Ampoule Rotation Device and Medicine Dispensing Robot

Abstract

The present invention provides an ampoule rotating device and a medicine dispensing robot. The ampoule rotating device includes: a clamp, which is movably arranged and used for clamping an ampoule; a driving device, which is arranged to be movable back and forth, and the driving device has a connecting position and a separating position. When the driving device is in the separating position, the driving device and the clamp are spaced apart; when the driving device is in the connecting position, the driving device and the clamp are drivingly connected to drive the clamp and the ampoule to rotate a preset angle. Wherein, after the ampoule rotates the preset angle, the axis of the ampoule is inclined relative to the vertical direction. When it is necessary to extract the liquid medicine, the driving device is connected to the clamp, and the action of the driving device drives the clamp and the ampoule to rotate the preset angle. In this way, when the liquid medicine at the bottom of the ampoule is extracted, the liquid medicine at the bottom of the ampoule gathers, and the liquid level is preferably matched with the bevel of the needle, so that the extraction of the liquid medicine can be completed to the greatest extent and the waste of the liquid medicine can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular, to an ampoule rotating device and a drug dispensing robot. Background Art

[0002] As one of the important containers for intravenous injection solutions, during the automatic drug dispensing process, it is necessary to automatically extract the solution in the ampoule. The ampoule has a slender structure. When extracting the solution, the ampoule is placed vertically. Due to the bevel structure of the needle tip of the extraction syringe, the solution at the bevel position cannot be extracted during automatic extraction, which easily causes excessive residual solution in the bottle, resulting in waste of the solution. Summary of the Invention

[0003] The present invention provides an ampoule rotating device and a drug dispensing robot to enable as much of the solution in the ampoule to be extracted as possible during the extraction process.

[0004] To achieve the above object, according to one aspect of the present invention, there is provided an ampoule rotating device, including: a clamp movably arranged for clamping an ampoule; a driving device arranged to move back and forth, the driving device having a connection position and a separation position, when the driving device is in the separation position, the driving device and the clamp are spaced apart; when the driving device is in the connection position, the driving device and the clamp are drivingly connected to drive the clamp and the ampoule to rotate a preset angle, wherein after the ampoule rotates the preset angle, the axis of the ampoule is inclined relative to the vertical direction.

[0005] Further, the driving device includes a bracket, a driving part and a transmission component, the bracket is arranged to move back and forth, the driving part and the transmission component are both arranged on the bracket, the driving part and the transmission component are drivingly connected, and the transmission component drives the clamp to rotate.

[0006] Further, the transmission component includes a first gear, a second gear and a third gear meshing in sequence, the first gear is arranged on the driving shaft of the driving part, and the second gear and the third gear are both rotatably arranged on the bracket, wherein the third gear is used to drive the clamp to rotate.

[0007] Further, the driving part includes a motor, a speed reducer, a first mounting plate and an encoder, the speed reducer and the first mounting plate are both mounted on the bracket, the motor and the speed reducer are drivingly connected, the speed reducer has the driving shaft, one end of the encoder is connected to the first mounting plate, and the other end of the encoder is connected to the driving shaft or the first gear.

[0008] Furthermore, the driving device further includes a second mounting plate and a sensor. The second mounting plate is mounted on the bracket, and the sensor is mounted on the second mounting plate and faces the fixture. The sensor is used to detect the position of the fixture.

[0009] Furthermore, the ampoule rotating device further includes a linear motion part. The driving device is mounted on the linear motion part, and the linear motion part drives the driving device to move back and forth.

[0010] Furthermore, the linear motion part includes a base, a guide rail and a sliding seat. The base is fixedly arranged, the guide rail is fixed on the base, the sliding seat is slidably matched with the guide rail, and the driving device is connected to the sliding seat.

[0011] Furthermore, the linear motion part further includes an electric cylinder. The cylinder body of the electric cylinder is fixed on the base, and the cylinder rod of the electric cylinder is connected to the sliding seat or the driving device.

[0012] Furthermore, the fixture includes a clamping structure and a driven wheel arranged on the clamping structure. Among them, the clamping structure is rotatably arranged as a whole, and the clamping structure is used to clamp the ampoule. When the driving device is in the connection position, the driving device is drivingly connected to the driven wheel.

[0013] According to another aspect of the present invention, there is provided a medicine dispensing robot, which includes a manipulator and the above-mentioned ampoule rotating device. The manipulator is used to extract the liquid medicine in the ampoule on the fixture of the ampoule rotating device.

