A dispensing mechanism for intravenous injection of ampoule injections

Abstract

The present invention relates to a dispensing mechanism for intravenous administration of ampoule injections, which includes an infusion bag supply mechanism, a syringe operating manipulator, an ampoule injection supply manipulator, a first cooperation station, and a second cooperation station. The infusion bag supply mechanism is used to provide an infusion bag with the lid facing downwards. The ampoule injection supply manipulator is used to provide an ampoule in an inverted state with the bottle mouth facing downwards. The syringe operating manipulator is used to provide a syringe with the needle facing upwards, operate the overall movement of the syringe, and operate the pushing and pulling movement of the syringe plunger. It is also used to make the syringe correspond exactly to the infusion bag lid at the first cooperation station and to the bottle mouth of the ampoule at the second cooperation station. The dispensing mechanism for intravenous administration of ampoule injections according to the present invention realizes the mechanization of the dispensing of intravenous administration of ampoule injections; has smooth operation, reasonable design, is easy to automate control, and improves the dispensing efficiency of intravenous administration of ampoule injections.

Description

Technical Field

[0001] The present invention relates to the field of intravenous drug preparation centers, and particularly to a dispensing mechanism for intravenous drugs of ampoule injections. Background Art

[0002] In traditional intravenous infusion, the drug addition work is completed by nurses in each ward in their respective treatment rooms. During the intravenous drug dispensing process, it is necessary to prepare ampoule injections and infusion bags filled with solvent according to the prescription; first, a small amount of solvent in the infusion bag is drawn out by a syringe and injected into the ampoule, then the ampoule is shaken to fully dissolve the drug in the ampoule in the solvent, and then the solvent containing the drug in the ampoule is drawn out by the syringe and injected back into the infusion bag.

[0003] However, with the progress of technology, it is an inevitable trend of development to replace manual operation with mechanical automation; but the dispensing process of ampoule drugs is more complex and it is difficult to achieve mechanical automatic operation. Therefore, how to provide mechanization for the dispensing of intravenous drugs of ampoule injections has become an urgent problem to be solved. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides a dispensing mechanism for intravenous drugs of ampoule injections. Through the cooperation of an infusion bag supply mechanism, a syringe operating manipulator, and an ampoule injection supply manipulator, the mechanization of the dispensing of intravenous drugs of ampoule injections is realized; the operation of each mechanism is smooth, the design is reasonable, it is easy to automate control, and the dispensing efficiency of intravenous drugs of ampoule injections is improved.

[0005] The technical solution adopted by the present invention to solve its technical problems is: a dispensing mechanism for intravenous drugs of ampoule injections, including an infusion bag supply mechanism, a syringe operating manipulator, and an ampoule injection supply manipulator; a first cooperation station is arranged between the infusion bag supply mechanism and the syringe operating manipulator; a second cooperation station is arranged between the ampoule injection supply manipulator and the syringe operating manipulator; the infusion bag supply mechanism is used to provide an infusion bag and make the infusion bag in a state with the infusion bag cap facing down at the first cooperation station; the ampoule injection supply manipulator is used to provide an ampoule and make the ampoule in an inverted state with the bottle mouth facing down at the second cooperation station; the syringe operating manipulator is used to make the syringe in a state with the needle facing up, and the syringe operating manipulator is also used to operate the overall movement of the syringe, so that the needle of the syringe is inserted into or pulled out of the ampoule or the infusion bag, and the syringe operating manipulator is also used to operate the push-pull movement of the plunger of the syringe relative to the syringe barrel; the syringe operating manipulator is also used to switch the syringe between the first cooperation station and the second cooperation station, and when the syringe is at the first cooperation station, it corresponds exactly to the infusion bag cap of the upper infusion bag, and when the syringe is at the second cooperation station, it corresponds exactly to the bottle mouth of the upper ampoule.

[0006] Further, the infusion bag supply mechanism includes a first mounting frame, a first rotating frame mounted on the first mounting frame, and a plurality of infusion bag loading components mounted around the first rotating frame; the infusion bag loading component includes an infusion bag loading rack, and a hook is mounted at an upper position of the infusion bag loading rack, and a positioning claw is arranged at a lower position; the hook is used to hang the infusion bag by using the hanging hole of the infusion bag; the positioning claw is used to position the cover part of the infusion bag, and further cooperate with the hook to make the infusion bag in a state with the infusion bag cover facing down; the infusion bag supply mechanism further includes a first rotation driving mechanism, which is used to drive the first rotating frame to drive the infusion bag loading component to rotate, and further drive the infusion bag to enter or leave the first cooperation station.

[0007] Further, the infusion bag loading component further includes a vertical slide rail and a loading rack mounting plate matched with the slide rail; the slide rail is mounted on the first rotating frame, and the infusion bag loading rack is fixedly mounted on the loading rack mounting plate; the infusion bag supply mechanism further includes a first lifting frame; the first lifting frame has a lifting support plate; the first mounting frame is further provided with a first lifting driving mechanism for driving the first lifting frame to perform a lifting action; the lifting support plate cooperates with the infusion bag loading rack of the infusion bag loading component located at the first cooperation station; the first lifting frame is used to drive the lifting support plate and further drive the infusion bag loading rack of the infusion bag loading component at the first cooperation station to lift.

