating and shaking device (300) is located on the lower support body (102), the revolution shaft (600) is fixedly connected to the bottom of the revolution base (100), the harmonic reducer 1 (400) drives the revolution shaft (600) to rotate through the synchronous belt transmission component 1 (500), the revolution shaft (600) drives the revolution base (100) to rotate, and the disinfection device 1 (700) is arranged on the top of the revolution base (100); The powder bottle rotating and shaking device (200) comprises a rotating mechanism (201), a powder bottle fixture seat (202), a powder bottle fixture (203), a motor (204), a synchronous belt transmission component (205) and a position sensor (206). The rotating mechanism (201) is mounted on the upper support body (101). The rotating mechanism (201) is fixed with a plurality of powder bottle fixture seats (202). Each of the powder bottle fixture seats (202) is detachably mounted on the rotating mechanism. A powder bottle fixture (203) for fixing the powder bottle is installed, the motor 1 (204) is arranged in the revolution base (100), the motor 1 (204) drives the rotating mechanism 1 (201) to rotate through the synchronous belt transmission component 2 (205), so that the powder bottle rotates around the rotating mechanism 1 (201), and the upper support body (101) is provided with a position sensor 1 (206) for controlling the rotation angle of the rotating mechanism 1 (201); The mother liquid bottle rotating and shaking device (300) comprises a mother liquid bottle fixture seat (301), a mother liquid bottle fixture (302), a second motor (303), a third synchronous belt transmission component (304) and a second position sensor (305); the mother liquid bottle fixture seat (301) is mounted on the lower support body (102); the mother liquid bottle fixture seat (301) is detachably mounted with a mother liquid bottle fixture (302) for fixing the mother liquid bottle; the second motor (303) is arranged in the revolving base (100); the second motor (303) drives the mother liquid bottle fixture seat (301) to rotate through the third synchronous belt transmission component (304); and the second position sensor (305) for controlling the rotation angle of the mother liquid bottle fixture seat (301) is arranged on the lower support body (102); The disinfection device 1 (700) comprises a solenoid valve (701), a nozzle 1 (702), and a liquid spray control component 1 (703); the input end of the solenoid valve (701) is connected to a disinfectant container, the output end of the solenoid valve (701) is connected to the nozzle 1 (702), and the liquid spray control component 1 (703) controls the nozzle 1 (702) to open or close, so as to spray the disinfectant on the powder bottle; The mother liquid powder medicine applying assembly (5) comprises a mother liquid bottle jig translation device (800) capable of conveying and assembling the mother liquid bottle jig (302) onto the mother liquid bottle jig seat (301), a powder bottle jig translation device (900) capable of conveying and assembling the powder bottle jig (203) onto the powder bottle jig seat (202), and a medicine applying translation support device (1000) capable of moving the mother liquid bottle jig translation device (800) and the powder bottle jig translation device (900) into or out of the housing (10); The mother liquid bottle fixture translation device (800) comprises a machine base (801), an electromagnet push block (802), a motor (803), a screw translation assembly (804), and an RFID sensor (805). The upper surface of the machine base (801) is provided with a slide groove (806), the electromagnet push block (802) is arranged in the slide groove (806), the motor (803) is arranged in the machine base (801), the motor (803) drives the electromagnet push block (802) to translate through the screw translation assembly (804), so as to push the mother liquid bottle fixture (302) onto the mother liquid bottle fixture seat (301) through the electromagnet push block (802), the top of the machine base (801) is an inclined structure, and the RFID sensor (805) is arranged on the bottom surface of the slide groove (806); The powder bottle fixture translation device (900) comprises a machine base 2 (901), a translation plate 1 (902), a motor 4 (903), a motor 5 (904), a screw translation assembly 2 (905), a screw translation assembly 3 (906), a synchronous belt transmission assembly 4 (907), a latch docking assembly (908), a rotating shaft swing assembly 1 (909), an electric cylinder (910), a translation lifting shaft (911), and an RFID sensor 2 (912). The machine base 2 (901) is driven by a rotating shaft swing. The moving assembly 1 (909) is installed on the top of the machine base 1 (801), the motor 4 (903) is arranged on the upper surface of the machine base 2 (901), the translation plate 1 (902) is arranged above the machine base 2 (901), the motor 2 (303) drives the translation plate 1 (902) to translate through the screw translation assembly 2 (905), the motor 5 (904) is arranged on the lower surface of the translation plate 1 (902), the screw translation assembly 3 (906) and the latch docking assembly ( 908) are provided with two groups, the two groups of screw translation components three (906) are respectively arranged on the upper surfaces of both sides of the translation plate one (902), and are arranged parallel to each other, the motor five (904) drives the screw translation component three (906) through the synchronous belt transmission component four (907), so that the screw translation component three (906) drives the latch docking component (908) to translate, the electric cylinder (910) is arranged on the side of the machine base one (801), and the translation jacking shaft (911 ) is arranged on the side of the machine base two (901), and the electric cylinder (910) adjusts