[0014] Furthermore, the medicine dispensing robot further includes a turntable. The ampoule rotating device includes a plurality of the fixtures. The turntable is rotatably arranged, and the plurality of fixtures are distributed in the circumferential direction of the turntable. Any one of the fixtures can be moved to a position corresponding to the manipulator.

[0015] Applying the technical solution of the present invention, an ampoule bottle rotating device is provided, including: a clamp, which is movably arranged and used for clamping an ampoule bottle; a driving device, which is arranged to move back and forth, the driving device has a connection position and a separation position, when the driving device is in the separation position, the driving device and the clamp are spaced apart; when the driving device is in the connection position, the driving device and the clamp are drivingly connected to drive the clamp and the ampoule bottle to rotate a preset angle, wherein, after the ampoule bottle rotates the preset angle, the axis of the ampoule bottle is inclined relative to the vertical direction. In this solution, the ampoule bottle is clamped by the clamp, when the driving device is spaced apart from the clamp, the clamp conveys the ampoule bottle by moving, when it is necessary to extract the liquid medicine, the driving device is connected to the clamp, and the action of the driving device drives the clamp and the ampoule bottle to rotate a preset angle, so that when the liquid medicine at the bottom of the ampoule bottle is extracted, the liquid medicine at the bottom of the ampoule bottle gathers, and the liquid level is preferably matched with the bevel of the needle, so as to be able to complete the extraction of the liquid medicine to the maximum extent and reduce the waste of the liquid medicine. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings forming a part of this application are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0017] Figure 1 The structural schematic diagram of the ampoule bottle rotating device provided by the embodiment of the present invention is shown; Figure 1 ;

[0018] Figure 2 The structural schematic diagram of the ampoule bottle rotating device provided by the embodiment of the present invention is shown; Figure 2 ;

[0019] Figure 3 Shows Figure 1 the three-dimensional view of the driving device in;

[0020] Figure 4 Shows Figure 1 another three-dimensional view of the driving device in.

[0021] Wherein, the above-mentioned accompanying drawings include the following reference numerals:

[0022] 10, clamp; 11, clamping structure; 12, driven wheel;

[0023] 20, bracket;

[0024] 30, driving part; 31, motor; 32, speed reducer; 33, first mounting plate; 34, encoder;

[0025] 40, transmission component; 41, first gear; 42, second gear; 43, third gear;

[0026] 51. Second mounting plate; 52. Sensor

[0027] 60. Linear motion part; 61. Base; 62. Guide rail; 63. Slide; 64. Electric cylinder Detailed implementation mode

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way limits the present invention and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0029] As Figures 1 to 4 shown, an embodiment of the present invention provides an ampoule rotating device, including: a clamp 10, the clamp 10 is movably arranged, and the clamp 10 is used for clamping an ampoule; a driving device, which is arranged to move back and forth, the driving device has a connection position and a separation position, and when the driving device is in the separation position, the driving device and the clamp 10 are spaced apart; when the driving device is in the connection position, the driving device and the clamp 10 are drivingly connected to drive the clamp 10 and the ampoule to rotate a preset angle, wherein, after the ampoule rotates a preset angle, the axis of the ampoule is inclined relative to the vertical direction.

[0030] In this solution, the ampoule is clamped by the clamp 10. When the driving device and the clamp 10 are spaced apart, the clamp 10 transports the ampoule by moving. When it is necessary to extract the liquid medicine, the driving device is connected to the clamp 10, and the action of the driving device drives the clamp 10 and the ampoule to rotate a preset angle. In this way, when the liquid medicine at the bottom of the ampoule is extracted, the liquid medicine at the bottom of the ampoule gathers, and the liquid level is preferably matched with the bevel of the needle, so that the liquid medicine extraction can be completed to the maximum extent and the waste of liquid medicine can be reduced.

[0031] Among them, the driving device includes a bracket 20, a driving part 30 and a transmission component 40. The bracket 20 is arranged to move back and forth. The driving part 30 and the transmission component 40 are both arranged on the bracket 20. The driving part 30 and the transmission component 40 are drivingly connected, and the transmission component 40 drives the clamp 10 to rotate. The reciprocating movement of the bracket 20 drives the driving part 30 and the transmission component 40 to move, and the driving part 30 drives the clamp 10 to rotate through the transmission component 40, so as to realize the inclination of the ampoule.

[0032] Specifically, the transmission assembly 40 includes a first gear 41, a second gear 42, and a third gear 43 that are sequentially engaged. The first gear 41 is disposed on the drive shaft of the drive portion 30. The second gear 42 and the third gear 43 are both rotatably disposed on the bracket 20. Among them, the third gear 43 is used to drive the fixture 10 to rotate. The gear structure can achieve reliable transmission and can accurately control the rotation angle of the fixture 10.

