A medical solution preparation machine and its solution preparation method

Abstract

This invention discloses a medical solution preparation machine, comprising: a solution preparation robot mechanism for extracting medication from injection vials and injecting the medication into a solvent bag; an injection vial pretreatment mechanism, including an ampoule processor and / or a vial processor and an output push rod, wherein the ampoule processor and vial processor break the ampoules and open the vials, and the output push rod ejects the processed injection vials; an injection vial input mechanism for connecting to the injection vial transport chain and the injection vial pretreatment mechanism; and a medication supply mechanism for connecting to the medication supplies on the transport chain and the solution preparation robot mechanism. This invention has the following advantages: it can connect to an automated injection drug logistics system to achieve automated transport from the injection warehouse to the solution preparation machine; through the solvent bag transport chain and syringe transport chain of the solution preparation machine's self-contained medication supply mechanism, it achieves continuous supply of solvent and syringes; and in conjunction with a fully automated injection dispensing machine, it realizes full automation of the solution preparation process in a hospital solution preparation center.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to a medical solution dispensing machine and its solution dispensing method. Background Technology

[0002] Currently, the robotic automatic liquid dispensing machine in the PIVAS intelligent equipment of hospitals can provide fully automated liquid dispensing without human intervention. The robotic liquid dispensing machine is welcomed by medical staff because it reduces human intervention, reduces the error rate of liquid dispensing, and reduces the harm of toxic drugs to medical staff.

[0003] However, current liquid dispensing robot technology has the following drawbacks:

[0004] 1. The dispensing machine cannot be connected to the automated injectable drug logistics system. It requires manual stopping to input injectable drugs, solvents and syringes, which requires a large amount of manpower and reduces the beneficial effects of automation.

[0005] 2. Large-scale commercial robotic infusion dispensing machines are expensive, and the production capacity of a single unit is insufficient to meet the hospital's infusion dispensing needs. The machines are also quite heavy, often exceeding the load capacity of a typical floor. When hospitals need to purchase a sufficient number of robotic infusion dispensing machines, they often find that cost and weight become significant barriers to procurement, forcing hospitals to abandon the use of automated equipment.

[0006] 3. When multiple robotic infusion dispensing machines are running simultaneously, the output of finished infusion bags cannot be coordinated between each machine, resulting in disordered production. Therefore, an automatic sorting device must be configured to perform secondary sorting of the finished infusion bags output from multiple robotic infusion dispensing machines, further increasing the hospital's financial investment and the workload of medical staff. Summary of the Invention

[0007] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a medical solution preparation machine that is low in cost and has the effects of significantly reducing manpower, simplifying the process and having high efficiency in solution preparation.

[0008] The above-mentioned technical objective of the present invention is achieved through the following technical solution: a medical solution dispensing machine, comprising:

[0009] The liquid dispensing robot mechanism is used to automatically extract the liquid from ampoules or vials and inject the extracted liquid into a solvent bag;

[0010] An injection vial pretreatment mechanism includes an ampoule processor and / or a vial processor and an output push rod. The ampoule processor and the vial processor respectively break the ampoule and open the vial, and are used to slide and dock with the liquid dispensing robot mechanism. The output push rod is used to push the processed injection vial out from the ampoule processor or the vial processor.

[0011] An injection vial input mechanism is used to connect to the injection vial transport chain, to accommodate and store injection vials, and to connect to the injection vial pretreatment mechanism;

[0012] The drug supply mechanism includes a transport chain assembly and a docking assembly. The transport chain assembly surrounds the liquid dispensing robot mechanism, and the docking assembly is used to dock the drug supplies on the transport chain and the liquid dispensing robot mechanism after the liquid dispensing robot mechanism moves.

[0013] In a preferred embodiment, the present invention can be further configured such that: the injection vial input mechanism includes a gripping jaw, a camera, and an input push rod; the gripping jaw engages with the transmission chain of the injection vial to accommodate and store the injection vial; the camera is located to the side of the gripping jaw and is used to identify information of the injection vial through the gap of the gripping jaw; the input push rod is used to pass through the gripping jaw to push the injection vial into the camera position and the liquid dispensing robot mechanism.

[0014] In a preferred embodiment, the present invention can be further configured such that the liquid dispensing robot mechanism includes:

[0015] The rotating frame has ampoule grippers and vial grippers at both ends, which are used to rotate and connect as needed to clamp the injection vials;

[0016] The first motor is used to control the rotation of the rotating frame;

[0017] A rotating plate is located on the front side of the rotating frame. A syringe operator is vertically slidably connected to the rotating plate to carry the syringe. After the rotating plate rotates, it docks with the ampoule clamp and the vial clamp as needed to extract the liquid from the ampoule and vial and inject it into the solvent bag.

[0018] The second motor, fixed to the rotating frame, is used to control the rotation of the rotating plate.

[0019] In a preferred embodiment, the present invention can be further configured such that: the needle of the syringe on the syringe operator is eccentrically positioned with respect to the ampoule gripper; the rotating frame is equipped with a rotary motor that controls the slow rotation of the ampoule gripper; the rotary motor drives the ampoule gripper to rotate at a predetermined angle; the center line of the ampoule gripper coincides with the center line of the syringe needle at a predetermined spatial point; and the slow rotation of the rotating frame enables the syringe to mimic the action of manually tilting and drawing liquid from the vial.

[0020] In a preferred embodiment, the invention may be further configured such that the syringe operator includes:

[0021] A mounting plate is located on the front side of the rotating plate. The surface of the mounting plate is provided with a syringe gripper, a needle gripper, and a piston handle gripper. The syringe gripper is used to hold and fix the syringe, the needle gripper is used to hold the connection end between the needle and the syringe, and the piston handle gripper is used to hold the tail of the piston handle.

[0022] The first driving component, fixed to the mounting plate, is used to control the pulling motion of the piston handle gripper to realize the suction and injection of the liquid medicine;

[0023] The second driving component, fixed to the rotating plate, is used to control the vertical movement of the mounting plate.