the inclination angle of the translation plate one (902) to be consistent with the inclination angle of the powder bottle fixture seat (202) through the translation lifting shaft (911), so as to first move the translation plate one (902) to make it fit with the powder bottle fixture seat (202), and then push the powder bottle fixture (203) onto the powder bottle fixture seat (202) through the latch docking assembly (908); The medicine application translation support device (1000) comprises a machine base three (1001), a motor six (1002), and a screw translation assembly four (1003). The motor six (1002) is arranged in the machine base three (1001). The motor six (1002) drives the machine base one (801) to translate through the screw translation assembly four (1003). The ampoule bottle processing assembly (3) is composed of a chassis 1 (1100), an ampoule bottle transport device (1200) for transporting the ampoule bottle, an ampoule bottle positioning and lifting device (1300) for positioning and lifting the ampoule bottle to make it fall, an ampoule bottle cutting device (1400) for cutting the top of the ampoule bottle, a disinfection device 2 (1500) for disinfecting the ampoule bottle before cutting, and an ampoule bottle breaking device (1600) for breaking the ampoule bottle after cutting; The ampoule bottle transport device (1200) comprises a clamping conveying body (1201) and a lifting and rotating mechanism (1202) for driving the clamping conveying body (1201) to lift and rotate. The clamping conveying body (1201) comprises a receiving seat (1203), a swing arm (1204), and a clamping manipulator (1205). The receiving seat (1203) is installed on the top of the chassis (1100). The top of the receiving seat (1203) is fixed with a swing arm (1204). The clamping manipulator (1205) is fixed to the end of the swing arm (1204). The ampoule positioning and lifting device (1300) comprises a movable bracket (1301), a motor seven (1302), a synchronous belt transmission component five (1303), a rotating arm (1304), a motor eight (1305), a motor nine (1306), a synchronous belt transmission component six (1307), an outer rotating drum (1308), a three-claw rotating clamp (1309), an inner rotating drum (1310), a mounting plate one (1311), an adjustment dial (1312), a spring one (1313), a swing rod (1314), a driving swing arm (1315), a screw stepping motor one (1316), a lifting rod (1317), a position sensor three (1318) and a position sensor four (1319). The movable bracket (1301) is provided with The movable bracket (1301) is arranged on the outer side of the chassis (1100), the motor (1302) is arranged in the chassis (1100), the motor (1302) drives the movable bracket (1301) to rotate through the synchronous belt transmission component (1303) and the rotating arm (1304), the outer rotating drum (1308) is rotatably arranged on the upper surface of the movable bracket (1301), the three-claw rotating clamp (1309) is fixed on the top of the outer rotating drum (1308), the inner rotating drum (1310) is arranged in the outer rotating drum (1308), the adjusting dial (1312) is fixed on the top of the inner rotating drum (1310), and the outer side of the outer rotating drum (1308) is horizontally provided with a mounting plate (13 11), a swing rod (1314) is horizontally fixed on the outer side surface of the inner rotating drum (1310), the swing rod (1314) passes through the outer rotating drum (1308) and is fixedly connected to the mounting plate 1 (1311) by a spring 1 (1313), the motor 8 (1305) and the motor 9 (1306) are respectively mounted on the movable bracket (1301), the motor 8 (1305) drives the outer rotating drum (1308) to rotate through the synchronous belt transmission component 6 (1307), and the movable bracket (1301) is also equipped with a position sensor 3 (1318) for controlling the rotation angle of the outer rotating drum (1308). When the motor 9 (1306) drives the swing arm (1314) to rotate, the position sensor 3 (1318) is used to control the rotation angle of the outer rotating drum (1308). When the inner drum (1310) is rotated by pushing the swing rod (1314) horizontally, the inner drum (1310) is driven by the adjusting dial (1312) to drive the three claws of the three-claw rotating clamp (1309) to move outward respectively, and the three-claw rotating clamp (1309) is in a state of releasing the ampoule bottle. When the driving swing arm (1315) is not in contact with the swing rod (1314), the three claws of the three-claw rotating clamp (1309) are respectively moved toward the center, and the three-claw rotating clamp (1309) is in a state of clamping the ampoule bottle. The screw stepper motor 1 (1316) is installed on the lower surface of the movable bracket (1301).The output end of the screw stepper motor 1 (1316) is fixedly connected to a lifting rod (1317) extending to the center of the three-claw rotating clamp (1309), and the movable bracket (1301) is installed with a position sensor 4 (1319) for providing a position signal of the lifting rod (1317); The ampoule cutting device (1400) comprises a cutter body (1401) and a lifting and rotating mechanism (1402) for driving the cutter body (1401) to lift and rotate. The cutter body (1401) comprises a receiving seat (1403), a swing arm (1404), a spring clamping assembly (1405), and a diamond cutter wheel (1406). The receiving seat (1403) is mounted on the top of the chassis (1100). The swing arm (1404) is fixed to the top of the receiving seat (1403). The spring clamping assembly (1405) is fixed to the end of the swing arm (1404). The diamond cutter wheel (1406) for cutting ampoules is fixed to the side of the spring clamping assembly (1405). The second disinfection device (1500) comprises a disinfection sprayer (1501) and a second nozzle (1502), wherein the disinfection sprayer (1501) is arranged on the top of the