An automated drug dispensing system capable of synergistically dispensing ampoules and vials

Abstract

The present invention provides an automated dispensing system capable of synergistically dispensing ampoules and vials, comprising a housing, an ampoule dispensing device, a vial dispensing device, a suction and injection device, a multi-axis manipulator, and a collection device; based on the multi-axis manipulator, the present invention grabs an ampoule and places it at the upstream starting point of the ampoule dispensing device, or grabs a vial and places it at the station for clamping the vial in the vial dispensing device within a single dispensing cycle; the present invention can automatically dispense ampoules and vials, and has the advantages of high automation, dual-purpose in one machine, and convenience for medical staff to operate.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to an automated drug dispensing system capable of synergistically dispensing drugs in ampoules and vials. Background Art

[0002] Currently, the preparation of intravenous infusion drugs in hospitals is generally completed manually, which is prone to drug contamination and harmful to patients. At the same time, in situations where a large amount of drug solution needs to be prepared, the dispensing efficiency is low, it is difficult to meet the actual needs of hospitals, and the treatment time of patients is increased.

[0003] The containers for storing drug solutions are mainly ampoules and vials.

[0004] The process of manually preparing drug solutions is cumbersome. The ampoules need to be cut, disinfected, and opened before the drug solution can be extracted with a syringe. In this process, the workload of medical staff is large, and medical staff need to come into contact with the drug solution during manual preparation. Especially when preparing toxic drugs such as cancer treatment drugs, it is easy to cause chronic harm to the drug dispensers and lead to occupational diseases. In addition, during the opening process of ampoules, due to reasons such as insufficient cutting depth, poor cutting edge, and the quality of the drug bottle itself, when the drug bottle is broken and opened, the ampoule is likely to break, and it will also cause problems of injury to medical staff.

[0005] In addition, the current automatic drug dispensing equipment is open, and it has the defect of being affected by environmental factors during the drug dispensing process. Summary of the Invention

[0006] In view of the defects of the prior art, the present invention provides an automated drug dispensing system capable of synergistically dispensing drugs in ampoules and vials.

[0007] The technical solution of the present invention is as follows:

[0008] An automated drug dispensing system capable of synergistically dispensing drugs in ampoules and vials, comprising:

[0009] A housing, with a drug dispensing chamber and a collection chamber formed above and below the housing respectively;

[0010] An ampoule drug dispensing device, which cuts and breaks the bottleneck of the ampoule while transporting the ampoule. The ampoule drug dispensing device is arranged on the housing and located in the drug dispensing chamber;

[0011] A vial drug dispensing device, which clamps the vials at at least one station for mixing operation. The vial drug dispensing device is arranged on the housing and located in the drug dispensing chamber;

[0012] Suction injection device; provides a syringe and is capable of driving the syringe to aspirate the liquid medicine in an ampoule bottle with a broken neck and inject the aspirated liquid medicine into a mother liquid bottle for medicine preparation; or is capable of driving the syringe to aspirate the stock solution in the mother liquid bottle, inject the stock solution into a vial for liquid mixing, and can evacuate the liquid medicine in the vial to inject it into the mother liquid bottle for medicine preparation;

[0013] Wherein the suction injection device is arranged on the housing and is located at the downstream end of the ampoule bottle medicine preparation device, and the station for clamping the vial in the vial medicine preparation device is arranged below the syringe in the suction injection device;

[0014] Multi-axis manipulator, which grabs an ampoule bottle and places it at the upstream starting point of the ampoule bottle medicine preparation device within a single medicine preparation cycle, or grabs a vial and places it on the station for clamping the vial in the vial medicine preparation device;

[0015] And a collection device for collecting used ampoule bottles, vials and syringes. The collection device is arranged in a collection chamber, and the collection device has an entrance facing the medicine preparation chamber.

[0016] According to another specific embodiment of the present invention, the ampoule bottle medicine preparation device includes:

[0017] Horizontal track, fixedly arranged inside the housing;

[0018] Ampoule bottle clamping assembly, including a sliding seat, a sliding frame and ampoule bottle jaws. The sliding seat is arranged on the horizontal track, a lifting track is provided on the sliding seat, the sliding frame is arranged on the sliding seat through the lifting track, and the ampoule bottle jaws are arranged on the sliding frame;

[0019] Neck cutting assembly; and

[0020] Neck breaking assembly;

[0021] A first sensor for detecting the neck cutting position is fixedly arranged inside the housing relative to the horizontal track. The ampoule bottle clamped by the ampoule bottle jaws can move up and down and determine the neck cutting height of the ampoule bottle according to the detection signal of the first sensor;

[0022] While the ampoule bottle clamped by the ampoule bottle jaws is being conveyed along the horizontal track, it successively passes through the neck cutting assembly for neck cutting of the ampoule bottle and the neck breaking assembly for neck breaking of the ampoule bottle.