[0008] Further, the syringe operating manipulator includes a second mounting frame, a second rotating frame and a second rotating driving mechanism mounted on the second mounting frame, and a control mechanism mounted on the second rotating frame; the control mechanism is used to operate the overall movement of the syringe, so that the needle of the syringe is inserted into or removed from the vial or the infusion bag, and is also used to operate the pushing and pulling action of the plunger of the syringe relative to the syringe barrel; the second rotating driving mechanism is used to drive the second rotating frame to rotate, so that the second rotating frame drives the control mechanism to switch between the first cooperation station and the second cooperation station.

[0009] Further, the control mechanism includes a second lifting driving mechanism fixedly mounted on the second rotating frame, and a second lifting frame mounted on the lifting end of the second lifting driving mechanism; a third lifting driving mechanism mounted on the second lifting frame, and a third lifting frame mounted on the lifting end of the third lifting driving mechanism; a syringe barrel clamping claw and a syringe barrel handle clamping claw are fixed on the second lifting frame; a plunger handle clamping claw is fixed on the third lifting frame; the syringe barrel clamping claw, the syringe barrel handle clamping claw and the plunger handle clamping claw are distributed vertically in sequence, and are used to mount the syringe and make the syringe in a state with the needle facing up; the second lifting driving mechanism is used to drive the second lifting frame to drive the overall lifting movement of the syringe, and the third lifting driving mechanism is used to drive the third lifting frame to drive the plunger of the syringe to push and pull relative to the syringe barrel.

[0010] Furthermore, the syringe operating manipulator further has a syringe preparation station; at a position corresponding to the syringe preparation station on the top side of the second mounting bracket, a syringe cap removal mechanism is further installed; the syringe cap removal mechanism includes a cap gripper and a cap gripper driving mechanism; the cap gripper driving mechanism cooperates with the second lifting driving mechanism to detach or install the cap of the syringe.

[0011] Furthermore, at a position corresponding to the second cooperation station on the top side of the second mounting bracket, a drug dissolution assisting mechanism is further installed; the drug dissolution assisting mechanism includes a fourth lifting driving mechanism installed on the second mounting bracket, a fourth lifting frame installed at the lifting end of the fourth lifting driving mechanism, a friction plate rotation driving mechanism installed on the fourth lifting frame, and a friction plate installed at the bottom rotating end of the friction plate rotation driving mechanism; the friction plate corresponds to the top side of the inverted vial located at the second cooperation station; the fourth lifting driving mechanism is used to drive the fourth lifting frame to lift, and then drive the friction plate to contact or separate from the top side of the vial; the friction plate rotation driving mechanism is used to drive the friction plate to rotate, and then make the vial in contact with the friction plate rotate.

[0012] Furthermore, the vial injection supply manipulator includes a vial loading assembly; the vial loading assembly includes a fourth mounting bracket, a rotating disk driving mechanism installed on the fourth mounting bracket, a rotating disk installed at the rotating end of the rotating disk driving mechanism, and a plurality of vial grippers evenly installed on the outer periphery of the rotating disk; the vial grippers are used to grip the vials; the rotating disk driving mechanism is used to drive the rotating disk to rotate, and drive the vials gripped by the vial grippers to enter and exit the second cooperation station.

[0013] Furthermore, the vial injection supply manipulator further includes a third mounting bracket, a third rotation driving mechanism installed on the third mounting bracket, and a third rotating frame installed at the rotating end of the third rotation driving mechanism; there are two vial loading assemblies, which are respectively installed at both ends on the same side of the third rotating frame through the fourth mounting bracket, so that the two vial loading assemblies are in a centrosymmetric state with respect to the rotation axis of the third rotating frame; the vial injection supply manipulator has a vial drug supply area for supplying vials to the second cooperation station and a vial loading and unloading area for loading and unloading vials on the vial grippers; the third rotation driving mechanism is used to drive the third rotating frame to rotate, so that the vials gripped by the vial grippers on the rotating disk of one vial loading assembly are located in the vial drug supply area, and the vials gripped by the vial grippers on the rotating disk of the other vial loading assembly are located in the vial loading and unloading area.

[0014] Further, the vial injection supply manipulator also has a vial loading and unloading station at the vial loading and unloading area, and the vial loading assembly further includes a vial gripper driving mechanism; the vial gripper driving mechanism is used to drive the vial grippers located at the vial loading and unloading station to separate.

[0015] Advantages of the present invention: An admixture mechanism for intravenous medication of vial injections according to the present invention realizes the mechanization of the admixture of vial injections for intravenous medication through the cooperation of an infusion bag supply mechanism, a syringe operation manipulator, and a vial injection supply manipulator; the operations of each mechanism are smooth, the design is reasonable, it is easy to automate control, and the admixture efficiency of vial injections for intravenous medication is improved. Description of the Drawings

[0016] Figure 1 A three-dimensional schematic diagram of an admixture mechanism for intravenous medication of vial injections according to an embodiment;

[0017] Figure 2 A top view schematic diagram of an admixture mechanism for intravenous medication of vial injections according to an embodiment;

[0018] Figure 3 A three-dimensional schematic diagram of the infusion bag supply mechanism of an admixture mechanism for intravenous medication of vial injections according to an embodiment;

[0019] Figure 4 A three-dimensional schematic diagram of the infusion bag supply mechanism of an admixture mechanism for intravenous medication of vial injections according to an embodiment, with the front infusion bag loading assembly removed;