first chassis (1100), and the second nozzle (1502) is installed on the disinfection sprayer (1501), and the second nozzle (1502) corresponds to the bottleneck of the ampoule bottle placed on the ampoule bottle positioning and lifting device (1300); The ampoule breaking device (1600) comprises a bottle breaking body (1601), a lifting mechanism (1613) for driving the bottle breaking body (1601) to rise and fall, and a bottle cap baffle assembly (1602); the bottle breaking body (1601) comprises a receiving seat three (1603), a breaking box (1604), a motor ten (1605), a rotating disk (1606), a rotating breaking rod (1607), a fixed breaking rod (1608), and a protective cover (1609); the bottle cap baffle assembly (1602) comprises a steering gear one (1610), a locking member (1611), and a baffle (1612); the receiving seat three (1603) is mounted on the top of the chassis one (1100); the breaking box (1604) is fixed on the top of the receiving seat three (1603); the breaking box (1604) is installed with a motor ten (1612) in the breaking box (1604); 1605), a rotating disk (1606) is rotatably provided on the end surface of the breaking box (1604), the output end of the motor ten (1605) is fixedly connected to the center of the rotating disk (1606), a rotating breaking rod (1607) is fixedly connected to the eccentric position of the rotating disk (1606), a fixed breaking rod (1608) parallel to the axial direction of the rotating breaking rod (1607) is fixed to the end surface of the breaking box (1604), a protective cover (1609) is fixed to the end surface of the breaking box (1604), a steering gear one (1610) is installed in the breaking box (1604), the steering gear one (1610) drives the baffle (1612) to move through the locking member (1611), and the baffle (1612) moves horizontally under the protective cover (1609); The ampoule bottle medicine loading assembly (6) comprises a chassis 2 (1700), a motor 11 (1800), a screw translation assembly 5 (1900), and an ampoule bottle supporting fixture (2000). The motor 11 (1800) is arranged on the chassis 2 (1700). The motor 11 (1800) drives the ampoule bottle supporting fixture (2000) for placing the ampoule bottle to translate through the screw translation assembly 5 (1900) to move the ampoule bottle supporting fixture (2000) to facilitate the clamping and conveying body (1201) to clamp and convey the ampoule bottle. The drug dissolving device feeding assembly (7) comprises a door frame (2100), a drug dissolving device clamping and lifting device (2200), a drug dissolving device needle sheath removal device (2300), a CCD industrial camera (2400), and a needle tip concentricity detection device (2500). The drug dissolving device clamping and lifting device (2200) is mounted in the door frame (2100), the drug dissolving device needle sheath removal device (2300) is arranged in the door frame (2100), the CCD industrial camera (2400) and the needle tip concentricity detection device (2500) are respectively arranged on the outer side surface of the door frame (2100), the outer side surface of the door frame (2100) is provided with a waste box placement groove (2600), and the inner side of the door frame (2100) is provided with a needle sheath discharge pipe (2700) connected to the waste box placement groove (2600); The drug dissolving container clamping and lifting device (2200) comprises a motor twelve (2201), a synchronous belt transmission component seven (2202), and a plurality of drug dissolving container clamps (2203). The motor twelve (2201) drives the plurality of drug dissolving container clamps (2203) for clamping the drug dissolving container through the synchronous belt transmission component seven (2202). The drug dissolving device needle sleeve removal device (2300) comprises a guide rail 1 (2301), a movable motor seat 1 (2302), a fixed motor seat 1 (2303), a motor 13 (2304), a screw translation assembly 6 (2305), a nut seat 1 (2306), left and right clamping members (2307), a spring 2 (2308), a screw stepping motor 2 (2309), and a nut seat 2 (2310). The guide rail 1 (2301) is horizontally arranged on the inner side surface of the door frame 1 (2100), the movable motor seat 1 (2302) is slidably arranged on the guide rail 1 (2301), the movable motor seat 1 (2302) is fixed with a nut seat 1 (2306), the fixed motor seat 1 (2303) is arranged on the inner side surface of the door frame 1 (2100), the motor 13 (2304) is installed on the fixed motor seat 1 (2303), and the motor 13 (2304) is driven by a screw. The translation component 6 (2305) drives the nut seat 1 (2306) to translate, the left and right clamping members (2307) are arranged on the mobile motor seat 1 (2302), the left and right clamping members (2307) form a clamping state through the spring 2 (2308), the screw stepper motor 2 (2309) is installed on the mobile motor seat 1 (2302), and the nut seat 2 (2310) is screwed to the output end of the screw stepper motor 2 (2309). A separation cone (2311) is provided on the bottom side of the second nut seat (2310), and the second screw stepper motor (2309) moves the separation cone (2311) through the second nut seat (2310) to insert the separation cone (2311) between the left and right clamping members (2307), so that the left and right clamping members (2307) are separated, so that the left and right clamping members (2307) clamp the needle sleeve of the drug dissolving device and separate it from the drug dissolving device; The needle tip concentricity detection device (2500) comprises a second mounting plate (2501) and an optical fiber sensor (2502); the second mounting plate (2501) is provided with a detection port (2503), and the optical fiber sensor (2502) is arranged in the detection port (2503); The needle handling assembly (8) comprises a frame 2 (2800), a waste box conveying and lifting device 1 (2900) for moving and