[0023] According to another specific embodiment of the present invention, the ampoule bottle clamping assembly further includes a rotatable frame that can tilt and turn over. A first horizontal rotating shaft perpendicular to the horizontal track is provided on the sliding frame, and the rotatable frame is arranged on the sliding frame through the first horizontal rotating shaft. The ampoule bottle jaws are arranged on the rotatable frame.

[0024] According to another specific embodiment of the present invention, the ampoule bottle clamping assembly also includes a push plate component that can drive the slide to rise and fall and drive the rotating frame to rotate, wherein the slide is provided with a first roller, the push plate component has an inclined portion that cooperates with the first roller to drive the slide to rise and fall on the lifting track, and the rotating frame is provided with a second roller, the push plate component has a toggle portion that cooperates with the second roller to drive the rotating frame to rotate around the first horizontal rotation axis.

[0025] According to another specific embodiment of the present invention, a first spring is connected between the slide and the slide seat, and the first spring drives the first roller to be pressed against the inclined portion; a second spring is connected between the rotating frame and the slide or the slide seat, and the second spring drives the rotating frame to automatically return to the initial position when the cooperation between the second roller and the toggle portion fails.

[0026] According to another specific embodiment of the present invention, the bottleneck cutting assembly includes a tool holder rod, a tool head and a third spring. An ampoule bottle workbench is provided in the shell, and a tool holder rotating shaft is provided on the ampoule bottle workbench. The middle part of the tool holder rod is sleeved on the tool holder rotating shaft, and one end of the tool holder rod is connected to the ampoule bottle workbench through the third spring limiter. The tool head is arranged at the other end of the tool holder rod and extends to the horizontal track, and the tool head can cut the ampoule bottle sliding on the horizontal track.

[0027] According to another specific embodiment of the present invention, the bottleneck cutting assembly further includes a movable stop member, a third roller is provided at one end of the knife holder rod, one end of the knife holder rod is connected to the stop member through a third spring, and the stop member can be pushed out to abut the third roller, causing the knife holder rod to rotate and the knife head to detach from the bottleneck of the ampoule bottle.

[0028] Furthermore, the distance of the stop member relative to the rotation axis of the tool holder is preferably adjustable, and the force of the third spring can be changed by adjusting the position of the stop member, thereby changing the cutting force.

[0029] According to another specific embodiment of the present invention, the vial dispensing device comprises:

[0030] A first rotating shaft is disposed in the housing and is located below the syringe in the suction injection device;

[0031] a swivel base; and

[0032] More than one vial gripper;

[0033] The rotating base is sleeved on the first rotating shaft, and the vial clamp is arranged on the rotating base with the first rotating shaft as the center, and can rotate synchronously with the rotating base.

[0034] According to another specific embodiment of the present invention, it also includes a purification subsystem:

[0035] Inside the housing, there is a partition board with holes. The partition board divides the interior of the housing vertically into a medicine dispensing chamber and a collection chamber.

[0036] At the top of the housing, there are an intake fan and an exhaust fan. Inside the medicine dispensing chamber, there are an intake air passage and an exhaust air passage. There is at least one intake air filter layer in the intake air passage and at least one exhaust air filter layer in the exhaust air passage. The intake fan is arranged upstream of the intake air filter layer, and the ambient air it introduces passes through the intake air filter layer and enters the medicine dispensing chamber and / or the collection chamber. The exhaust fan is arranged downstream of the exhaust air filter layer, and it drives the gas in the exhaust air passage to pass through the exhaust air filter layer and be discharged outside the housing.

[0037] According to another specific embodiment of the present invention, an operation window capable of opening or closing the medicine dispensing chamber is provided on the housing, and an air curtain passage and an air curtain fan for isolating the internal and external gas exchange are provided at the operation window.

[0038] The present invention has the following beneficial effects:

[0039] The ampoule medicine dispensing device of the present invention adopts a linear feeding method. The ampoule held by the ampoule clamping assembly first moves up and down and the bottleneck cutting position is detected by the first sensor to determine the height position of the ampoule, and then it moves on the horizontal track, successively passing through the bottleneck cutting assembly for bottleneck cutting and the bottleneck breaking assembly for bottle head breaking, and finally aspirating and injecting through a syringe, thus finally completing the automated medicine dispensing process.

[0040] In addition, the ampoule jaws in the ampoule clamping assembly of the present invention can be tilted and overturned to form a better aspiration position shape, facilitating the complete aspiration of the liquid medicine in the ampoule and realizing accurate medicine dispensing.

[0041] In addition, in the present invention, a single power source can be used to control the lifting of the carriage and the rotation of the rotating frame respectively, which has the advantages of compact structure and strong practicability.

[0042] The vial medicine dispensing device of the present invention has the advantages of reasonable spatial structure layout and high utilization rate.

[0043] The purification subsystem of the present invention can keep the medicine dispensing environment from being polluted during the medicine dispensing process, avoiding the harm of germs, viruses, etc. that may be brought by environmental pollution during the medicine dispensing process; during the medicine dispensing process, the air in the medicine dispensing chamber and the collection chamber is always updated, especially when preparing corrosive and volatile drugs, it can also play a good protective role.