[0024] In a preferred embodiment, the present invention can be further configured such that: the syringe gripper includes a left gripper and a right gripper, the cross-section of the left gripper and the right gripper is L-shaped with bottom and side sides, and the bottom and side sides of the left gripper and the right gripper form a receiving space for storing syringes;

[0025] The left clamping block and the right clamping block are both provided with a protrusion at one end of their sides. When the two protrusions are put together, they form a notch for clamping the syringe. The opening size of the notch is smaller than the outer diameter of the syringe, thereby achieving clamping and limiting of the syringe.

[0026] The left clamping block and the right clamping block are both provided with a lower clamping block on the inner side of the other end of the left clamping block. The lower clamping block is provided with a flared groove for the arc-shaped flange portion of the syringe end to be inserted. The groove is composed of a bottom arc-shaped vertical surface, upper and lower planes and upper and lower guide slopes. The arc-shaped vertical surface fits into the arc-shaped flange portion of the syringe.

[0027] The bottom edges of the left clamp and the right clamp are both horizontally provided with interlocking inserts. The surface of each insert has a forward-sloping guide slope. The left and right guide slopes form a V-shaped slope that surrounds the syringe. When the left clamp and the right clamp separate, the arc-shaped flange at the end of the syringe leaves the slot and falls onto the guide slope. The V-shaped slope pushes the syringe away from the guide slope.

[0028] In a preferred embodiment, the present invention can be further configured such that the ampoule processor includes:

[0029] The first slide is used to slide above the syringe bottle input mechanism;

[0030] Ampoule pretreatment grippers are slidably connected to the first slide table and are used to engage with the gripping grippers on the injection bottle input mechanism and to hold and fix the injection bottles pushed out by the input rod on the injection bottle input mechanism.

[0031] The operating box contains a cutting component, a chip suction tube, a first disinfection tube, and a breaking component arranged sequentially. The cutting component rotates automatically and cuts the ampoule as the ampoule pretreatment grippers slide. The chip suction tube is used to collect glass shards. The first disinfection tube is used to disinfect the ampoule. The breaking component applies force to the top of the ampoule as the ampoule pretreatment grippers slide, causing the top of the ampoule to automatically break off.

[0032] In a preferred embodiment, the invention can be further configured such that the cutting component is used to cut scratches on the ampoule, the cutting component comprising:

[0033] The support is slidably connected to the operation box.

[0034] The cutting blade is rotatably connected to the front end of the support.

[0035] A cutting drive, fixed inside the operation box and located behind the support, drives the support to slide back and forth, thereby controlling the cutting blade to contact or detach from the ampoule;

[0036] An elastic connector is fixed between the cutting drive and the support, and applies elastic force to the support and the cutting blade to achieve stable cutting by the cutting blade following the outer contour of the ampoule.

[0037] The chip suction tube is fixed to the support and positioned on the side of the cutting blade's rotating chip discharge direction. When the ampoule pretreatment gripper slides to cut the ampoule, the chip suction tube is used to pick up glass chips.

[0038] The first sterilization tube is used to sterilize ampoules, and the first sterilization tube includes:

[0039] The support plate is slidably connected to the operation box.

[0040] A straight pipe is horizontally positioned in the middle of the support plate;

[0041] A left-bend pipe is disposed on the support plate and located to the left of the straight pipe;

[0042] A right-bend pipe is disposed on the support plate and located to the right of the straight pipe;

[0043] The disinfection drive is fixed inside the operation box and located on the rear side of the support plate. It drives the support plate to slide back and forth, and is used to control the first disinfection tube to enter or exit the disinfection position.

[0044] The left and right bends form a channel for the ampoule to enter, and the left, right, and straight tubes form a disinfection space surrounding the ampoule, achieving all-round disinfection of the ampoule opening.

[0045] The breaking assembly is used for automatic breaking of the ampoule, and the breaking assembly includes:

[0046] The wheel base is slidably connected to the operation box.

[0047] A break-off wheel is rotatably fixed to the wheel seat. The break-off wheel is a rubber wheel used to apply force to the top of the ampoule when the ampoule pretreatment gripper slides, so that the upper end of the ampoule breaks off automatically.

[0048] The break-off drive is fixed inside the operation box and located behind the wheel seat. It drives the wheel seat to slide back and forth, controlling the break-off wheel to contact or detach from the ampoule.

[0049] In a preferred embodiment, the present invention can be further configured such that the vial processor includes:

[0050] The second slide is used to slide above the syringe bottle input mechanism;

[0051] The vial pretreatment gripper is slidably connected to the second slide table and is used to dock with the gripping gripper on the vial input mechanism and to hold and fix the vial pushed out by the input rod on the vial input mechanism.

[0052] The operating frame is hollow inside and forms a channel for vials to pass through. A pair of opening plates are horizontally arranged on the lower side walls of both sides of the operating frame, along the direction of movement of the vials. The opening plates form a channel for the neck of the vial to pass through. The upper part of the opening plates forms a channel for the cap to pass through. The upper surface of the opening plates forms an upward inclined surface from the starting end to the ending end, which is used to apply an upward lifting force to the cap when the vial passes through, so as to remove the cap.

[0053] The second disinfection tube is vertically mounted on the operating frame and located behind the tail end of the inclined surface of the opening plate. The opening of the second disinfection tube faces downward and is used for disinfection after the vial is opened.

[0054] In a preferred embodiment, the present invention can be further configured such that: the first slide and the second slide are combined to form a long slide, the ampoule pretreatment gripper and the vial pretreatment gripper are slidably connected to the long slide, the operation box is located on one side of the ampoule pretreatment gripper, and the operation frame is located above the motion center of the vial pretreatment gripper.

[0055] In a preferred embodiment, the present invention may be further configured such that the transport link component includes:

[0056] A transmission chain, arranged in a ring around the liquid dispensing robot mechanism, is used for inputting and outputting medicines;

[0057] The support platform has a double L-shaped structure and is horizontally arranged. It is located next to the liquid dispensing robot mechanism, allowing the transmission chain to pass through and supporting the transmission chain.

[0058] The hook includes a vertical plate and a horizontal plate of an L-shaped plate, which are connected to the outer section of the transmission chain from below. The vertical plate has a notch that is adapted to the shape of the medicine device and is at a predetermined distance from the horizontal plate.