lifting the waste box for recovering needles of the dissolving device, a needle cutting device (3000) for cutting off needles of the dissolving device, and a waste box cover clamping device 1 (3100) for placing the cover of the waste box for needles of the dissolving device, wherein the waste box conveying and lifting device 1 (2900) is installed at the bottom of the frame 2 (2800), and the needle cutting device (3000) and the waste box cover clamping device 1 (3100) are respectively installed at the bottom of the frame 2 (2800). The top of the second frame (2800), the second frame (2800) is provided with a second housing (3200) outside, the needle head cutting device (3000), the first waste bin cover clamping device (3100), and the first waste bin conveying and lifting device (2900) are respectively encapsulated inside the second housing (3200), the upper surface of the second housing (3200) is provided with a through hole (3300) for facilitating the needle head cutting device (3000) to cut the needle head of the drug dissolving device, and the side of the second housing (3200) is provided with an opening and closing door (3400); The waste box conveying and lifting device 1 (2900) comprises two guide rails 2 (2901), a support seat 1 (2902), a rotating shaft 1 (2903), a limit cover (2904), a cam 1 (2905), a cam 2 (2906), a waste box placing plate 1 (2907), a motor 14 (2908), a left transfer slider (2909), a right transfer slider (2910), a synchronous belt transmission component 8 (2911), a motor 15 (2912), a position sensor 5 (2913), a wire passing plate (2914), and a position sensor 6 (2915). The two guide rails (2901) are arranged in parallel on the bottom surface of the frame (2800), the support seat (2902) is provided with two groups, the two groups of support seats (2902) are respectively arranged between the two guide rails (2901), the two ends of the rotating shaft (2903) are respectively installed on the two groups of support seats (2902), the end of the rotating shaft (2903) is fixedly connected to the output end of the motor (2908), the limit cover (2904) is arranged above the guide rail (2901), and the rotating shaft (29 03) are respectively fixedly connected at both ends with a cam 1 (2905) and a cam 2 (2906) which pass through the limit cover (2904) upwards, a waste box placement plate 1 (2907) is arranged on the limit cover (2904), and a left transfer slider (2909) and a right transfer slider (2910) which are parallel to each other are fixed at the bottom of the waste box placement plate 1 (2907), and the left transfer slider (2909) and the right transfer slider (2910) respectively pass through the limit cover (2904) and are slidably arranged on the two guide rails 2 (2901), and a motor 15 (2912) is installed On the bottom surface of the frame 2 (2800), the motor 15 (2912) drives the left transfer slider (2909) to move through the synchronous belt drive assembly 8 (2911), and the inner side of the left transfer slider (2909) is installed with a position sensor 5 (2913) that provides its own position signal, and the line plate (2914) is vertically arranged on the bottom surface of the frame 2 (2800), and the line plate (2914) is installed with a position sensor 6 (2915) that provides the position signal of the waste box placement plate 1 (2907); The needle cutting device (3000) comprises a fixed motor seat 2 (3001), a motor 16 (3002), a synchronous belt transmission assembly 9 (3003), a screw translation assembly 7 (3004), a screw translation assembly 8 (3005), a fixed blade (3006), a movable blade (3007), a nut seat 3 (3008), a nut seat 4 (3009), a needle sealing tube body (3010), a rotating swing mechanism (3011), a sealing door 1 (3012), a position Sensor seven (3013), a needle sealing tube body (3010) is fixed on the top of the frame two (2800) to communicate with each other, a sealing door one (3012) is installed in the needle sealing tube body (3010), a fixed blade (3006) is arranged on the top of the needle sealing tube body (3010), a fixed motor seat two (3001) is arranged on the top of the frame two (2800), and a motor sixteen (3002) is installed on the fixed motor seat two (30 01), the motor sixteen (3002) drives the screw translation component seven (3004) and the screw translation component eight (3005) respectively through the synchronous belt transmission component nine (3003), the screw translation component seven (3004) drives the nut seat three (3008) to translate, the nut seat three (3008) is fixed with a moving blade (3007), the moving blade (3007) is connected to the fixed blade (3006) by translation, and the moving The blade (3007) and the fixed blade (3006) are mutually offset to cut off the needle of the drug dissolving device, the screw translation assembly eight (3005) drives the nut seat four (3009) to translate, and the nut seat four (3009) drives the sealing door one (3012) to open or close through the rotating swing mechanism (3011), and the top lower surface of the frame two (2800) is installed with a position sensor seven (3013) for detecting whether the waste box for recovering needles of the drug dissolving device is full of needles; The waste bin cover clamping device 1 (3100) comprises a servo 2 (3101), a fixed clamping member (3102), a movable clamping member 1 (3103), a guide shaft (3104), a spring 3 (3105), and a bearing seat 1 (3106). The servo 2 (3101) is arranged on the top of the frame 2 (2800), the fixed clamping member (3102) is fixed on the lower surface of the top of the frame 2 (2800), and the servo 2 (3101) is provided on the top of the frame 2 (2800). The output end is fixedly connected with a guide shaft (3104), the second servo engine (3101) pushes the first movable clamp (3103) through the guide shaft (3104), the fixed clamp (3102) and the first movable clamp (3103) are used to clamp or loosen the waste