[0044] The following further details the present invention with reference to the accompanying drawings. Description of the Drawings

[0045] Figure 1 It is the overall structural schematic diagram of the medicine dispensing system of the present invention;

[0046] Figure 2 It is a schematic diagram of the internal structure distribution of the medicine dispensing system of the present invention;

[0047] Figure 3 It is Figure 2 a top view schematic diagram of

[0048] Figure 4 It is a schematic diagram of the structure of the ampoule dispensing device of the present invention, which shows the form of the neck position detection of the ampoule;

[0049] Figure 5 It is a schematic diagram of the structure of the ampoule dispensing device of the present invention, which shows the form of the starting position of the cutting of the ampoule;

[0050] Figure 6 It is a schematic diagram of the structure of the ampoule dispensing device of the present invention, which shows the form of the completed position of the cutting of the ampoule;

[0051] Figure 7 It is a front view schematic diagram of the present invention showing the completed form of the neck cutting;

[0052] Figure 8 It is Figure 7 a top view schematic diagram of

[0053] Figure 9 It is a schematic diagram of the structure of the ampoule dispensing device of the present invention, which shows the form of the ampoule before the neck is broken;

[0054] Figure 10 It is a front view schematic diagram of the present invention showing the form before the neck is broken;

[0055] Figure 11 It is a schematic diagram of the structure of the ampoule dispensing device of the present invention, which shows the form of the ampoule after the neck is broken;

[0056] Figure 12 It is Figure 11 a sectional view along A-A in , which shows the structure of the tilting and overturning of the rotating frame;

[0057] Figure 13 It is a schematic diagram of the structure of the ampoule dispensing device of the present invention, which shows the form of the tilting and overturning after the head of the ampoule is broken;

[0058] Figure 14 It is Figure 13 an enlarged view at D in ;

[0059] Figure 15 It is a three-dimensional internal view of the vial dispensing device of the present invention;

[0060] Figure 16 It is a schematic diagram of the cooperation between the aspiration and injection assembly and the mother liquid bag clamping assembly of the present invention;

[0061] Figure 17 is a schematic framework diagram of the purification subsystem of the present invention;

[0062] Figure 18 is a schematic structural diagram of the air outlet of the dispensing chamber of the present invention,

[0063] Figure 19 is a schematic diagram of the air outlet of the collection chamber of the present invention, Figure 19 is Figure 18 a reverse structural diagram;

[0064] Figure 20 is a schematic diagram of the air inlet process of the present invention, Figure 20 is Figure 19 a schematic diagram of the B-B cross-section in

[0065] Figure 21 is a schematic diagram of the air outlet process of the present invention, Figure 21 is Figure 19 a schematic diagram of the C-C cross-section in

[0066] Figure 22 is a schematic logic diagram of the air curtain of the present invention;

[0067] Figure 23 is a schematic structural diagram of the air curtain at the second door body of the present invention;

[0068] Figure 24 is a schematic diagram of the flow direction at the second door body of the present invention, where Figure 8 is a schematic front view of the outside of the present invention;

[0069] Figure 25 is a schematic diagram of the air curtain effect at the second door body of the present invention, where Figure 9 is a schematic side view of the outside of the present invention. Detailed implementation manners

[0070] An automated dispensing system capable of synergistically dispensing ampoule bottles and vials, as Figures 1-3 shown, includes a housing 100, an ampoule bottle dispensing device 200, a vial dispensing device 300, a suction and injection device 400, a multi-axis manipulator 500, a collection device 600, a mother liquid bag clamping device 700, and a purification subsystem 800.

[0071] A dispensing chamber 110 and a collection chamber 120 are respectively formed above and below the housing 100, and the two are separated by a partition 130, and a plurality of through holes are provided on the partition 130;

[0072] The ampoule bottle dispensing device 200 is arranged on the housing 100 and located in the dispensing chamber 110, and is used for cutting and breaking the bottleneck of the ampoule bottle while transporting the ampoule bottle;

[0073] The vial dispensing device 300 is disposed on the housing 100 and located within the dispensing chamber 110, and is used for clamping vials at at least one station for liquid mixing operations.

[0074] The aspiration and injection device 400 is placed on the housing 100 and is used to provide a syringe and can drive the syringe to aspirate the liquid medicine in an ampoule bottle with a broken neck and inject the aspirated liquid medicine into the mother liquid bottle for dispensing, or can drive the syringe to aspirate the stock solution in the mother liquid bottle, inject the stock solution into the vial for liquid mixing, and can evacuate the liquid medicine in the vial to inject it into the mother liquid bottle for dispensing.

[0075] Among them, the aspiration and injection device 400 is located at the downstream end point of the ampoule dispensing device 200, and the station for clamping the vial in the vial dispensing device 300 is arranged below the syringe in the aspiration and injection device 400.