[0059] The horizontal plate includes a first horizontal section, a second inclined section, and a third horizontal section. The first horizontal section stores the medicines. The second inclined section is connected to the first horizontal section and is inclined upward. The inclined surface cooperates with the vertical plate to limit the position of the medicines. The third horizontal section is horizontally connected to the upper end of the second inclined section to realize the transfer and transportation of the medicines.

[0060] The guide wheel assembly and the load-bearing wheel assembly include several pairs of guide wheels and several pairs of load-bearing wheels, which are spaced apart along the transmission chain. The guide wheels are fixed to the outer section of the transmission chain, and the wheel surfaces abut against the vertical surface of the load-bearing platform. The load-bearing wheels are fixed to the vertical plate of the hook, and the wheel surfaces rest on the plane of the load-bearing platform.

[0061] An input or output cylinder, wherein the piston rod of the input cylinder is used to pass through the gap between the pair of vertical plates to push out the medicine device.

[0062] In a preferred embodiment, the present invention may be further configured such that: the transmission chain is a single-layer syringe transmission chain, or a single-layer solvent bag transmission chain, or a combination of a bottom solvent bag inlet chain and a top solvent bag outlet chain, or a combination of a single-layer syringe transmission chain and a single-layer solvent bag transmission chain, or a combination of a single-layer syringe transmission chain, a bottom solvent bag inlet chain, and a top solvent bag outlet chain.

[0063] In a preferred embodiment, the present invention can be further configured such that the docking component includes:

[0064] The first storage rack consists of a first suspension plate, a first storage plate, solvent bag nozzle grippers and solvent bag body grippers. The first suspension plate is vertically arranged and has a channel through which the piston rod of the output cylinder passes. The solvent bag nozzle grippers and the solvent bag body grippers are distributed above and on both sides of the channel.

[0065] The sliding assembly consists of a slide block and a rotary motor. The slide block carries the first storage rack and slides vertically to dock with the output position of the transmission chain and the liquid dispensing robot mechanism. The rotary motor is fixed on the slide block and is used to control the slide block to rotate 180° as needed, so that the nozzle of the solvent bag faces up or down, and docks with the liquid dispensing robot mechanism.

[0066] In a preferred embodiment, the present invention can be further configured such that the docking component includes:

[0067] The second storage rack consists of a second suspension plate and a second storage plate. The second storage plate is horizontally disposed on the lower side walls of both sides of the second suspension plate and is used to support the arc-shaped flange portions on both sides of the syringe barrel. One end of the second storage plate is used to connect with the horizontal plate and to carry the syringe ejected by the corresponding cylinder. The other end of the second storage plate is connected with the liquid dispensing robot mechanism. The middle part of the second storage plate is recessed downward to form a storage section for the syringe.

[0068] In a preferred embodiment, the present invention can be further configured such that the second suspension plate and the second storage plate can rotate together by 90°, one end of the second storage plate is used to dock with the horizontal plate before rotation, and the other end of the second storage plate is docked with the liquid dispensing robot mechanism after rotation of 90°.

[0069] Another objective of this invention is to provide a medical solution preparation method that is low in cost and has high efficiency in solution preparation.

[0070] The above-mentioned technical objective of the present invention is achieved through the following technical solution: a medical solution preparation method, comprising the following steps:

[0071] S1, Injection Bottle Input: The output push rod of the injection bottle input mechanism pushes the injection bottle in the transmission chain into the clamping jaw of the injection bottle input mechanism at a predetermined height. After the clamping jaw tightens, the camera on the side of the clamping jaw reads and identifies the information of the injection bottle from the gap of the clamping jaw. After confirming that the information is correct, the clamping jaw is released but the bottle is kept vertical and stable.

[0072] When the medicine bottle is an ampoule:

[0073] S2, when the medicine bottle is an ampoule: the first slide moves above the injection bottle input mechanism, the ampoule pretreatment gripper is aligned with the center of the gripping gripper on the injection bottle input mechanism, the input push rod of the injection bottle input mechanism pushes the ampoule that has passed the information recognition into the ampoule pretreatment gripper to a predetermined height, after the ampoule pretreatment gripper clamps, the input push rod is retracted to the lowest position, the first slide moves away, and the injection bottle conveyor chain at the bottom moves until the next medicine bottle arrives directly below the injection bottle input mechanism;

[0074] S3, Ampoule opening: The first slide carries the ampoule to a fixed point below the operation box. The neck of the ampoule at the predetermined height is at the same height as the cutting wheel inside the operation box. The first slide moves slowly, and the neck of the ampoule moves forward slowly, passing through the cutting wheel and the lint suction tube, the first disinfection tube and the breaking wheel one by one. The cutting wheel and the lint suction tube, the first disinfection tube and the breaking wheel extend outwards by a predetermined length in sequence, cutting, suctioning, disinfecting and breaking the neck of the ampoule one by one.

[0075] S4, Ampoule Simulation Aspiration: The first slide carries the open ampoule to below the dispensing robot. The ampoule gripper on the rotating frame stops at its lowest position, and the ampoule pretreatment gripper and the ampoule gripper are aligned. The output push rod extends into the ampoule pretreatment gripper and pushes the ampoule to a predetermined height within the ampoule gripper. After the ampoule gripper clamps, the output push rod returns to its starting position. The rotary motor on the rotating frame slowly rotates, causing the ampoule gripper to rotate at a predetermined angle. The syringe needle descends until it touches the neck of the ampoule, and the needle is at a predetermined angle to the center line of the ampoule. The syringe slowly rotates the rotating frame while aspirating, ensuring that the liquid always submerges the needle without overflowing the bottle opening, thus mimicking the action of manual tilting aspiration with minimal residual liquid.

[0076] When the medicine bottle is a vial:

[0077] S5, when the vial is a penicillin: the second slide moves above the vial input mechanism, the penicillin pre-processing gripper aligns with the center of the gripping gripper on the vial input mechanism, the input push rod of the vial input mechanism pushes the vial that has passed the information recognition into the penicillin pre-processing gripper to a predetermined height, after the penicillin pre-processing gripper clamps, the input push rod retracts to the lowest position, the second slide moves away, and the vial transport chain at the bottom moves until the next vial arrives directly below the vial input mechanism;

[0078] S6, Ampoule cap removal: The second slide slides the ampoule to a position below the fixed point of the operating frame. The ampoule cap, which is at a predetermined height, is slightly higher than the upper surface of the opening plate of the operating frame. The second slide moves slowly, and the ampoule cap slowly enters the channel between the opening plates. The inclined surface of the opening plate applies an upward force to the cap to remove it.