bin cover, the first bearing seat (3106) supports the guide shaft (3104), and a third spring (3105) is arranged between the first bearing seat (3106) and the output end of the second servo engine (3101); The waste recycling and processing assembly (9) comprises a second waste box conveying and lifting device (3500), a second waste box cover clamping device (3600), and a waste box sealing device (3700). The second waste box conveying and lifting device (3500) and the second waste box cover clamping device (3600) are respectively provided with two groups. The two groups of the second waste box conveying and lifting device (3500) are used to move and lift the waste box for recycling ampoules and powder bottles and the waste box for recycling the dissolving device. The two groups of the second waste box cover clamping device (3600) are respectively used to place the waste box cover for recycling ampoules and powder bottles and the waste box for recycling the dissolving device. The waste box cover of the drug dissolver is released to seal the box when the box is full. The waste box sealing device (3700) is used to separate the waste box for recovering the drug dissolver, ampoule bottle and powder bottle from the outside world. The waste box sealing device (3700) is provided with three groups. The three groups of waste box sealing devices (3700) correspond to the liquid extraction manipulator (4), the ampoule bottle processing assembly (3) and the mother liquid powder revolution and shaking assembly (2) respectively. When recovering the drug dissolver, ampoule bottle and powder bottle, the waste box sealing device (3700) is in an open state, otherwise it is in a closed state. The waste box conveying and lifting device 2 (3500) comprises a guide rail 3 (3501), a motor 17 (3502), a synchronous belt transmission component 10 (3503), a translation plate 2 (3504), a lifting and placing body (3505), a limit block (3506), a motor 18 (3507), a synchronous belt transmission component 11 (3508), and a cam 3 (3509). The two guide rails 3 (3501) are arranged in parallel on the bottom surface of the frame 1 (1), the motor 17 (3502) is installed on the bottom surface of the frame 1 (1), and the motor 17 (3502) is driven by the synchronous belt transmission component 10 (350 3) to drive the second translation plate (3504) to move on the third guide rail (3501), the lifting and placing body (3505) is arranged above the second translation plate (3504), the second translation plate (3504) limits the synchronous displacement of the lifting and placing body (3505) with the lifting and placing body through the limit block (3506), the motor 18 (3507) drives the cam 3 (3509) to rotate through the synchronous belt transmission component 11 (3508), and the cam 3 (3509) drives the lifting and placing body (3505) to rise or fall, so as to realize the movement of the waste box placed on the lifting and placing body (3505); The waste bin cover clamping device 2 (3600) comprises a support rod (3601), a mounting plate 3 (3602), a motor 19 (3603), a rotating hinge (3604), a pull rod (3605), a flip clamping member 1 (3606), a flip clamping member 2 (3607), and a rotating shaft 2 (3608). The mounting plate 3 (3602) is arranged above the waste bin conveying and lifting device 2 (3500) and is supported by the support rod (3601). The motor 19 (3603) is arranged on the upper surface of the mounting plate 3 (3602). The output of the motor 19 (3603) The ends of the mounting plate (3602) are fixedly connected with a rotating hinge (3604), and the flip clamping piece (3606) and the flip clamping piece (3607) are respectively rotatably mounted on the two sides of the mounting plate (3602) through the rotating shaft (3608). One end of the two pull rods (3605) are respectively hingedly mounted on the two rotating shafts (3608). The motor (3603) pulls the other end of the two pull rods (3605) through the rotating hinge (3604) to drive the flip clamping piece (3606) and the flip clamping piece (3607) to perform fan-shaped movement, thereby realizing the release or clamping of the waste box cover; The waste box sealing device (3700) comprises a sealing box (3701), a screw stepping motor three (3702), a sealing door two (3703), a nut seat five (3704), two sealing door guide support plates (3705), a roller (3706), and a drop hopper (3707). The sealing box (3701) is arranged in the mounting plate three (3602). The sealing box (3701) is provided with a mechanism for enabling the mounting plate three (3602) to move upward and downward. The sealing box (3701) is provided with a delivery channel (3708) connected thereto, a screw stepper motor (3702) is installed in the sealing box (3701), a nut seat (3704) is screwed to the output end of the screw stepper motor (3702), two sealing door guide support plates (3705) are respectively arranged on both sides of the nut seat (3704), and the upper surfaces of the two sealing door guide support plates (3705) are provided with inner concave portions (3709), and the roller (37 06) is located in the inner concave portion (3709), the bottom surface of the inner concave portion (3709) is provided with a high position (3710) and a low position (3711) with a height difference, a slope (3712) is provided between the high position (3710) and the low position (3711), the sealing door 2 (3703) is provided in the sealing box (3701), and the sealing door 2 (3703) is rolled by the roller (3706) and is provided in the inner concave portion (37 09), when the nut seat five (3704) approaches the delivery channel (3708), the sealing door two (3703) rises and closes the delivery channel (3708); when the nut seat five (3704) moves away from the delivery channel (3708), the sealing door two (3703) descends and opens the delivery channel (3708), and the drop hopper (3707) is set in the delivery channel (3708).