[0076] The multi-axis manipulator 500 is arranged within the housing 100 and is used to pick up an ampoule bottle and place it at the upstream starting point of the ampoule dispensing device 200 within a single dispensing cycle, or pick up a vial and place it at the station for clamping the vial in the vial dispensing device 300.

[0077] The collection device 600 is arranged within the collection chamber 120, and the collection device 600 has an inlet facing the dispensing chamber 110 and is used to collect the used ampoule bottles, vials, and syringes.

[0078] The ampoule dispensing device is as Figures 4-14 shown, and includes an ampoule workbench 210, an ampoule clamping assembly 220, a neck cutting assembly 230, and a neck breaking assembly 240. The ampoule clamping assembly 220 can clamp the ampoule bottle and sequentially pass through the neck cutting assembly 230 and the neck breaking assembly 240 to the aspiration and injection device 400 for aspiration operations.

[0079] Among them, a linear horizontal track 211 is arranged on the ampoule workbench 210. While the ampoule bottle clamped by the ampoule clamping assembly 220 is being transported along the horizontal track 211, it sequentially passes through the neck cutting assembly 230 for neck cutting of the ampoule bottle and the neck breaking assembly 40 for neck breaking of the ampoule bottle.

[0080] On the ampoule workbench 210, there is a motor screw slider assembly 212 for driving the ampoule clamping assembly 220, as Figure 6 、 13As shown, the ampoule clamping assembly 220 includes a sliding seat 221, a sliding frame 222, and ampoule clamping jaws 223. The sliding seat 221 is arranged on the horizontal track 211 and slides under the drive of a motor screw. An elevating track 224 is provided on the sliding seat 221. The sliding frame 222 is arranged on the sliding seat 221 through the elevating track 224. The ampoule clamping jaws 223 are arranged on the sliding frame 222 and are used to clamp ampoules of different specifications.

[0081] As Figure 4 shown, the ampoule is fed to the ampoule clamping assembly 220 by means of a multi-axis manipulator 500. First, the cutting height of the ampoule is adjusted. A first sensor 213 is provided on the ampoule workbench 210 to detect the height position of the bottleneck cutting. A specific detection method in this embodiment is to fix the first sensor 213 and enable the ampoule clamping jaws 223 (sliding frame 222) to rise and fall along the elevating track 224.

[0082] During the lifting and lowering process of the ampoule clamping jaws 223, the first sensor 213 searches for the bottleneck position according to the acquired distance signal, and feeds the corresponding signal back to the controller to control the ampoule clamping jaws 223 to rise or fall to the specified height position, that is, the bottleneck cutting position.

[0083] A bottleneck cutting assembly 230 provided in this embodiment is as Figures 5-8 shown, and includes a tool rest rod 231, a tool head 232, and a third spring 233. A tool rest rotating shaft 234 is provided on the ampoule workbench 210. The middle of the tool rest rod 231 is sleeved on the tool rest rotating shaft 234. One end of the tool rest rod 231 is connected to the ampoule workbench 210 in a limited way through the third spring 233. The tool head 232 is arranged at the other end of the tool rest rod 231 and extends to the horizontal track 211, and the tool head 232 can cut the ampoule sliding on the horizontal track 211.

[0084] Further, the rotation of the tool rest rod 231 is restricted. The bottleneck cutting assembly 230 further includes a movable stop member 235. A third roller 236 is provided at one end of the tool rest rod 231. One end of the tool rest rod 231 is connected to the stop member 235 through the third spring 233. After cutting is completed, the stop member 235 can be pushed out to abut against the third roller 236, causing the tool rest rod 231 to rotate and the tool head 232 to disengage from the ampoule bottleneck.

[0085] Further, preferably, the distance of the stop member 235 relative to the tool rest rotating shaft 234 is adjustable. By adjusting the position of the stop member 235, the acting force of the third spring 233 can be changed, and further the cutting force can be changed to adapt to various different types, specifications, and sizes of ampoules and ensure the cutting accuracy.

[0086] Specifically, in this embodiment, the starting cutting position and the ending cutting position of the cutter head 232 can be set. For example, continuous cutting can be performed at an angle of ±30° on both sides of the horizontal track 211 as the center line. When the cutter head 232 is at the ending cutting position, for example, the cutter head 232 can be retracted to one side of the horizontal track 211 by driving the stop member 235.

[0087] In this embodiment, the bottleneck cutting assembly 230 is further provided with a gravity deflector 237 and a second sensor. The gravity deflector 237 is arranged on the path of the forward movement of the ampoule bottle to detect the presence or absence of the bottle head of the ampoule bottle. The upper end of the gravity deflector 237 is rotatably arranged adjacent to the cutter head 232 on the ampoule bottle workbench 210. After the cutter head 232 finishes cutting, the detection of the presence or absence of the bottle head of the ampoule bottle can be carried out.