[0020] Figure 5 A right view schematic diagram of the infusion bag supply mechanism of an admixture mechanism for intravenous medication of vial injections according to an embodiment;

[0021] Figure 6 A schematic diagram of the internal structure of the infusion bag supply mechanism of an admixture mechanism for intravenous medication of vial injections according to an embodiment;

[0022] Figure 7 A three-dimensional schematic diagram of the syringe operation manipulator of an admixture mechanism for intravenous medication of vial injections according to an embodiment;

[0023] Figure 8 A front view schematic diagram of the syringe operation manipulator of an admixture mechanism for intravenous medication of vial injections according to an embodiment;

[0024] Figure 9 For Figure 8 The sectional view taken along the line F-F of

[0025] Figure 10 For Figure 8Schematic cross-sectional view of G-G;

[0026] Figure 11 Schematic three-dimensional view of the vial injection supply manipulator of the vial injection preparation mechanism for intravenous medication in the embodiment;

[0027] Figure 12 Schematic three-dimensional view of the vial loading assembly of the vial injection supply manipulator of the vial injection preparation mechanism for intravenous medication in the embodiment;

[0028] Figure 13 Schematic top view of the vial loading assembly of the vial injection supply manipulator of the vial injection preparation mechanism for intravenous medication in the embodiment;

[0029] Figure 14 For Figure 13 Schematic cross-sectional view of H-H;

[0030] Figure 15 Schematic front view of the vial loading assembly of the vial injection supply manipulator of the vial injection preparation mechanism for intravenous medication in the embodiment;

[0031] Figure 16 For Figure 15 Schematic cross-sectional view of J-J;

[0032] Figure 17 Schematic view of the initial state of the vial injection preparation mechanism for intravenous medication in the embodiment;

[0033] Figure 18 Schematic view of the preparation state of the vial injection preparation mechanism for intravenous medication in the embodiment;

[0034] Figure 19 Schematic view of the state where the syringe extracts the solvent from the infusion bag in the vial injection preparation mechanism for intravenous medication in the embodiment;

[0035] Figure 20 Schematic view of the state where the syringe injects the solvent and dissolves the drug into the vial in the vial injection preparation mechanism for intravenous medication in the embodiment;

[0036] Figure 21 Schematic view of the state where the syringe extracts the medicinal liquid from the vial in the vial injection preparation mechanism for intravenous medication in the embodiment;

[0037] Figure 22 Schematic view of the state where the syringe injects the medicinal liquid into the infusion bag in the vial injection preparation mechanism for intravenous medication in the embodiment;

[0038] Among them, 1 - infusion bag supply mechanism, 2 - syringe operating manipulator, 3 - vial injection supply manipulator, 4 - syringe cap removal mechanism, 5 - drug dissolution assistance mechanism, 6 - infusion bag, 7 - syringe, 8 - vial, A - first cooperation station, B - second cooperation station, C - infusion bag loading and unloading station, D - syringe preparation station, E - vial loading and unloading station, K - vial drug supply area, L - vial loading and unloading area, 101 - first mounting frame, 102 - first rotating frame, 103 - infusion bag loading component, 104 - first rotation drive mechanism, 105 - first lifting frame, 106 - first lifting drive mechanism, 1031 - infusion bag loading rack, 1032 - hook, 1033 - positioning claw, 1034 - hook positioning mounting hole, 1035 - loading rack mounting plate, 1036 - slide rail, 1051 - lifting support plate, 201 - second mounting frame, 202 - second rotating frame, 203 - second rotation drive mechanism, 204 - second lifting frame, 205 - second lifting drive mechanism, 206 - third lifting frame, 207 - third lifting drive mechanism, 208 - syringe handle claw, 209 - syringe holding claw, 210 - plunger handle claw, 301 - third mounting frame, 302 - third rotation drive mechanism, 303 - third rotating frame, 304 - vial loading component, 3041 - fourth mounting frame, 3042 - rotating disk, 3043 - rotating disk drive mechanism, 3044 - vial clamping claw, 3045 - vial clamping claw drive mechanism, 30451 - block, 401 - cap claw, 402 - cap claw drive mechanism, 501 - fourth lifting frame, 502 - fourth lifting drive mechanism, 503 - friction plate rotation drive mechanism, 504 - friction plate, 701 - syringe barrel, 702 - plunger, 703 - needle, 704 - cap. Detailed implementation manner

[0039] To deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with the drawings and embodiments. The embodiments are only used to explain the present invention and do not limit the protection scope of the present invention.