[0079] S7, Vial Pressure Aspiration: The second slide carries the capped vial to below the dispensing robot mechanism. The vial gripper on the rotating frame stops at its lowest position, and the centers of the vial pretreatment gripper and the vial gripper are aligned. The output push rod extends into the vial pretreatment gripper and pushes the vial to a predetermined height within the vial gripper. After the vial gripper clamps, the output push rod returns to its starting position. The syringe needle descends and pierces the vial cap. The syringe piston draws out a predetermined amount of air and injects a predetermined amount of solvent. The rotating frame rotates 180°, and the vial cap changes from upward to downward. After the powder in the vial dissolves, the syringe injects a predetermined amount of air, draws out a predetermined amount of liquid, withdraws the needle, and the vial gripper retracts to a position that does not obstruct the vertical movement of the mounting plate.

[0080] S8, Solvent Input, Dosing and Output: The solvent bag conveyor chain carries the solvent to the predetermined position. The input cylinder pushes the solvent out of the hook into the docking assembly. Inside the docking assembly, the solvent bag is fixed by the bottle mouth gripper and the bag body gripper, and is respectively moved to the high position by the sliding assembly with the bottle mouth downward and the syringe needle injects air to draw out the solvent. When moved to the low position with the bottle mouth upward, the syringe needle draws air from the bag to input the drug solution. After the drug solution is prepared, the solvent bag aligns with the first storage plate and the hook at the low position. The bottle mouth gripper and the bag body gripper open, and the output cylinder pushes the solvent bag out of the docking assembly and into the hook.

[0081] S9, Syringe Input: The syringe transport chain carries the syringe to the predetermined position, and the input cylinder pushes the syringe out of the hook onto the second storage plate in the second storage rack; after the second storage rack rotates 90°, it docks with the liquid dispensing robot mechanism, and the output cylinder pushes the syringe out of the second storage plate and into the syringe gripper, needle gripper and piston handle gripper of the syringe operator's mounting plate;

[0082] S10, Syringe clamping and ejection: The output cylinder pushes the syringe to fit against the inclined surface of the left and right clamping blocks. The arc-shaped flange at the end of the syringe falls between the guide inclined surfaces. After the left and right clamping blocks close and tighten, the syringe moves upward close to the inclined surface of the inserting blocks. The arc-shaped flange at the end of the syringe falls into the slot of the left and right clamping blocks. The syringe falls into the notch. The needle clamp and the piston handle clamp simultaneously clamp the needle and the piston handle.

[0083] In summary, the present invention has the following beneficial effects:

[0084] 1. This invention can interface with an automated injectable drug logistics system to achieve automated transportation from the injectable drug storage to the dispensing machine; through the solvent bag conveying chain and syringe conveying chain of the dispensing machine's self-contained drug supply mechanism, continuous supply of solvent and syringes without stopping the machine can be achieved. When combined with a fully automated injectable drug dispensing machine, this invention can realize the full automation of the dispensing process in a hospital dispensing center.

[0085] 2. This invention reduces the cost and weight of a single dispensing machine by adopting automated logistics technology for injectable drugs, solvents, and syringes, as well as simplifying the design of the pretreatment mechanism for injectable vials and the dispensing robot mechanism, thus removing a major obstacle to the promotion and application of new technologies.

[0086] 3. This invention directly controls the finished infusion bags to fall into the designated turnover box through the solvent bag output chain of the drug supply mechanism. After inspection, the bags are shipped directly without secondary sorting, simplifying a link that currently requires a large investment of capital and manpower in the static compounding center. Attached Figure Description

[0087] Figure 1 This is a structural schematic diagram of an embodiment;

[0088] Figure 2 This is a schematic diagram of the syringe bottle input mechanism in this embodiment;

[0089] Figure 3 This is a schematic diagram of the structure of the injection vial pretreatment mechanism in this embodiment;

[0090] Figure 4 This is a schematic diagram of the structure of the ampoule processor in this embodiment;

[0091] Figure 5 This is a schematic diagram of the internal structure of the operation box in the embodiment;

[0092] Figure 6 This is a schematic diagram of the vial processor in an embodiment;

[0093] Figure 7 This is a schematic diagram of the cover plate in the embodiment;

[0094] Figure 8 This is a schematic diagram of the structure of the ampoule processor and the vial processor in the embodiment;

[0095] Figure 9 This is a schematic diagram of the liquid dispensing robot mechanism in the embodiment;

[0096] Figure 10 This is a schematic diagram of the syringe manipulator in the embodiment;

[0097] Figure 11 This is a schematic diagram of the transmission link component in an embodiment;

[0098] Figure 12 This is a schematic diagram of the docking components in an embodiment;

[0099] Figure 13 This is a schematic diagram of the structure of the second storage plate in the embodiment.