[0088] The second sensor is used to detect whether the gravity deflector 237 rotates accordingly. If it is detected that the gravity deflector 237 rotates, it means that the bottle head exists and subsequent operations can continue. If it is not detected that the gravity deflector 237 rotates, it means that the bottle head does not exist, and then the machine needs to be stopped for maintenance.

[0089] Wherein, after the ampoule bottle passes through the gravity deflector 237, the gravity deflector 237 can automatically return to the vertical state to wait for the next detection cycle.

[0090] A bottleneck breaking assembly 240 provided in this embodiment is as Figures 9-10 shown. It includes a rotary impact member 241. A second horizontal rotating shaft 242 perpendicular to the horizontal track 211 and a motor for driving its reciprocating rotation are provided on the ampoule bottle workbench 210. The impact member 241 is arranged on the second horizontal rotating shaft 242 in an eccentric manner and can rotate synchronously and reciprocally with the second horizontal rotating shaft 242. The impact member 241 rotates in the vertical plane and impacts the ampoule bottle conveyed on the horizontal track 211 to break the bottle head of the ampoule bottle.

[0091] Specifically, the impact member 241 impacts the bottle head of the ampoule bottle in a direction perpendicular to the cut after being cut by the bottleneck cutting assembly 230 to better complete the breaking at the bottleneck. The breaking efficiency is good, and almost no phenomenon of ampoule bottle breakage will occur.

[0092] Correspondingly, a third sensor can be set on the ampoule bottle workbench 210 to detect and control the rotation of the impact member 241, or in a cooperative control manner according to the running speed of the second sensor and the ampoule bottle clamping assembly 220 on the horizontal track 211, etc., to calculate the perfect impact moment of the impact member 241 to accurately impact the bottle head of the ampoule bottle, so that the bottle head of the ampoule bottle is broken from the cut bottleneck.

[0093] In addition, a fourth sensor may be provided on the rotation track of the impact member 241 , and whether the bottle head is broken may be determined by the rotation angle of the rotary impact member 241 .

[0094] In this embodiment, a disinfection component is provided between the bottleneck cutting component 230 and the bottleneck breaking component 240 to perform disinfection after cutting, for example, the disinfection process after cutting is performed by continuously pushing the stop member 235 forward to squeeze the disinfection nozzle.

[0095] After the bottle head of the ampoule bottle is broken, the ampoule bottle clamping assembly 220 continues to transport the ampoule bottle forward to the set position. At this time, in order to facilitate the complete suction of the syringe, the ampoule bottle body is tilted and flipped sideways. In this embodiment, a single drive structure is particularly designed to realize the lifting and lowering of the slide 222 on the one hand, and the rotation of the rotating frame on the other hand. Figures 8-11 As shown:

[0096] The ampoule bottle clamping assembly 220 further includes a rotating frame 225 capable of tilting and flipping, a push plate member 226, and a motor or electric push rod that drives the push plate member 226 to push out and retract. The slide 222 is provided with a first horizontal rotating shaft 227 that is perpendicular to the horizontal track 211. The rotating frame 225 is set on the slide 222 through the first horizontal rotating shaft 227, and the ampoule bottle clamp 223 is set on the rotating frame 225.

[0097] The push plate component 226 is used to drive the slide 222 to rise and fall and drive the rotating frame 225 to rotate, wherein the slide 222 is provided with a first roller 2221, the push plate component 226 has an inclined portion 2261 that cooperates with the first roller 2221 to drive the slide 222 to rise and fall on the lifting track 224, and the rotating frame 225 is provided with a second roller 2222, the push plate component 226 has a toggle portion 2262 that cooperates with the second roller 2222 to drive the rotating frame 225 to rotate around the first horizontal rotation axis 227.

[0098] A first spring 228 is connected between the slide 222 and the slide seat 221. The first spring 228 drives the first roller 2221 to press against the inclined surface 2261. When the push plate member 226 is pushed to the right, the first roller 2221 slides upward along the inclined surface 2261, driving the slide 222 to rise along the lifting track 224. When the push plate member 226 is retracted to the left, under the action of the first spring 228, the first roller 2221 slides downward along the inclined surface 2261, driving the slide 222 to descend along the lifting track 224.

[0099] A second spring 229 is connected between the rotating frame 225 and the slide 222 or the slide seat 221. The second spring 229 drives the rotating frame 225 to automatically return to the initial position when the cooperation between the second roller 2222 and the toggle portion 2262 fails. When the bottle body of the ampoule bottle is transported to the set position, the slide 222 drops to the lowest point. At this time, the push plate member 226 continues to retreat to the left, and the second roller 2222 and the toggle portion 2262 contact and abut against each other, driving the rotating frame 225 to rotate a certain angle around the first horizontal rotation axis 227. The suction injection device 400 performs the suction process in this form. After the suction is completed, the push plate member 226 is pushed to the right for a distance, and the abutment cooperation between the second roller 2222 and the toggle portion 2262 fails. At this time, under the action of the second spring 229, the rotating frame 225 returns to its initial position.