2. The intravenous drug preparation robot according to claim 1, characterized in that: The frame 1 (1) is provided with a drug application buffer zone (11) and a drug dispensing work zone (12); the mother liquid powder revolution and shaking assembly (2), the ampoule bottle processing assembly (3), the drug dissolving device loading assembly (7), the needle processing assembly (8), and the garbage recycling processing assembly (9) are located in the drug dispensing work zone (12); the mother liquid powder application assembly (5) and the ampoule bottle application assembly (6) are located in the drug application buffer zone ( 11), the drug application buffer zone (11) is installed with a door frame three (4300), and the door frame three (4300) is installed with an inner isolation gate assembly (4400) and an outer isolation gate assembly (4500), the inner isolation gate assembly (4400) is used to isolate the drug application buffer zone (11) from the drug dispensing work area (12), and the outer isolation gate assembly (4500) is used to isolate the drug application buffer zone (11) from the outside world; The inner isolation gate assembly (4400) includes a mounting bracket 1 (4401), a motor 21 (4402), a rotating shaft 3 (4403), a driving pulley 2 (4404), a driven pulley 2 (4405), a synchronous belt 2 (4406), a movable clamp 2 (4407), a movable glass door 1 (4408), a position sensor 9 (4409), and a stop bar (4410). The mounting bracket 1 (4401) is fixedly connected to the inner side surface of the door frame 3 (4300), the motor 21 (4402) is installed on the mounting bracket 1 (4401), the output end of the motor 21 (4402) is fixedly connected to the rotating shaft 3 (4403), and the motor 21 (4402) is driven by the rotating shaft 3 (4403). A second driving pulley (4404) is connected to a second driven pulley (4405) through a second synchronous belt (4406), and a height difference is formed between the second driving pulley (4404) and the second driven pulley (4405); a movable glass door (4408) is installed on the second synchronous belt (4406) through a second movable clamp (4407); the second synchronous belt (4406) is used to drive the movable glass door (4408) to move; a position sensor (4409) for detecting the active position of the movable glass door (4408) is installed at the top and bottom of the mounting bracket (4401), and a stop bar (4410) is horizontally arranged on the mounting bracket (4401); The external isolation gate assembly (4500) includes a mounting bracket 2 (4501), a motor 22 (4502), a synchronous belt drive assembly 12 (4503), a rotating shaft 4 (4504), a driving pulley 3 (4505), a synchronous belt 3 (4506), a movable glass door 2 (4507), a counterweight (4508), a guide cylinder (4509), a position sensor 10 (4510), and a reinforcing rib (4511). The mounting bracket 2 (4501) is fixedly connected to the outer side surface of the door frame 3 (4300), the motor 22 (4502) is installed on the top of the mounting bracket 2 (4501), and the motor 22 (4502) is driven to rotate through the synchronous belt drive assembly 12 (4503). Axle four (4504), the rotating shaft four (4504) drives synchronous belt three (4506) through active pulley three (4505), the end of synchronous belt three (4506) drives movable glass door two (4507) to move, a counterweight block (4508) is installed at the bottom of movable glass door two (4507), a guide cylinder (4509) which can be sleeved with the counterweight block (4508) is installed at the bottom of mounting bracket two (4501), position sensor ten (4510) for detecting the active position of movable glass door two (4507) is installed at the top and bottom of mounting bracket two (4501), and reinforcing ribs (4511) are horizontally arranged on mounting bracket two (4501).