[0100] Reference numerals: 1. Dispensing robot mechanism; 11. Rotating frame; 12. First motor; 13. Rotating plate; 14. Second motor; 15. Ampoule gripper; 16. Vial gripper; 17. Syringe operator; 171. Mounting plate; 172. First drive component; 173. Second drive component; 174. Syringe gripper; 1741. Left gripper block; 1742. Right gripper block; 1743. Boss; 1744. Lower clamping block; 1745. Slot; 1746. Insertion block; 175. Needle gripper; 176. Piston handle gripper; 18 1. Rotary motor; 2. Injection vial input mechanism; 21. Gripping gripper; 22. Camera; 23. Input push rod; 3. Injection vial pretreatment mechanism; 31. Ampoule processor; 311. First slide; 312. Ampoule pretreatment gripper; 313. Operation box; 314. Cutting assembly; 3141. Support; 3142. Cutting blade; 3143. Cutting drive; 3144. Elastic connector; 315. Dust suction tube; 316. First disinfection tube; 3161. Support plate; 3162. Disinfection drive; 3163. Straight pipe; 3164, Left bend pipe; 3165, Right bend pipe; 317, Breaking assembly; 3171, Wheel seat; 3172, Breaking wheel; 3173, Breaking drive; 32, Vial processor; 321, Second slide; 322, Vial pretreatment gripper; 323, Operating frame; 324, Second sterilization tube; 325, Opening plate; 33, Output push rod; 4, Medical supply mechanism; 41, Conveyor chain assembly; 42, Docking assembly; 421, First storage rack; 4211, First suspension plate; 4212, First storage plate; 42 13. Solvent bag nozzle gripper; 4214. Solvent bag body gripper; 422. Sliding assembly; 4221. Slide seat; 4222. Rotary motor; 423. Second storage rack; 4231. Second suspension plate; 4232. Second storage plate; 43. Conveyor chain; 44. Bearing platform; 45. Hook; 451. Vertical plate; 452. Horizontal plate; 453. Notch; 454. First horizontal section; 455. Second inclined section; 456. Third horizontal section; 46. Guide wheel assembly; 47. Bearing wheel assembly; 48. Cylinder; 49. Chute. Detailed Implementation

[0101] The present invention will be further described in detail below with reference to the accompanying drawings.

[0102] Example 1:

[0103] like Figure 1 As shown, a medical solution dispensing machine includes a solution dispensing robot arm mechanism 1, an injection vial pretreatment mechanism 3, an injection vial input mechanism 2, and a drug supply mechanism 4.

[0104] like Figure 1As shown, the liquid dispensing robot 1 is used to automatically extract all the liquid from the ampoule or vial and inject the extracted liquid into the solvent bag.

[0105] like Figure 1 As shown, the syringe pretreatment mechanism 3 includes an ampoule processor 31 and / or a vial processor 32, as well as an output push rod 33. The ampoule processor 31 and the vial processor 32 respectively break the ampoules and open the vials, for sliding and docking with the dispensing robot mechanism 1. The output push rod 33 is vertically slidably connected and is used to push the processed syringe from the ampoule processor 31 or the vial processor 32 into the dispensing robot mechanism 1.

[0106] like Figure 1 As shown, the syringe bottle input mechanism 2 is used to connect to the syringe bottle transport chain, to accommodate and store syringe bottles, and to connect to the syringe bottle pretreatment mechanism 3.

[0107] like Figure 1 As shown, the drug supply mechanism 4 includes a transport chain assembly 41 and a docking assembly 42. The transport chain assembly 41 surrounds the liquid dispensing robot mechanism 1, and the docking assembly 42 is used to dock the drug supplies on the transport chain with the liquid dispensing robot mechanism 1 after the liquid dispensing robot mechanism 1 moves.

[0108] During the solution preparation process, the vial input mechanism 2 transports the vials to the vial pretreatment mechanism 3. The vial pretreatment mechanism automatically adapts to either the ampoule processor 31 or the vial processor 32 based on the type of vial, opening or capping the vial. The processed vials are then transported to the solution preparation robot mechanism 1, where the robot extracts the liquid medication or dissolves the powder medication before extraction.

[0109] The drug supply mechanism 4 transports the drug supplies, namely the syringe and solvent bag, to a predetermined position where they can dock with the solution preparation robot mechanism 1. The robot draws solvent and injects it into the opened vial to dissolve the drug powder. The robot then draws the drug solution from the vial and injects it into the solvent bag. The drug supply mechanism 4 then delivers the prepared solvent bag, completing the automated solution preparation process.

[0110] like Figure 1 , Figure 2 As shown, the syringe bottle input mechanism 2 includes a gripper 21, a camera 22, and an input push rod 23.

[0111] like Figure 1 , Figure 2 As shown, the input push rod 23 is vertically inserted through the transmission chain of the injection bottle, the gripping claw 21, and the injection bottle pretreatment mechanism 3, and is used to lift the injection bottles in the transmission chain to the injection bottle input mechanism 2 and the injection bottle pretreatment mechanism 3 in sequence.

[0112] like Figure 1 , Figure 2 As shown, the gripper 21 connects to the transport chain of the syringe vial below and to the ampoule processor 31 or vial processor 32 of the syringe vial pretreatment mechanism 3 above. The gripper 21 consists of an octagonal guide section and a four-jaw bar identification section.

[0113] like Figure 1 , Figure 2 As shown, the camera 22 is located to the side of the gripper 21 and is used to pass through the gap of the gripper 21 to identify the information of the injection bottle and feed the identified information back to the computer to determine whether the transmitted injection bottle is correct.

[0114] When the vial in the transport chain stops below the vial input mechanism 2, the input push rod 23 slides upward to push the vial into the gripper 21. After the vial body enters the octagonal guide section, the guide section immediately contracts, allowing the vial to enter the four-jaw bar recognition section vertically, preventing the slender head of the ampoule from getting stuck in the gap of the four-jaw bar. The input push rod 23 continues to move upward until the vial is pushed into the predetermined recognition position of the camera 22, at which point the gripper 21 tightens to stabilize the vial. The camera 22 feeds back the recognized information to the computer. Once the information of the vial is confirmed to be correct, the gripper 21 releases, the vial pre-processing mechanism 3 slides over to engage, and the input push rod 23 continues to move vertically upward to push the vial into the vial pre-processing mechanism 3.

[0115] like Figure 3 , Figure 4 As shown, the ampoule processor 31 includes a first slide 311, an ampoule pretreatment gripper 312, and an operation box 313.

[0116] like Figure 3 , Figure 4 As shown, the first slide 311 can slide horizontally above the syringe bottle input mechanism 2 to process ampoules when the syringe bottle being transported is an ampoule, and when a vial is being transported, the first slide 311 can return to its original position and not participate in the operation.

[0117] like Figure 3 , Figure 4 As shown, the ampoule pretreatment gripper 312 is slidably connected to the first slide 311 along the length direction of the first slide 311, and is used to dock with the gripper 21 on the injection bottle input mechanism 2, and to hold and fix the injection bottle pushed out by the input rod 23 on the injection bottle input mechanism 2.

[0118] like Figure 3 , Figure 4 , Figure 5As shown, the operation box 313 is provided with a cutting component 314, a chip suction tube 315, a first disinfection tube 316 and a breaking component 317 arranged in sequence.