[0100] The above structure adopts a single power to asynchronously drive the lifting of the slide 222 and the rotation of the rotating frame 225, has the advantages of compact structure and strong practicality, and is convenient for miniaturization design.

[0101] The broken bottleneck (bottle head) falls directly into the collecting device 400 for collection, and the ampoule bottle body after the suction is completed is also clamped to this position by the ampoule bottle clamping assembly 220 for discarding and collection.

[0102] Vial dispensing device such as Figures 2-3 As shown in 15-16, it includes a storage unit 310, a shaking assembly 320, a vial clamping assembly 330, a first rotating shaft 340, a second rotating shaft 350, and a third rotating shaft 360.

[0103] The partition 130 is used as an operating platform, and a storage section 310 for directional and quantitative storage of a number of vials is provided on the partition 130, wherein the shell 100 is arranged with a first side frame 140, a second side frame 150 and a third side frame 160 in the circumferential direction of the partition 130, the storage section 310 is arranged at the first side frame 140, the suction injection device 400 is arranged at the second side frame 150, and the multi-axis manipulator 500 is arranged at the third side frame 160.

[0104] The shaking component 320 is a vibrating structure, which is disposed on the partition 130, preferably close to the storage portion 310, so as to better utilize the space on the partition 130.

[0105] The suction injection device 400 in this embodiment at least includes a clamping member and a driving member capable of performing multi-stage lifting and suction of the syringe. Such a driving mechanism may be a common linear driving mechanism, or a similar structure as in the applicant's previous patent application.

[0106] like Figure 16As shown in the figure, a specific aspiration and injection device 400 includes a syringe base 431, a first clamping device 432, a second clamping device 433, and a third clamping device 434. The first clamping device 432 is used to position and clamp the syringe needle. The second clamping device 433 is used to move up or down while clamping the syringe barrel to complete the puncture operation. The third clamping device 434 is used to move up or down while clamping the syringe handle to complete the injection and aspiration operations.

[0107] In the aspiration and injection device 400 in this embodiment, the syringe and the mother liquid bag can rotate relative to each other, as Figure 16 shown by the arrow in the figure, and finally form an inclined shape to complete the process of dispensing medicine.

[0108] The vial clamping assembly 330 includes a rotating base 331, two vial clamping jaws 332 located on the rotating base 331, and a driving motor. The rotating base 331 is arranged on the syringe base 431 through a first rotating shaft 340, and the two vial clamping jaws 332 are located below the syringe. The driving motor controls the rotation of the first rotating shaft 340 to drive the rotating base 331 to rotate synchronously, so as to switch the position of the vial clamping jaw 332 located below the syringe.

[0109] The mother liquid bag clamping device 700 is arranged on the partition 130 and is adjacent to the aspiration and injection device 400. Among them, the aspiration and injection device 400 is arranged at the second side frame 150 through a second rotating shaft 350, and the mother liquid bag clamping device 700 is arranged at the second side frame 150 through a third rotating shaft 360, as Figure 16 shown in the figure. The aspiration and injection device 400 and the mother liquid bag clamping device 700 can rotate in opposite directions, which can enable the syringe to be inserted into the mother liquid bag to aspirate the mother liquid or inject the liquid medicine.

[0110] The multi-axis (three-axis) manipulator 500 is arranged on the third side frame 160. It is set to be able to grab the vial from the storage part 310 and transfer it to the vial clamping assembly 330, and be able to grab the vial from the vial clamping assembly 330 and transfer it to the shaking assembly 320, and be able to grab the vial from the shaking assembly 320 and transfer it to the vial clamping assembly 330 to complete the operation of the vial dispensing process.

[0111] A preferred vial dispensing process is as follows: First, the multi-axis manipulator 500 grasps a single vial from the storage unit 310 and transfers it to one of the vial grippers for clamping. At the same time, the suction injection device 400 and the mother liquid bag clamping device 700 rotate adaptively. After the syringe in the suction injection device 400 aspirates a certain amount of mother liquid, the suction injection device 400 returns to the vertical state. Then, the vial held by the vial gripper 332 is dispensed with medicine through the suction injection device 400. Next, the vial filled with the mother liquid is grasped and transferred to the shaking assembly 320 by the multi-axis manipulator 500 for vibrating and shaking. After shaking, the vial is grasped and transferred to the vial gripper by the multi-axis manipulator 500 for clamping. Finally, the liquid in the vial is completely aspirated through the suction injection device 400, and then the suction injection device 400 rotates to cooperate with the mother liquid bag clamping device 700 to inject the liquid into the mother liquid bag, completing the dispensing process.

[0112] After the liquid in the vial is completely aspirated, the vial body directly falls into the collection device 400 for collection and processing.