[0040] Embodiment

[0041] Please refer to Figures 1 to 22As shown in the figure, this embodiment provides a dispensing mechanism for intravenous medication of ampoule injections, including an infusion bag supply mechanism 1, a syringe operating manipulator 2, and an ampoule injection supply manipulator 3. A first cooperation station A is arranged between the infusion bag supply mechanism 1 and the syringe operating manipulator 2; a second cooperation station B is arranged between the ampoule injection supply manipulator 3 and the syringe operating manipulator 2; the infusion bag supply mechanism 1 is used to provide an infusion bag 6 and make the infusion bag 6 in a state with the infusion bag cap facing down at the first cooperation station A; the ampoule injection supply manipulator 3 is used to provide an ampoule 8 and make the ampoule 8 in an inverted state with the bottle mouth facing down at the second cooperation station B; the syringe operating manipulator 2 is used to make the syringe 7 in a state with the needle 703 facing up, and the syringe operating manipulator 2 is also used to operate the overall movement of the syringe 7, so that the needle 703 of the syringe 7 is inserted into or withdrawn from the ampoule or the infusion bag. The syringe operating manipulator 2 is also used to operate the push-pull movement of the push rod 702 of the syringe 7 relative to the syringe barrel 701 to realize the functions of liquid suction and liquid injection of the syringe; the syringe operating manipulator 2 is also used to switch the syringe 7 between the first cooperation station A and the second cooperation station B, and when the syringe 7 is at the first cooperation station A, it corresponds exactly to the infusion bag cap of the upper infusion bag 6, and when the syringe 7 is at the second cooperation station B, it corresponds exactly to the bottle mouth of the upper ampoule 8. In this embodiment, the syringe operating manipulator is used to switch the working positions of the syringe and perform corresponding syringe insertion / withdrawal actions, syringe liquid suction and liquid injection actions to realize the function of simulating manual operation of the syringe; since the ampoule needs to be injected with some solvent for dissolving the medicine first, and then, when extracting the medicine liquid, the ampoule needs to be placed upside down. This embodiment can provide an inverted ampoule through the ampoule injection supply manipulator, and provide an infusion bag with the infusion bag cap facing down through the infusion bag supply mechanism, so that the syringe only needs to be in a state with the needle facing up, and the action process is simpler and easier to automate control.

[0042] Refer again to Figures 3 to 6As shown, the infusion bag supply mechanism 1 includes a first mounting bracket 101, a first rotating bracket 102 mounted on the first mounting bracket 101, and a plurality of infusion bag loading components 103 mounted around the first rotating bracket 102; the infusion bag loading component 103 includes an infusion bag loading rack 1031, on which a hook 1032 is mounted at an upper position and a positioning claw 1033 is provided at a lower position; the hook 1032 is used to hang the infusion bag 6 by means of the hanging hole of the infusion bag; the positioning claw 1033 is used to position the lid portion of the infusion bag 6, and then cooperate with the hook 1032 to make the infusion bag 6 in a state with the infusion bag lid facing downwards; the infusion bag supply mechanism 1 further includes a first rotation driving mechanism 104, which is used to drive the first rotating bracket 102 to drive the infusion bag loading component 103 to rotate, so as to drive the infusion bag 6 to enter or leave the first cooperation station A; the positioning claw 1033 performs vertical direction limiting (assisting the syringe needle to insert into or pull out of the infusion bag lid) and horizontal direction positioning (making the infusion bag lid directly correspond to the syringe needle in the vertical direction) on the lid portion of the infusion bag; the infusion bag supply mechanism 1 further has an infusion bag loading and unloading station C; in this embodiment, the first rotating bracket 102 is respectively provided with an infusion bag loading component at the front, back, left and right; the right side of the infusion bag supply mechanism 1 is the first cooperation station A, and the front side is the infusion bag loading and unloading station C; of course, the infusion bag loading and unloading station C can also be divided into an infusion bag loading station and an infusion bag unloading station, which can be reasonably selected according to the actual cooperating equipment.

[0043] Refer again to Figures 3 to 6As shown, the infusion bag loading assembly 103 further includes a vertical slide rail 1036 and a loading rack mounting plate 1035 that cooperates with the slide rail 1036; the slide rail 1036 is installed on the first rotating rack 102, and the infusion bag loading rack 1031 is fixedly installed on the loading rack mounting plate 1035; the infusion bag supply mechanism 1 further includes a first lifting rack 105; the first lifting rack 105 has a lifting support plate 1051; the first mounting rack 101 is further installed with a first lifting drive mechanism 106 for driving the first lifting rack 105 to perform a lifting action; the lifting support plate 1051 cooperates with the infusion bag loading rack 1031 of the infusion bag loading assembly 103 located at the first cooperation station A; the first lifting rack 105 is used to drive the lifting support plate 1051 and thereby drive the infusion bag loading rack 1031 of the infusion bag loading assembly 103 at the first cooperation station A to lift. When the first lifting rack 105 drives the infusion bag loading rack 1031 to the highest position, the lowermost end (the bottom surface of the infusion bag cap) of the infusion bag is higher than the syringe needle at the first cooperation station A; through the design of the first lifting rack, only the infusion bag loading assembly 103 at the first cooperation station A needs to be lifted to meet the requirement that the lowermost side of the infusion bag at the first cooperation station A is higher than the syringe needle, and the infusion bag loading assemblies 103 other than the one at the first cooperation station A do not need to be lifted, which is convenient for loading and unloading the infusion bags.

[0044] In addition, as Figure 5 shown, a plurality of vertically arranged hook positioning mounting holes 1034 are provided at the upper position of the infusion bag loading rack 1031, and the hook 1032 is used to select a corresponding hook positioning mounting hole 1034 for installation according to different size specifications of the infusion bag 6.