[0119] like Figure 4 , Figure 5 As shown, the cutting assembly 314 includes a support 3141, a cutting blade 3142, a cutting drive 3143, and an elastic connector 3144.

[0120] like Figure 4 , Figure 5 As shown, the support 3141 is slidably connected to the operation box 313, and the cutting blade 3142 is rotatably connected to the front end of the support 3141. The cutting drive 3143 is fixed inside the operation box 313 and located on the rear side of the support 3141. The cutting drive 3143 can use a micro cylinder or a micro electric cylinder to control the cutting assembly 314 to contact or detach from the ampoule.

[0121] like Figure 4 , Figure 5 As shown, the elastic connector 3144 is an elastic sheet or spring or other elastic workpiece. The two ends of the elastic connector 3144 are fixed between the cutting drive 3143 and the support 3141 respectively, and apply elastic force to the support 3141 and the cutting blade 3142 so that the syringe can follow the outline of the ampoule when it passes through, thus achieving stable cutting of the syringe.

[0122] like Figure 4 , Figure 5 As shown, the chip suction pipe 315 is arranged along the length of the support 3141. The port of the chip suction pipe 315 is located next to the cutting wheel and is placed on the side of the cutting wheel's rotation chip discharge direction, and is used to pick up the glass chips after cutting.

[0123] like Figure 4 , Figure 5 As shown, the first disinfection tube 316 includes a support plate 3161, a disinfection drive 3162, a straight tube 3163, a left-bent tube 3164, and a right-bent tube 3165.

[0124] like Figure 4 , Figure 5 As shown, the support plate 3161 and the support seat 3141 slide in the same direction and are slidably connected to the operation box 313. The disinfection drive 3162 is fixed inside the operation box 313 and located behind the support plate 3161, driving the support plate 3161 to slide back and forth. The straight pipe 3163 is horizontally positioned in the middle of the support plate 3161. The left bend pipe 3164 and the right bend pipe 3165 are both located on the support plate 3161, on the left and right sides of the straight pipe 3163, respectively, with their openings facing the straight pipe 3163.

[0125] like Figure 4, Figure 5 As shown, a channel for the ampoule to enter is formed between the left bend tube 3164 and the right bend tube 3165. A sterilization space surrounding the ampoule is formed between the left bend tube 3164, the right bend tube 3165 and the straight tube 3163. When the first slide 311 carries the ampoule to the sterilization position, the sterilization drive 3162 controls the first sterilization tube 316 to move forward into the sterilization position, so as to achieve all-round sterilization of the ampoule mouth.

[0126] like Figure 4 , Figure 5 As shown, the break-off assembly 317 includes a wheel base 3171, a break-off wheel 3172, and a break-off drive 3173. The break-off wheel 3172 is a rubber wheel fixed to the wheel base 3171. The break-off drive 3173 is fixed inside the operation box 313 and located behind the wheel base 3171. When the first slide 311 carries the ampoule away from the sterilization position, the break-off drive 3173 immediately pushes the wheel base 3171 to slide forward to the break-off operation position. As the ampoule slowly passes by, the resistance encountered after the cut side contacts the break-off wheel 3172 gradually increases until the ampoule breaks at the cut. The break-off drive 3173 then controls the break-off assembly 317 to retract and disengage from the ampoule.

[0127] like Figure 6 , Figure 7 As shown, the vial processor 32 includes a second slide 321, a vial pretreatment gripper 322, an operating frame 323, and a second sterilization tube 324.

[0128] like Figure 6 , Figure 7 As shown, the second slide 321 can slide horizontally above the syringe bottle input mechanism 2 to process vials when they are being transported, and when ampoules are being transported, the first slide 311 can return to its original position and not participate in the operation.

[0129] like Figure 6 , Figure 7 As shown, the vial pretreatment gripper 322 is slidably connected to the second slide 321 along the length direction of the second slide 321, and is used to dock with the gripper 21 on the vial input mechanism 2, and to hold and fix the vial pushed out by the input rod 23 on the vial input mechanism 2.

[0130] like Figure 6 , Figure 7As shown, the operating frame 323 is hollow inside, forming a channel for vials to pass through. Both lower side walls of the operating frame 323 are horizontally equipped with cap-opening plates 325 arranged along the direction of vial movement. A channel for the bottle neck to pass through is formed between a pair of cap-opening plates 325, and a channel for the bottle cap to pass through is located above the cap-opening plates 325. The upper surface of the cap-opening plate 325 forms an upward-sloping surface from the starting end to the ending end, used to apply an upward lifting force to the bottle cap as the vial passes through, thus removing the bottle cap.

[0131] like Figure 6 , Figure 7 As shown, the second disinfection tube 324 is vertically arranged on the operating frame 323 and located on the axial direction of the channel, and at the rear of the inclined surface on the capping plate 325. The opening of the second disinfection tube 324 faces downward and is used for disinfection after the vial is opened.

[0132] When the input injection vial is an ampoule, the first slide 311 slides horizontally above the injection vial input mechanism 2, and the second slide 321 does not work.

[0133] At this time, the ampoule pretreatment gripper 312 clamps the lower part of the ampoule body, so that the neck of the ampoule is above the ampoule pretreatment gripper 312, and the connection between the neck of the ampoule and the body is flush with the cutting plate 3142.

[0134] Subsequently, the ampoule pretreatment gripper 312 controls the ampoule to slide from one end of the first slide table 311 towards the other end, that is, to gradually move the ampoule towards the output push rod 33. At this time, the cutting blade 3142 rotates, cutting the ampoule as it passes by. Then the ampoule moves to the chip suction tube 315, where the suction force generated at the chip suction tube 315 picks up the cut glass fragments.

[0135] The ampoule then moves to the first sterilization tube 316. At this point, the support plate 3161 slides forward, pushing out the straight tube 3163, the left-curved tube 3164, and the right-curved tube 3165. This positions the ampoule within the sterilization space formed by the left-curved tube 3164, the right-curved tube 3165, and the straight tube 3163, achieving comprehensive sterilization of the ampoule. After sterilization, the support plate 3161 slides backward, causing the straight tube 3163, the left-curved tube 3164, and the right-curved tube 3165 to retract.