[0113] In this embodiment, a closed environment is adopted for the drug preparation process to reduce the negative impact of environmental factors on drug dispensing. At the same time, the dispensing environment is ventilated and purified. The purification subsystem 800 is as Figures 17-25 shown. An air inlet fan 810 and an air outlet fan 820 are provided at the top of the housing 100. An air inlet channel 830 and an air outlet channel 840 are provided in the dispensing chamber 110. An air inlet filter layer 850 (primary filter 851 and high-grade filter 852) is provided in the air inlet channel 830, and an air outlet filter layer 860 is provided in the air outlet channel 840. The air inlet fan 810 is arranged upstream of the air inlet filter layer 850, and the ambient air introduced by it passes through the air inlet filter layer 850 and enters the dispensing chamber 110 and / or the collection chamber 120. The air outlet fan 820 is arranged downstream of the air outlet filter layer 860, and it drives the gas in the air outlet channel 840 to pass through the air outlet filter layer 860 and be discharged outside the housing 100.

[0114] Furthermore, a first door body 170 capable of opening or closing the collection chamber 120 is provided on the housing 100 for taking and placing the trash can in the collection chamber 120. Preferably, the air inlet fan 810 is closed while the first door body 170 is opened. After the first door body 170 is opened, the ambient air enters the collection chamber 120 from the first door body 170 and is discharged from the air outlet channel 840.

[0115] Furthermore, a second door (operation window) 180 capable of opening or closing the dispensing chamber 110 is provided on the housing 100 to add or replace the drugs to be prepared. At the second door 180, an air curtain channel 870 and an air curtain fan 880 for isolating the internal and external gas exchange are provided. The air curtain channel 870 can effectively prevent the gas in the dispensing chamber 110 from overflowing during the process of opening the second door 180 to place drugs.

[0116] As Figure 23 shown, at least one air curtain filter layer 890 is provided in the air curtain channel 870, and the air curtain fan 880 is arranged upstream of the air curtain filter layer 890.

[0117] The ventilation and air change process between the dispensing chamber 110 and the collection chamber 120 is carried out through the holes in the partition 130 and the top opening of the collection chamber 120.

[0118] There are three ventilation paths in the present invention. As Figure 18 shown, the ambient air is introduced into the air inlet channel 830 under the action of the air inlet fan 810, and then enters the dispensing chamber 110 after passing through the air inlet filter layer 850. The gas passing through the dispensing chamber 110 is shunted below the dispensing chamber 110. As Figures 19-20 shown, a part of the gas directly enters the air outlet channel 840 without passing through the collection chamber 120, and is discharged outside the housing 100 after passing through the air outlet filter layer 860 under the action of the air outlet fan 820. Another part of the gas passes through the collection chamber 120 and then enters the air outlet channel 840, and is discharged outside the housing 100 after passing through the air outlet filter layer 860 under the action of the air outlet fan 820;

[0119] Among them, the air inlet channel 830 is arranged at the top of the dispensing chamber 110, and the air outlet channel 840 is arranged on at least one side of the dispensing chamber 110.

[0120] Specifically, the air inlet filter layer 850 is arranged horizontally, and the air outlet filter layer 860 is arranged obliquely.

[0121] When the second door 180 needs to be opened, the air curtain fan 880 starts to generate an air flow at the opening of the second door 180. As Figure 23 shown, and forms Figure 24 , Figure 25 flow paths, thereby isolating the gas in the dispensing chamber 110 from overflowing.

[0122] Although the present invention is disclosed above with preferred embodiments, it is not intended to limit the scope of the present invention. Any ordinary technician in the art can make some improvements without departing from the scope of the present invention. That is, all equivalent improvements made in accordance with the present invention should be covered by the scope of the present invention.

Claims

1. An automated dispensing system capable of co-dispensing ampoules and vials, comprising: A shell body, with a dispensing chamber and a collecting chamber formed above and below the shell body, respectively; an ampoule dispensing device, which cuts and breaks the bottleneck of the ampoule while conveying the ampoule, and the ampoule dispensing device is arranged on the housing and located in the dispensing chamber; A vial dispensing device, which clamps a vial at at least one station to perform a liquid mixing operation, and the vial dispensing device is disposed on the housing and located in the dispensing chamber; A suction injection device; a syringe is provided and can be driven to suck the liquid medicine in the ampoule bottle with the neck broken off and inject the sucked liquid medicine into the mother liquid bottle for dispensing; or the syringe can be driven to suck the original liquid in the mother liquid bottle, inject the original liquid into the vial for mixing, and can empty the liquid medicine in the vial to inject it into the mother liquid bottle for dispensing; The suction injection device is arranged on the housing and is located at the downstream end of the ampoule dispensing device, and the station for clamping the vial in the vial dispensing device is arranged below the syringe in the suction injection device; A multi-axis manipulator, which grabs an ampoule and places it at the upstream starting point of the ampoule dispensing device in a single dispensing cycle, or grabs a vial and places it at a station for clamping the vial in the vial dispensing device; as well as A collecting device for collecting used ampoules, vials and syringes, the collecting device being arranged in the collecting chamber and having an entrance facing the dispensing chamber; Wherein, the ampoule dispensing device comprises a horizontal track and an ampoule clamping assembly, wherein the horizontal track is fixedly arranged in the housing, and the ampoule clamping assembly comprises a slide seat, a carriage and an ampoule clamping claw, wherein the slide seat is arranged on the horizontal track, a lifting track is arranged on the slide seat, the carriage is arranged on the slide seat through the lifting track, and the ampoule clamping claw is arranged on the carriage; The ampoule bottle clamping assembly further comprises a rotating frame capable of tilting and flipping, the sliding frame is provided with a first horizontal rotating shaft perpendicular to the horizontal track, the rotating frame is arranged on the sliding frame through the first horizontal rotating shaft, and the ampoule bottle clamping claw is arranged on the rotating frame; The ampoule bottle clamping assembly also includes a push plate component that can drive the slide to rise and fall and drive the rotating frame to rotate, wherein the slide is provided with a first roller, and the push plate component has an inclined portion that cooperates with the first roller to drive the slide to rise and fall on the lifting track, and the rotating frame is provided with a second roller, and the push plate component has a toggle portion that cooperates with the second roller to drive the rotating frame to rotate around the first horizontal rotation axis.