[0045] Referring again to Figures 7 to 10 shown, the syringe operating manipulator 2 includes a second mounting rack 201, a second rotating rack 202 and a second rotating drive mechanism 203 installed on the second mounting rack 201, and a control mechanism installed on the second rotating rack 202; the control mechanism is used to operate the overall movement of the syringe 7, so that the needle 703 of the syringe 7 is inserted into or removed from the vial 8 or the infusion bag 6, and is also used to operate the pushing and pulling movement of the plunger 702 of the syringe 7 relative to the syringe barrel 701; the second rotating drive mechanism 203 is used to drive the second rotating rack 202 to rotate, so that the second rotating rack 202 drives the control mechanism to switch between the first cooperation station A and the second cooperation station B. Among them, the second rotating drive mechanism 203 is also used to drive the second rotating rack 202 to the syringe preparation station of the syringe operating manipulator 2; the first cooperation station A is located on the left side of the syringe operating manipulator 2, and the second cooperation station B is located on the right side of the syringe operating manipulator 2.

[0046] Referring again to Figures 7 to 10As shown in the figure, the control mechanism includes a second lifting drive mechanism 205 fixedly installed on the second rotating frame 202, and a second lifting frame 204 installed at the lifting end of the second lifting drive mechanism 205; a third lifting drive mechanism 207 installed on the second lifting frame 204, and a third lifting frame 206 installed at the lifting end of the third lifting drive mechanism 207; a syringe gripper 209 and a syringe handle claw 208 are fixed on the second lifting frame 204; a push rod handle claw 210 is fixed on the third lifting frame 206; the syringe gripper 209, the syringe handle claw 208, and the push rod handle claw 210 are distributed vertically in sequence, used for installing the syringe 7 and making the syringe 7 in a state with the needle 703 facing upward; the second lifting drive mechanism 205 is used to drive the second lifting frame 204 to drive the entire syringe to perform a lifting action, and the third lifting drive mechanism 207 is used to drive the third lifting frame 206 to drive the push rod of the syringe to push and pull relative to the syringe barrel.

[0047] Referring again to Figures 7 to 9 As shown in the figure, the syringe operating manipulator 2 also has a syringe preparation station D; a syringe cap removing mechanism 4 is also installed at the top side of the second mounting frame 201 at a position corresponding to the syringe preparation station D; the syringe cap removing mechanism 4 includes a cap gripper 401 and a cap gripper drive mechanism 402; the cap gripper drive mechanism 402 cooperates with the second lifting drive mechanism 205 to be used for detaching or installing the cap 704 of the syringe 7; in this embodiment, the syringe preparation station D is located in the front of the syringe operating manipulator 2; at the syringe preparation station, the installation and replacement of the syringe can be performed.

[0048] Referring again to Figure 7 and Figure 8 As shown in the figure, a drug dissolving assisting mechanism 5 is also installed at the top side of the second mounting frame 201 at a position corresponding to the second cooperation station B; the drug dissolving assisting mechanism 5 includes a fourth lifting drive mechanism 502 installed on the second mounting frame 201, a fourth lifting frame 501 installed at the lifting end of the fourth lifting drive mechanism 502, a friction plate rotation drive mechanism 503 installed on the fourth lifting frame 501, and a friction plate 504 installed at the bottom rotation end of the friction plate rotation drive mechanism 503; the friction plate 504 corresponds to the top side of the inverted vial 8 located at the second cooperation station B; the fourth lifting drive mechanism 502 is used to drive the fourth lifting frame 501 to lift, and further drive the friction plate 504 to contact or separate from the top side of the vial 8; the friction plate rotation drive mechanism 503 is used to drive the friction plate 504 to rotate, and further make the vial 8 in contact with the friction plate 504 rotate.

[0049] Referring again to Figures 11 to 16As shown, the vial injection supply robot 3 includes a vial loading assembly 304; the vial loading assembly 304 includes a fourth mounting bracket 3041, a rotary disk drive mechanism 3043 mounted on the fourth mounting bracket 3041, a rotary disk 3042 mounted on the rotary end of the rotary disk drive mechanism 3043, and a plurality of vial grippers 3044 uniformly mounted on the outer periphery of the rotary disk 3042; the vial grippers 3044 are used to grip the vial 8; the rotary disk drive mechanism 3043 is used to drive the rotary disk 3042 to rotate, driving the vial 8 gripped by the vial grippers 3044 to enter and exit the second mating station B.

[0050] Referring again to Figures 11 to 16 As shown, the vial injection supply robot 3 further includes a third mounting bracket 301, a third rotary drive mechanism 302 mounted on the third mounting bracket 301, and a third rotary bracket 303 mounted on the rotary end of the third rotary drive mechanism 302; there are two vial loading assemblies 304, which are respectively mounted on both ends of the same side of the third rotary bracket 303 through their respective fourth mounting brackets 3041, so that the two vial loading assemblies 304 are centrosymmetric about the rotation axis of the third rotary bracket 303; the vial injection supply robot 3 has a vial drug supply area K for supplying vials to the second mating station B and a vial loading and unloading area L for loading and unloading vials on and off the vial grippers; the third rotary drive mechanism 302 is used to drive the third rotary bracket 303 to rotate, so that the vial 8 gripped by the vial grippers 3044 on the rotary disk 3042 of one vial loading assembly 304 is located in the vial drug supply area K, and the vial 8 gripped by the vial grippers 3044 on the rotary disk 3042 of the other vial loading assembly 304 is located in the vial loading and unloading area L. Through the centrosymmetric design method, when the vial 8 is at the vial loading and unloading area L, it can be held upright with the bottle mouth facing up by the vial grippers. When the two vial loading assemblies exchange positions by rotation, the vial 8 will be in an inverted state when it is located in the vial drug supply area K, and then the vial 8 is made to enter the second mating station B for drug supply through the rotary disk 3042; on the one hand, the drug supply and the drug loading are in two separate processes and do not affect each other; on the other hand, it is also convenient for positioning the vial and ensuring that the orientation of the vial at the second mating station B remains unchanged.