[0136] The ampoule then moves to the breaking assembly 317 position. As the ampoule pretreatment gripper 312 slides, the breaking wheel 3172 applies a backward force to the neck of the ampoule, causing the upper end of the ampoule to automatically break off from the neck position, thus completing the opening of the ampoule.

[0137] Finally, the ampoule pretreatment gripper 312 drives the opened ampoule to continue moving backward until it engages with the output push rod 33. The output push rod 33 then moves upward, ejecting the ampoule and conveying it into the dispensing robot mechanism 1 for the next step. Afterward, the first slide 311 and the output push rod 33 are fully reset, awaiting the arrival of the next vial.

[0138] When the input vial is a penicillin vial, the second slide 321 slides horizontally above the vial input mechanism 2, and the first slide 311 does not work.

[0139] At this time, the vial pretreatment gripper 322 grips the lower part of the vial body, so that the vial cap is above the vial pretreatment gripper 322, and the lower end face of the vial cap is flush with the lowest surface of the inclined surface of the upper end face of the cap opening plate 325.

[0140] Subsequently, the pre-treatment gripper 322 controls the vial to slide from one end of the second slide 321 towards the other end, that is, to make the vial gradually move towards the output push rod 33. At this time, the vial slides relative to the capping plate 325. Under the action of the inclined surface on the capping plate 325, an upward lifting force is applied to the cap, removing the cap.

[0141] The vial then moves to the second sterilization tube 324, where it achieves comprehensive sterilization. After sterilization, the vial pretreatment gripper 322 continues to move backward with the opened vial until it engages with the output push rod 33. The output push rod 33 then moves upward, ejecting the vial and conveying it to the dispensing robot mechanism 1 for the next step. The second slide 321 and the output push rod 33 then reset, awaiting the arrival of the next vial.

[0142] In practical applications, the ampoule processor 31 and the vial processor 32 can be used individually, or two ampoule processors 31 can be used together, or two vial processors 32 can be used together, or one ampoule processor 31 and one vial processor 32 can be used together.

[0143] like Figure 8 As shown, in practical applications, the first slide 311 and the second slide 321 can be combined to form a long slide. The ampoule pretreatment gripper 312 and the vial pretreatment gripper 322 are fixed together and synchronously slidably connected to the long slide. The operation box 313 is located on one side of the ampoule pretreatment gripper 312, and the operation frame 323 is located above the motion center of the vial pretreatment gripper 322. The pretreatment process of ampoules and vials is the same as the above process, with adaptive changes, and will not be described in detail.

[0144] like Figure 9 As shown, the liquid dispensing robot mechanism 1 includes a rotating frame 11, a first motor 12, a rotating plate 13, and a second motor 14.

[0145] like Figure 9 As shown, the rotating frame 11 has ampoule grippers 15 and vial grippers 16 at both ends, which are used to clamp the injection vials as needed after rotation. The first motor 12 is used to control the rotation of the rotating frame 11 and to use either the ampoule grippers 15 or the vial grippers 16 as needed.

[0146] like Figure 9 As shown, the rotating plate 13 is located in front of the rotating frame 11. A syringe operator 17 is vertically slidably connected to the rotating plate 13. The syringe operator 17 is used to carry the syringe and, after the rotating plate 13 rotates, aligns with the ampoule gripper 15 and the vial gripper 16 as needed to extract the liquid from the ampoules and vials and inject it into the solvent bag. The second motor 14 is fixed to the rotating frame 11 and is used to control the rotation of the rotating plate 13 and align with the ampoule gripper 15 and the vial gripper 16.

[0147] like Figure 9 As shown, the syringe needle on the syringe manipulator 17 is eccentrically positioned with respect to the ampoule gripper 15. A rotary motor 18 is mounted on the rotating frame 11 to control the slow rotation of the ampoule gripper 15. The rotary motor 18 drives the ampoule gripper 15 to rotate by a predetermined angle, and the center line of the ampoule gripper 15 coincides with the center line of the syringe needle at a predetermined spatial point. By slowly rotating the rotating frame 11, the syringe can mimic the action of manually tilting and drawing liquid from the vial.

[0148] When the medicine bottle is an ampoule:

[0149] The ampoule gripper 15 on the rotating frame 11 is at its lowest position, and the ampoule pretreatment gripper 312 and the ampoule gripper 15 are aligned. At this time, the output push rod 33 extends into the ampoule pretreatment gripper 312 and pushes the ampoule to a predetermined height inside the ampoule gripper 15. After the ampoule gripper 15 clamps, the output push rod 33 returns to the starting position.

[0150] Subsequently, the rotating motor 18 on the rotating frame 11 slowly rotates, causing the ampoule gripper 15 to rotate at a predetermined angle. The syringe needle descends until it touches the neck of the ampoule, with the needle at a predetermined angle to the center line of the ampoule. Finally, while the syringe draws fluid, the rotating frame 11 slowly rotates, and the ampoule and syringe rotate synchronously at a relatively fixed angle, ensuring that the liquid remains submerged in the needle without overflowing the bottle opening. This achieves the effect of mimicking manual tilting and drawing fluid, resulting in less residual liquid.

[0151] When the medicine bottle is a vial:

[0152] When the vial gripper 16 on the rotating frame 11 is at its lowest position, the vial pretreatment gripper 322 and the vial gripper 16 are aligned. At this time, the output push rod 33 extends into the vial pretreatment gripper 322 and pushes the vial to a predetermined height inside the vial gripper 16. After the vial gripper 16 clamps, the output push rod 33 returns to the starting position.

[0153] The syringe needle then descends to pierce the vial cap, the syringe plunger draws out a predetermined amount of air, and a predetermined amount of solvent is injected. Next, the rotating frame 11 rotates 180°, turning the vial cap from upward to downward. After the powder inside the vial dissolves, the syringe injects a predetermined amount of air and draws out a predetermined amount of liquid, mimicking the actions of manual negative pressure injection, negative pressure dissolution, positive pressure aspiration, and minimal residual liquid. Finally, the syringe retracts, and the vial gripper 16 moves backward, ensuring that the syringe manipulator 17 can continue to move upward for the next step.