3. The intravenous drug preparation robot according to claim 2, characterized in that: The powder bottle fixture (203) comprises a fixture body (2031), a clamping claw rotating shaft (2032), a spring pressure block (2033), a spring four (2034), and a powder bottle clamping claw (2035). The fixture body (2031) is a hollow structure. A plurality of pairs of powder bottle clamping claws (2035) for clamping the bottleneck of the powder bottle are hingedly installed on one side of the fixture body (2031). Each of the powder bottle clamping claws (2035) is connected to the clamping claw rotating shaft (2032) disposed in the fixture body (2031). Each pair of the powder bottle clamping claws (2035) is connected to the clamping claw rotating shaft (2032) disposed in the fixture body (2031). 5) are provided with a spring pressure block (2033), a spring four (2034) is installed at the bottom of the spring pressure block (2033), both ends of the treatment body one (2031) are provided with latch holes (2036) that cooperate with the latch docking assembly (908), the upper surface of the treatment body one (2031) is provided with a plurality of powder bottle placement grooves (2037) that cooperate with each pair of powder bottle clamps (2035), and the powder bottle fixture seat (202) is provided with left and right clamping rails one (2038) that cooperate with the treatment body one (2031).

4. The intravenous drug preparation robot according to claim 3, characterized in that: The mother liquid bottle fixture (302) comprises a second fixture body (3021), a clamping body (3022), a receiving block (3023), a pressure cover (3024), a locking hook (3025), and a spring (3026). The clamping body (3022) is arranged on the upper surface of the second fixture body (3021). A plurality of receiving blocks (3023) are installed on the clamping body (3022). The receiving blocks (3023) are all movably installed with pressure covers (3024) for fixing the bottle mouth position of the mother liquid bottle. The pressure cover (3024) is provided on the clamping body (3022). 24) is connected to the receiving block (3023) through a locking hook (3025), and a spring five (3026) is also installed in the receiving block (3023), and the two ends of the spring five (3026) are respectively in contact with the mother liquid bottle and the receiving block (3023), and the upper surface of the second treatment body (3021) is provided with a mother liquid bottle placement groove (3027) that cooperates with the clamping body (3022), and the mother liquid bottle fixture seat (301) is provided with left and right clamping rails (3028) that cooperate with the second treatment body (3021).

5. The intravenous drug preparation robot according to claim 4, characterized in that: The lifting and rotating mechanism 1 (1202) and the lifting and rotating mechanism 2 (1402) are both composed of a lifting assembly (4600) and a rotating assembly (4700). The lifting mechanism (1613) and the lifting assembly (4600) have the same structural composition. The lifting assembly (4600) includes a lifting motor (4601), a fixed bracket 1 (4602), a screw rod 3 (4603), a lifting body (4604), a rotating lifting shaft (4605), and a receiving plate (4606). The fixed bracket 1 (4602) is arranged in the chassis 1 (1100). The bottom of the fixed bracket (4602) is provided with a lifting motor (4601), the end of the screw rod (4603) is fixedly connected to the output end of the lifting motor (4601), the lifting body (4604) cooperates with the screw rod (4603) to form a spiral pair transmission, and the lifting body (4604) and the fixed bracket (4602) are slidably matched, and the top of the lifting body (4604) is provided with a rotating lifting shaft (4605) that is rotatably matched with the lifting body (4604), and the rotating lifting shaft (4605) passes through the top of the fixed bracket (4602) and is connected to the receiving The disk (4606) is fixedly connected, and the rotating assembly (4700) includes a fixed bracket 2 (4701), a driving pulley 4 (4702), a driven pulley 3 (4703), a synchronous belt 4 (4704), and a rotating motor (4705). The fixed bracket 2 (4701) is arranged on the side of the fixed bracket 1 (4602), the rotating motor (4705) is installed on the fixed bracket 2 (4701), the driving pulley 4 (4702) is fixedly connected to the output end of the rotating motor (4705), and the driven pulley 3 (4703) is installed on the rotating lifting shaft (4 605), and can drive the rotating lifting shaft (4605) to rotate, the active pulley four (4702) is connected to the driven pulley three (4703) through the synchronous belt four (4704), the receiving plate (4606) in the lifting and rotating mechanism one (1202) is fixedly connected to the receiving seat one (1203), the receiving plate (4606) in the lifting and rotating mechanism two (1402) is fixedly connected to the receiving seat two (1403), and the receiving plate (4606) in the lifting mechanism (1613) is fixedly connected to the receiving seat three (1603).

6. The intravenous drug preparation robot according to claim 5, characterized in that: The frame 1 (1) is also equipped with a weighing device (13), an air purification device (14) and a computer control panel (15), and the housing 1 (10) is provided with an opening and closing door 2 (16).