[0051] In this embodiment, the vial injection supply robot 3 also has a vial loading and unloading station E at the vial loading and unloading area L (as shown in Figure 17 ), the vial loading assembly 304 further includes a vial gripper drive mechanism 3045 (as shown in Figure 14 ); the vial gripper drive mechanism 3045 is used to drive the vial grippers 3044 located at the vial loading and unloading station E to separate. Specifically, the output end of the vial gripper drive mechanism 3045 is a dial block 30451 (as shown inFigure 16 As shown in the figure, in this embodiment, the two arms of the vial gripper 3044 are configured to always remain in a closed state under the action of a torsion spring; when the vial gripper is located at the vial loading and unloading station E, the vial gripper driving mechanism 3045 rotates the dial 30451, thereby separating the two arms of the vial gripper, and then releasing the empty vial or loading a new vial filled with injection. The design of the dial 30451 enables the vial gripper to perform the release operation only at the vial loading and unloading station E, and when the vial gripper is located at other positions, it remains in a clamped state under the action of the torsion spring; significantly reducing the driving elements related to the vial gripper.

[0052] For the reconstitution mechanism for intravenous injection of vial injections in this embodiment, before use, at the syringe preparation station, the syringe is loaded onto the syringe operating manipulator through the syringe barrel handle claw, syringe barrel holding claw, and plunger handle claw; at the infusion bag loading and unloading station, the infusion bag is loaded onto the infusion bag loading assembly through the hook and positioning claw; at the vial loading and unloading station, the vial filled with injection is loaded onto the vial gripper in the vial loading and unloading area. A sensor is also provided on the fourth mounting bracket at a position corresponding to the vial loading and unloading station. This sensor is used to determine whether the vial gripper moved to this station is loaded with a vial. When it is necessary to load a vial, the vial gripper driving mechanism is activated to separate the vial gripper located at the vial loading and unloading station (releasing the previously configured vial), load a new vial filled with injection, the sensor senses that the vial enters the range of the vial gripper, controls the vial gripper driving mechanism to disengage from the vial gripper, and the vial gripper re-clamps the vial under the action of the torsion spring. The rotating disk rotates, causing the next vial gripper to enter the vial loading and unloading station for vial loading and unloading. When the vial gripper in the vial loading and unloading area is loaded, the third rotating drive mechanism drives the third rotating frame to rotate to interchange the vial loading assemblies in the vial drug supply area and the vial loading and unloading area, and continue to load and unload the vials on the newly arrived vial loading assembly in the vial loading and unloading area. As Figure 1 shown, this is the initial state when the infusion bag, syringe, and vial are loaded.

[0053] Then, enter the preparation state for drug compounding. In this state, in the infusion bag supply mechanism, the first lifting drive mechanism drives the first lifting frame to rise, and then drives the infusion bag loading assembly at the first cooperation station to rise through the lifting support plate, so that the infusion bag reaches the highest point (a position higher than the syringe needle); simultaneously, in the syringe operating robot, the second lifting drive mechanism drives the second lifting frame to rise, and then the syringe rises as a whole until the cap of the syringe needle rises to the cap gripper of the syringe decapping mechanism, and the cap gripper drive mechanism drives the cap gripper to close and hold the cap tightly; then, the second lifting drive mechanism drives the second lifting frame to descend, and the syringe descends as a whole, and the cap of the syringe is separated from the needle; simultaneously, the vial loading assembly in the vial supply area of the vial injectable drug supply robot also sends a vial to the second cooperation station through the rotary disk (as Figure 18 shown).

[0054] Then, start compounding. First, the syringe operating robot drives the second rotary frame to rotate through the second rotary drive mechanism, driving the syringe into the first cooperation station; in the syringe operating robot, the second lifting drive mechanism drives the second lifting frame to rise, and then the syringe rises as a whole until the needle of the syringe inserts into the infusion bag; then, the third lifting drive mechanism drives the third lifting frame to descend, and then drives the push rod handle gripper to descend, so that the syringe draws the solvent in the infusion bag (as Figure 19 shown).

[0055] Then, in the syringe operating robot, the second lifting drive mechanism drives the second lifting frame to descend, and then the syringe descends as a whole until the needle of the syringe is withdrawn from the infusion bag;

[0056] The syringe operating robot drives the second rotary frame to rotate through the second rotary drive mechanism, driving the syringe into the second cooperation station, and drives the second lifting frame to rise through the second lifting drive mechanism, and then the syringe rises as a whole until the needle of the syringe inserts into the vial; simultaneously, the fourth lifting drive mechanism of the drug dissolution assisting mechanism drives the fourth lifting frame to descend, and then the friction plate contacts the top of the vial; then, the third lifting drive mechanism drives the third lifting frame to rise, and then drives the push rod handle gripper to rise, so that the syringe injects the solvent into the vial, and simultaneously, the friction plate rotation drive mechanism of the drug dissolution assisting mechanism drives the friction plate to rotate, and then drives the vial to rotate; in this state, while the solvent is being injected into the vial, the vial remains in a rotating state, which can make the injectable drug in the vial fully dissolve in the solvent (as Figure 20 shown).