[0033] Specifically, the drive portion 30 includes a motor 31, a speed reducer 32, a first mounting plate 33, and an encoder 34. The speed reducer 32 and the first mounting plate 33 are both mounted on the bracket 20. The motor 31 and the speed reducer 32 are drivingly connected. The speed reducer 32 has a drive shaft. One end of the encoder 34 is connected to the first mounting plate 33, and the other end of the encoder 34 is connected to the drive shaft or the first gear 41. Through the above settings, the rotation angle of the drive shaft can be accurately controlled, thereby accurately controlling the rotation angle of the ampoule bottle.

[0034] In this embodiment, the drive device further includes a second mounting plate 51 and a sensor 52. The second mounting plate 51 is mounted on the bracket 20. The sensor 52 is mounted on the second mounting plate 51 and faces the fixture 10. The sensor 52 is used to detect the position of the fixture 10. The position of the fixture 10 can be detected by the sensor 52. In this way, it can be judged whether the drive portion 30 has moved to the position connected to the fixture 10 according to the detection of the sensor 52, which is beneficial to realizing automatic control.

[0035] As Figures 1 to 4 shown, the ampoule bottle rotating device further includes a linear motion portion 60. The drive device is mounted on the linear motion portion 60, and the linear motion portion 60 drives the drive device to move back and forth. The back-and-forth movement of the drive device is realized through the action of the linear motion portion 60. The linear motion portion 60 can adopt a hydraulic drive structure, a pneumatic drive structure, or an electric drive structure.

[0036] Specifically, the linear motion portion 60 includes a base 61, a guide rail 62, and a sliding seat 63. The base 61 is fixedly arranged. The guide rail 62 is fixed on the base 61. The sliding seat 63 is slidably engaged with the guide rail 62. The drive device is connected to the sliding seat 63. Through the cooperation of the sliding seat 63 and the guide rail 62, the drive device can be guided to ensure that the drive device moves smoothly in the set direction.

[0037] Optionally, the bracket 20 includes a sliding seat connecting plate and a motor connecting plate that are connected to each other. The sliding seat 63 is connected to the sliding seat connecting plate, and the drive portion 30 is connected to the motor connecting plate.

[0038] The linear motion part 60 further includes an electric cylinder 64. The cylinder block of the electric cylinder 64 is fixed on the base 61, and the cylinder rod of the electric cylinder 64 is connected to the slide 63 or the driving device. The electric cylinder 64 is used to provide power to drive the driving device to move back and forth. Optionally, the linear motion part 60 further includes an electric cylinder mounting plate, and the electric cylinder 64 is connected to the slide connecting plate through the electric cylinder mounting plate.

[0039] As Figure 1 shown, the fixture 10 includes a clamping structure 11 and a driven wheel 12 provided on the clamping structure 11. Among them, the clamping structure 11 is rotatably provided as a whole, and the clamping structure 11 is used to clamp the ampoule bottle; when the driving device is in the connected position, the driving device is drivingly connected to the driven wheel 12. That is, through the cooperation of the driving device and the driven wheel 12, the clamping structure 11 and the ampoule bottle are driven to rotate. Among them, the driven wheel 12 can specifically be a gear.

[0040] Another embodiment of the present invention provides a medicine dispensing robot, which includes a manipulator and the above-mentioned ampoule bottle rotating device. The manipulator is used to extract the liquid medicine in the ampoule bottle on the fixture 10 of the ampoule bottle rotating device. Through the cooperation of the manipulator and the ampoule bottle rotating device, automatic extraction of the liquid medicine can be realized. The ampoule bottle is clamped by the fixture 10. When the driving device is spaced apart from the fixture 10, the fixture 10 transports the ampoule bottle by moving. When the liquid medicine needs to be extracted, the driving device is connected to the fixture 10, and the driving device drives the fixture 10 and the ampoule bottle to rotate a preset angle. In this way, when the needle on the manipulator extracts the liquid medicine at the bottom of the ampoule bottle, the liquid medicine at the bottom of the ampoule bottle gathers, and the liquid level is preferably matched with the bevel of the needle, so that the extraction of the liquid medicine can be completed to the maximum extent and the waste of the liquid medicine can be reduced.

[0041] In this embodiment, the medicine dispensing robot further includes a turntable. The ampoule bottle rotating device includes a plurality of fixtures 10. The turntable is rotatably provided, and the plurality of fixtures 10 are distributed in the circumferential direction of the turntable. Among them, any one of the fixtures 10 can be moved to the position corresponding to the manipulator. Each fixture 10 clamps an ampoule bottle respectively. When different fixtures 10 are moved to the position of the manipulator, the manipulator extracts the liquid medicine, and the ampoule bottle rotating device drives the fixture 10 to rotate, so that the extraction of the liquid medicine can be completed to the maximum extent. The above settings can realize continuous operation and improve the operation efficiency.