7. The intravenous drug preparation robot according to claim 6, characterized in that: The ampoule bottle handling assembly (3) further comprises an ampoule assembly rotating support assembly (4800) and a cam handle assembly (4900); the chassis one (1100) can be rotated around the ampoule assembly rotating support assembly (4800), and the chassis one (1100) can be released or fixed by the cam handle assembly (4900); The ampoule assembly rotating support component (4800) comprises a fixed tube body (4801), an angular contact bearing (4802), a bearing spacer sleeve (4803), a rotating tube body (4804), a cover (4805), and a top cover (4806); the fixed tube body (4801) is vertically arranged on the upper surface of the frame 1 (1); the cover (4805) is arranged on the top of the fixed tube body (4801); the top cover (4806) covers the cover (4805); the rotating tube body (4804) is sleeved on the fixed tube body (4801); the angular contact bearing (4802) is provided in two groups; the two groups of angular contact bearings (4802) are arranged between the rotating tube body (4804) and the fixed tube body (4801); and the bearing spacer sleeve (4803) is arranged between the two groups of angular contact bearings (4802); The cam handle assembly (4900) comprises a cam handle (4901), an ampoule assembly locking block (4902), a handle fixing seat (4903), a micro switch driving block (4904), and a micro switch (4905). The ampoule assembly locking block (4902) is arranged on the upper surface of the frame 1 (1), the handle fixing seat (4903) is arranged in the ampoule assembly locking block (4902), the cam handle (4901) is installed on the outer side of the handle fixing seat (4903), the cam handle (4901) drives the micro switch (4905) through the micro switch driving block (4904), and the side of the chassis 1 (1100) is provided with a clamping hole (4906) that can be clamped with the micro switch (4905).

8. The method for controlling the dispensing of intravenous drug solution by an operating system of a robot according to any one of claims 1 to 7, characterized in that: The intravenous drug dispensing robot implements the intravenous drug dispensing operation based on the control of the operating system. The operating system includes a drug dispensing management system, an automatic drug loading and unloading system, a setting management system and a drug dispensing information processing system. The drug dispensing management system includes an HIS system docking module, a drug dispensing information verification module, a medicine bottle detection and identification module, a drug dispensing process planning module, a precise drug dosage control module, and a drug dispensing report module. The automatic drug loading and unloading system includes a mother liquid drug loading module, a powder drug loading module, and an ampoule drug loading module. The setting management system includes a user management module, a drug configuration parameter modification module, and a drug dispensing control optional function setting module. The drug dispensing information processing system includes a video monitoring module, a drug dispensing history recording module, and a prescription management module. The operating system controlled medication dispensing method comprises the following steps: S1: The operating system starts initialization, downloads the prescription information from the HIS system, and automatically reviews the prescription information to confirm the correctness of the prescription information. If the prescription information is incorrect, it will standby and alarm; S2: Scan the QR code of the medicine bottle and obtain the information of the medicine bottle, automatically check whether the prescription information and the bottle information are consistent, if the prescription information and the bottle information are consistent, generate the dispensing information, automatically transport and load the medicine bottle, and the operating system enters the ready state for dispensing, otherwise an alarm prompts, check the medicine bottle and check again after correction; S3: Check whether the robot has normal dispensing conditions. If so, start the dispensing program. Otherwise, alarm, wait, and check again after the robot is corrected. S4: The robot performs the disinfection of the medicine bottle according to the dispensing procedure, and then places the dissolving device loading assembly (7) with the dissolving device to remove the needle cover of the dissolving device from the dissolving device, and the liquid extraction robot (4) takes the dissolving device with the needle cover removed, uses the optical fiber sensor (2502) to detect the concentricity offset of the needle tip of the dissolving device, and uses the weighing device (13) to measure the weight of the dissolving device; S5: The liquid extraction manipulator (4) uses the drug dissolver to extract the mother liquid from the mother liquid bottle as a solvent and injects the mother liquid into the powder bottle. The mother liquid powder revolution shaking assembly (2) shakes and dissolves the powder bottle, and then extracts the corresponding amount of mixed liquid from the powder bottle and injects it into the mother liquid bottle. The ampoule bottle processing assembly (3) clamps, transports, disinfects, cuts, and breaks the ampoule bottle. The drug dissolver is used to extract the corresponding amount of liquid from the ampoule bottle with the bottle head broken off and injects it into the mother liquid bottle. The CCD industrial camera (2400) is used to take a picture of the current drug dissolver, and the weighing device (13) is used to measure the current weight of the drug dissolver, calculate the residual liquid in the drug dissolver, and ensure that the liquid is completely discharged and the dosage accuracy is high. S6: After the dispensing operation is completed, the mother liquid powder loading assembly (5) recovers the mother liquid bottle with the prepared drug solution, the needle processing assembly (8) cuts the needle of the drug dissolving device, and the used powder bottle and ampoule bottle, and the drug dissolving device after the needle is cut are discarded into the garbage recycling processing assembly (9), and the operating system generates a dispensing completion report.

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