[0057] After a set interval of time, the friction plate rotation drive mechanism stops rotating, and the fourth lifting drive mechanism drives the fourth lifting frame to rise, thereby disengaging the friction plate from the top of the vial and resetting it; simultaneously, the third lifting drive mechanism drives the third lifting frame to descend, thereby driving the push rod handle claw to descend, enabling the syringe to draw the liquid medicine in the vial (as Figure 21 shown);

[0058] After the extraction is completed, the syringe operating manipulator drives the second rotating frame to rotate through the second rotation drive mechanism, driving the syringe into the first mating station; in the syringe operating manipulator, the second lifting drive mechanism drives the second lifting frame to rise, thereby causing the syringe to rise as a whole until the needle of the syringe is inserted into the infusion bag; the third lifting drive mechanism drives the third lifting frame to rise, thereby driving the push rod handle claw to rise, enabling the syringe to inject the liquid medicine into the infusion bag (as Figure 22 shown);

[0059] After the injection is completed, the second lifting drive mechanism drives the second lifting frame to descend, thereby causing the syringe to descend as a whole until the needle of the syringe is withdrawn from the infusion bag; the syringe operating manipulator drives the second rotating frame to rotate through the second rotation drive mechanism, driving the syringe into the syringe preparation station; when the syringe leaves the first mating station, the first lifting drive mechanism drives the first lifting frame to descend, and the infusion bag loading assembly at the first mating station descends along the slide rail under its own weight until it returns to the initial position, and then the first rotation drive mechanism drives the prepared infusion bag away from the first mating station, and at the same time, sends the next infusion bag to be prepared to the first mating station; in the vial injection supply manipulator, the turntable drive mechanism drives the turntable to rotate, taking the used vial away from the second mating station, and at the same time, sending the next vial injection to be prepared to the second mating station;

[0060] If the syringe needs to be replaced, the second lifting drive mechanism drives the second lifting frame to rise, thereby causing the syringe to rise as a whole until the needle of the syringe is reinserted into the cap held by the cap clamping claws of the syringe decapping mechanism, the cap clamping claw drive mechanism drives the cap clamping claws to separate, and the second lifting drive mechanism drives the second lifting frame to descend, thereby causing the syringe to descend as a whole until it returns to the initial position, and then the syringe is replaced; if the syringe does not need to be replaced (the same drug and the same solvent do not require syringe replacement), then there is no need to perform the capping operation, and directly enter the next dispensing operation cycle.

[0061] In addition, it should be noted that in this embodiment, for each movable or rotatable component, the corresponding stroke control is achieved through a position sensor; the sensors will not be elaborated one by one here; in this embodiment, a corresponding control module is further included. Through the sensor and programming, the automated operation of the corresponding process can be achieved, and the control module will not be elaborated here either; the design of the control module and the sensor only needs to implement the action processes of the foregoing components.

[0062] The above embodiments should not limit the present invention in any way. All technical solutions obtained by means of equivalent replacement or equivalent conversion fall within the protection scope of the present invention.

Claims

1. An infusion preparation mechanism for intravenous administration of ampoule injections, characterized in that: It includes an infusion bag supply mechanism, a syringe operating manipulator, and a vial injection supply manipulator; a first cooperation station is arranged between the infusion bag supply mechanism and the syringe operating manipulator; a second cooperation station is arranged between the vial injection supply manipulator and the syringe operating manipulator; the infusion bag supply mechanism is used to provide an infusion bag and make the infusion bag in a state with the infusion bag cap facing down at the first cooperation station; the vial injection supply manipulator is used to provide a vial and make the vial in an inverted state with the bottle mouth facing down at the second cooperation station; the syringe operating manipulator is used to make the syringe in a state with the needle facing up, and the syringe operating manipulator is also used to operate the overall movement of the syringe, so that the needle of the syringe is inserted into or withdrawn from the vial or the infusion bag, and the syringe operating manipulator is also used to operate the pushing and pulling movement of the syringe plunger relative to the syringe barrel; the syringe operating manipulator is also used to make the syringe switch between the first cooperation station and the second cooperation station, and when the syringe is at the first cooperation station, it is exactly corresponding to the infusion bag cap of the upper infusion bag, and when the syringe is at the second cooperation station, it is exactly corresponding to the bottle mouth of the upper vial. The infusion bag supply mechanism includes a first mounting frame, a first rotating frame mounted on the first mounting frame, and a plurality of infusion bag loading components mounted around the first rotating frame; the infusion bag loading component includes an infusion bag loading rack, and the infusion bag loading rack is provided with a hook at a position close to the upper part and a positioning claw at a position close to the lower part; the hook is used to hang the infusion bag by using the hanging hole of the infusion bag; the positioning claw is used to position the cover part of the infusion bag, and then cooperate with the hook to make the infusion bag in a state with the infusion bag cap facing down; the infusion bag supply mechanism further includes a first rotation driving mechanism, which is used to drive the first rotating frame to drive the infusion bag loading component to rotate, so as to drive the infusion bag to enter or leave the first cooperation station.