[0042] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0043] It should be noted that the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0044] Unless otherwise specifically stated, the relative arrangements of the components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the authorization specification. In all the examples shown and discussed herein, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, further discussion thereof is not required in subsequent drawings.

[0045] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom", etc., are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus cannot be construed as limiting the protection scope of the present invention; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0046] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper", etc. may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as shown in the figures. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "over" other devices or structures will then be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the corresponding explanations for the spatial relative descriptions used herein will be made accordingly.

[0047] In addition, it should be noted that the use of terms such as "first", "second", etc. to define components is only for the convenience of differentiating the corresponding components. Without further statement, these terms have no special meaning, and thus should not be construed as limiting the protection scope of the present invention.

Claims

1. An ampoule rotating device, characterized in that, Comprising: A clamp (10), the clamp (10) being movably arranged and used for clamping an ampoule bottle; A driving device, arranged to be reciprocally movable, the driving device having a connecting position and a separating position, and when the driving device is in the separating position, the driving device and the clamp (10) are spaced apart; When the driving device is in the connecting position, the driving device and the clamp (10) are drivingly connected to drive the clamp (10) and the ampoule bottle to rotate by a preset angle. Wherein, after the ampoule bottle rotates by the preset angle, the axis of the ampoule bottle is inclined relative to the vertical direction; A linear motion part (60), the driving device is mounted on the linear motion part (60), and the linear motion part (60) drives the driving device to reciprocally move; the linear motion part (60) includes a base (61), a guide rail (62), a sliding seat (63) and an electric cylinder (64), the base (61) is fixedly arranged, the guide rail (62) is fixed on the base (61), the sliding seat (63) is slidably engaged with the guide rail (62), the driving device is connected to the sliding seat (63), the cylinder body of the electric cylinder (64) is fixed on the base (61), and the cylinder rod of the electric cylinder (64) is connected to the sliding seat (63) or the driving device; The driving device includes a bracket (20), a driving part (30) and a transmission component (40), the bracket (20) is arranged to be reciprocally movable so that the transmission component (40) is connected to or spaced apart from the clamp (10), the driving part (30) and the transmission component (40) are both arranged on the bracket (20), the driving part (30) and the transmission component (40) are drivingly connected, and the transmission component (40) drives the clamp (10) to rotate; The transmission component (40) includes a first gear (41), a second gear (42) and a third gear (43) that are sequentially engaged, the first gear (41) is arranged on the driving shaft of the driving part (30), and the second gear (42) and the third gear (43) are both rotatably arranged on the bracket (20), wherein the third gear (43) is used to drive the clamp (10) to rotate; The driving part (30) includes a motor (31), a speed reducer (32), a first mounting plate (33) and an encoder (34), the speed reducer (32) and the first mounting plate (33) are both mounted on the bracket (20), the motor (31) and the speed reducer (32) are drivingly connected, the speed reducer (32) has the driving shaft, one end of the encoder (34) is connected to the first mounting plate (33), and the other end of the encoder (34) is connected to the driving shaft or the first gear (41); The driving device further includes a second mounting plate (51) and a sensor (52). The second mounting plate (51) is mounted on the bracket (20), and the sensor (52) is mounted on the second mounting plate (51) and faces the fixture (10). The sensor (52) is used to detect the position of the fixture (10).

2. The ampoule bottle rotating device according to claim 1, wherein The fixture (10) includes a clamping structure (11) and a driven wheel (12) provided on the clamping structure (11). Among them, the clamping structure (11) is rotatably provided as a whole, and the clamping structure (11) is used to clamp the ampoule bottle. When the driving device is in the connection position, the driving device is drivingly connected to the driven wheel (12).

3. A medicine dispensing robot, characterized in that, The drug dispensing robot includes a manipulator and the ampoule bottle rotating device according to any one of claims 1 to 2. The manipulator is used to extract the liquid medicine in the ampoule bottle on the fixture (10) of the ampoule bottle rotating device.

4. The drug dispensing robot according to claim 3, wherein The drug dispensing robot further includes a turntable. The ampoule bottle rotating device includes a plurality of the fixtures (10). The turntable is rotatably provided, and the plurality of the fixtures (10) are distributed in the circumferential direction of the turntable. Among them, any one of the fixtures (10) can be moved to a position corresponding to the manipulator.

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