2. The automated dispensing system capable of co-dispensing ampoules and vials as claimed in claim 1, wherein the ampoule dispensing device further comprises: Bottle neck cutting assembly; as well as Bottle neck breaking assembly; A first sensor for detecting the cutting position of the bottleneck is fixedly arranged in the housing compared to the horizontal track, and the ampoule bottle clamped by the ampoule bottle clamping claw can be lifted up and down and the cutting height of the bottleneck of the ampoule bottle is determined according to the detection signal of the first sensor; The ampoule bottle clamped by the ampoule bottle clamping claw is transported along the horizontal track, and passes through the bottleneck cutting assembly to cut the bottleneck of the ampoule bottle and the bottleneck breaking assembly to break the bottleneck of the ampoule bottle in sequence.

3. The automated drug dispensing system capable of synergistically dispensing ampoules and vials as claimed in claim 1, wherein, A first spring is connected between the slide and the slide seat, and the first spring drives the first roller to be pressed against the inclined portion; a second spring is connected between the rotating frame and the slide or the slide seat, and the second spring drives the rotating frame to automatically return to an initial position when the cooperation between the second roller and the toggle portion fails.

4. The automated dispensing system capable of synergistically dispensing ampoules and vials as claimed in claim 1, wherein The bottleneck cutting assembly includes a knife holder rod, a knife head and a third spring. An ampoule bottle workbench is provided in the shell, and a knife holder rotating shaft is provided on the ampoule bottle workbench. The middle part of the knife holder rod is sleeved on the knife holder rotating shaft. One end of the knife holder rod is connected to the ampoule bottle workbench through the third spring limiter. The knife head is arranged at the other end of the knife holder rod and extends to the horizontal track, and the knife head can cut the ampoule bottle sliding on the horizontal track.

5. The automated dispensing system capable of synergistically dispensing ampoules and vials as claimed in claim 4, wherein The bottleneck cutting assembly further includes a movable stop member, one end of the knife holder rod is provided with a third roller, one end of the knife holder rod is connected to the stop member through the third spring, and the stop member can be pushed out to abut the third roller, causing the knife holder rod to rotate and the knife head to detach from the bottleneck of the ampoule bottle.

6. The automated dispensing system capable of synergistically dispensing ampoules and vials as claimed in claim 1, wherein, The vial dispensing device comprises: A first rotating shaft is disposed in the housing and is located below the syringe in the suction injection device; a swivel base; and More than one vial gripper; The rotating base is sleeved on the first rotating shaft, and the vial clamp is arranged on the rotating base with the first rotating shaft as the center, and can rotate synchronously with the rotating base.

7. The automated drug dispensing system capable of synergistically dispensing ampoules and vials as claimed in claim 1, wherein Also includes purification subsystem: A partition with holes is provided in the shell, and the partition divides the interior of the shell into the upper and lower parts to form the dispensing chamber and the collecting chamber; An air inlet fan and an air outlet fan are provided on the top of the shell, an air inlet channel and an air outlet channel are provided in the dispensing chamber, at least one air inlet filter layer is provided in the air inlet channel, and at least one air outlet filter layer is provided in the air outlet channel. The air inlet fan is arranged upstream of the air inlet filter layer, and the ambient wind introduced by it passes through the air inlet filter layer into the dispensing chamber and / or the collecting chamber. The air outlet fan is arranged downstream of the air outlet filter layer, and drives the gas in the air outlet channel to pass through the air outlet filter layer and be discharged outside the shell.

8. The automated drug dispensing system capable of synergistically dispensing ampoules and vials as claimed in claim 7, wherein, The shell body is provided with an operating window capable of opening or closing the dispensing chamber, and an air curtain channel and an air curtain fan for isolating the exchange of internal and external gases are provided at the operating window.

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