2. The dispensing mechanism for intravenous medication of ampoule injections according to claim 1, characterized in that: The infusion bag loading component further includes a vertical slide rail and a loading rack mounting plate cooperating with the slide rail; the slide rail is mounted on the first rotating frame, and the infusion bag loading rack is fixedly mounted on the loading rack mounting plate; the infusion bag supply mechanism further includes a first lifting frame; the first lifting frame has a lifting support plate; the first mounting frame is also provided with a first lifting driving mechanism for driving the first lifting frame to perform a lifting action; the lifting support plate cooperates with the infusion bag loading rack of the infusion bag loading component located at the first cooperation station; the first lifting frame is used to drive the lifting support plate and then drive the infusion bag loading rack of the infusion bag loading component at the first cooperation station to lift.

3. The reconstitution mechanism for intravenous medication of ampoule injections according to claim 1, wherein: The syringe operating manipulator includes a second mounting frame, a second rotating frame and a second rotation driving mechanism mounted on the second mounting frame, and a control mechanism mounted on the second rotating frame; the control mechanism is used to operate the overall movement of the syringe, so that the needle of the syringe is inserted into or withdrawn from the vial or the infusion bag, and is also used to operate the pushing and pulling movement of the syringe plunger relative to the syringe barrel; the second rotation driving mechanism is used to drive the second rotating frame to rotate, so that the second rotating frame drives the control mechanism to switch between the first cooperation station and the second cooperation station.

4. The dispensing mechanism for intravenous medication preparation of ampoule injections according to claim 3, wherein: The manipulation mechanism includes a second lifting drive mechanism fixedly installed on the second rotating frame, and a second lifting frame installed at the lifting end of the second lifting drive mechanism; a third lifting drive mechanism installed on the second lifting frame, and a third lifting frame installed at the lifting end of the third lifting drive mechanism; a syringe gripper and a syringe handle gripper are fixed on the second lifting frame; a push rod handle gripper is fixed on the third lifting frame; the syringe gripper, the syringe handle gripper, and the push rod handle gripper are distributed vertically in sequence, for installing a syringe and making the syringe in a state with the needle facing upward; the second lifting drive mechanism is used to drive the second lifting frame to drive the overall lifting action of the syringe, and the third lifting drive mechanism is used to drive the third lifting frame to drive the push rod of the syringe to push and pull relative to the syringe barrel.

5. The diluting and dispensing mechanism for intravenous injection of ampoule injections according to claim 3, wherein: The syringe operating manipulator further has a syringe preparation station; a syringe cap removing mechanism is also installed at the top side of the second mounting frame at a position corresponding to the syringe preparation station; the syringe cap removing mechanism includes a cap gripper and a cap gripper drive mechanism; the cap gripper drive mechanism cooperates with the second lifting drive mechanism to remove or install the cap of the syringe.

6. The dispensing mechanism for intravenous medication preparation of ampoule injections according to claim 3, wherein: A drug dissolving assisting mechanism is also installed at the top side of the second mounting frame at a position corresponding to the second cooperation station; the drug dissolving assisting mechanism includes a fourth lifting drive mechanism installed on the second mounting frame, a fourth lifting frame installed at the lifting end of the fourth lifting drive mechanism, a friction plate rotating drive mechanism installed on the fourth lifting frame, and a friction plate installed at the rotating end at the bottom side of the friction plate rotating drive mechanism; the friction plate corresponds to the top side of an inverted vial located at the second cooperation station; the fourth lifting drive mechanism is used to drive the fourth lifting frame to lift, and then drive the friction plate to contact or separate from the top side of the vial; the friction plate rotating drive mechanism is used to drive the friction plate to rotate, and then make the vial in contact with the friction plate rotate.

7. A dispensing mechanism for intravenous administration of injections in ampoules, according to any one of claims 1-6, characterized in that: The vial injection supply manipulator includes a vial loading assembly; the vial loading assembly includes a fourth mounting frame, a rotating disk drive mechanism installed on the fourth mounting frame, a rotating disk installed at the rotating end of the rotating disk drive mechanism, and a plurality of vial grippers evenly installed on the outer periphery of the rotating disk; the vial grippers are used to grip vials; the rotating disk drive mechanism is used to drive the rotating disk to rotate, and drive the vials gripped by the vial grippers to enter and exit the second cooperation station.

8. A dispensing mechanism for intravenous administration of injections in ampoules, as claimed in claim 7, wherein: The vial injection supply manipulator further includes a third mounting bracket, a third rotary drive mechanism mounted on the third mounting bracket, and a third rotary bracket mounted on the rotary end of the third rotary drive mechanism; there are two vial loading assemblies, which are respectively mounted at both ends on the same side of the third rotary bracket through a fourth mounting bracket, so that the two vial loading assemblies are centrosymmetric about the rotation axis of the third rotary bracket; the vial injection supply manipulator has a vial drug supply area for supplying vials to the second mating station and a vial loading and unloading area for loading and unloading vials onto and from the vial gripper; the third rotary drive mechanism is used to drive the third rotary bracket to rotate, so that the vial held by the vial gripper on the rotary disk of one vial loading assembly is located in the vial drug supply area, and the vial held by the vial gripper on the rotary disk of the other vial loading assembly is located in the vial loading and unloading area.

9. The dispensing mechanism for intravenous administration of injections in vials according to claim 8, wherein: The vial injection supply manipulator further has a vial loading and unloading station at the vial loading and unloading area, and the vial loading assembly further includes a vial gripper drive mechanism; the vial gripper drive mechanism is used to drive the vial gripper located at the vial loading and unloading station to open.

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