[0154] like Figure 9 , Figure 10 As shown, the syringe manipulator 17 includes a mounting plate 171, a first drive member 172, and a second drive member 173.

[0155] like Figure 10 As shown, the mounting plate 171 is located in front of the rotating plate 13. The surface of the mounting plate 171 is provided with a syringe gripper 174, a needle gripper 175 and a piston handle gripper 176. The syringe gripper 174 is used to hold and fix the syringe, the needle gripper 175 is used to hold the connection end between the needle and the syringe, and the piston handle gripper 176 is used to hold the tail of the piston handle.

[0156] like Figure 10 As shown, the first driving component 172 is fixed to the mounting plate 171 and is used to control the pulling movement of the piston handle gripper 176 to realize the aspiration and injection of the liquid medicine. The second driving component 173 is fixed to the rotating plate 13 and is used to control the vertical movement of the mounting plate 171 and the syringe together.

[0157] When installing the syringe, the syringe barrel, needle, and piston handle are secured using the syringe barrel clamp 174, needle clamp 175, and piston handle clamp 176. When aspirating or injecting medication, the second drive unit 173 controls the mounting plate 171 and the syringe to move vertically together, aligning with the vial or solvent bag. Then, the first drive unit 172 controls the piston handle clamp 176 to pull, achieving aspiration and injection of the medication. When the syringe needs to be replaced, the piston handle clamp 176 resets, at which point the syringe barrel clamp 174, needle clamp 175, and piston handle clamp 176 open, allowing for syringe replacement.

[0158] like Figure 10As shown, the syringe gripper 174 includes a left gripper 1741 and a right gripper 1742. The cross-sections of the left gripper 1741 and the right gripper 1742 are L-shaped with bottom and side sides. The bottom and side sides of the left gripper 1741 and the right gripper 1742 form a storage space for storing syringes.

[0159] like Figure 10 As shown, a boss 1743 is provided on one end of the side of the left clamping block 1741 and the side of the right clamping block 1742. When the two bosses 1743 are put together, they form a notch for clamping the syringe. The opening size of the notch is smaller than the outer diameter of the syringe, so as to achieve clamping and limiting of the syringe.

[0160] like Figure 10 As shown, a lower locking block 1744 is provided on the inner side of the other end of the left clamping block 1741 and the right clamping block 1742. The lower locking block 1744 is provided with a flared groove 1745 for the arc-shaped flange portion of the syringe end to be inserted. The groove 1745 is composed of a bottom arc-shaped vertical surface, upper and lower planes and upper and lower guide slopes. The arc-shaped vertical surface fits into the arc-shaped flange portion of the syringe.

[0161] like Figure 10 As shown, the bottom edges of the left clamping block 1741 and the right clamping block 1742 are both horizontally provided with interlocking inserts 1746. The surface of the insert 1746 has a forward-sloping guide slope. The left and right guide slopes form a V-shaped slope that surrounds the syringe. When the left clamping block 1741 and the right clamping block 1742 separate, the arc-shaped flange at the end of the syringe leaves the slot 1745 and falls onto the guide slope. The V-shaped slope pushes the syringe away from the guide slope.

[0162] When installing the syringe, the syringe barrel is pushed and pressed against the inclined surface of the insertion block 1746 of the left clamping block 1741 and the right clamping block 1742 by the output type cylinder. The arc-shaped flange at the end of the syringe barrel falls between the guide inclined surfaces. As the left clamping block 1741 and the right clamping block 1742 close and tighten, the arc-shaped flange at the end of the syringe barrel falls into the slot 1745 of the left clamping block 1741 and the right clamping block 1742, and the syringe barrel falls into the notch. The needle clamp 175 and the piston handle clamp 176 simultaneously clamp the needle and the piston handle, thus realizing the installation of the syringe.

[0163] When the syringe is removed, the left clamp 1741 and the right clamp 1742 gradually separate, the arc-shaped flange at the end of the syringe leaves the slot 1745 and falls onto the guide slope, and the V-shaped slope formed by the left clamp 1741 and the right clamp 1742 pushes the syringe away from the guide slope, automatically pushing out the syringe and realizing the removal of the syringe.

[0164] like Figure 11 , Figure 12 As shown, the transmission chain assembly 41 includes a transmission chain 43, a support platform 44, a hook 45, a guide wheel assembly 46, a support wheel assembly 47, and a cylinder 48.

[0165] like Figure 11 , Figure 12 As shown, the transmission chain 43 is a single-layer syringe transmission chain, or a single-layer solvent bag transmission chain, or a combination of a bottom solvent bag input chain and a top solvent bag output chain, or a combination of a single-layer syringe transmission chain and a single-layer solvent bag transmission chain, or a combination of a single-layer syringe transmission chain, a bottom solvent bag input chain, and a top solvent bag output chain. The chain in each combination is arranged in a ring around the liquid dispensing robot mechanism 1 and is used for inputting and outputting medicines.

[0166] like Figure 11 , Figure 12 As shown, the support platform 44 is a double L-shaped structure that is fastened together and is arranged horizontally. It is located next to the liquid dispensing robot mechanism 1, allowing the transmission chain 43 to pass through and supporting the transmission chain 43.

[0167] like Figure 11 , Figure 12 As shown, the hook 45 includes a vertical plate 451 and a horizontal plate 452 of an L-shaped plate. It is connected to the outer section of the transmission chain 43 from below. A notch 453 is provided on the vertical plate 451. The notch 453 is adapted to the shape of the medicine and has a preset distance from the horizontal plate 452 to prevent the medicine from sliding in the opposite direction and realize the unidirectional supply of the medicine.

[0168] like Figure 11 , Figure 12 As shown, the horizontal plate 452 includes a first horizontal section 454, a second inclined section 455, and a third horizontal section 456. The first horizontal section 454 stores the medicines. The second inclined section 455 is connected to the first horizontal section 454 and is inclined upwards. Its inclined surface cooperates with the vertical plate 451 to limit the movement of the medicines. The third horizontal section 456 is horizontally connected to the upper end of the second inclined section 455 to facilitate the smooth transport of the medicines.

[0169] like Figure 11 , Figure 12 As shown, the guide wheel assembly 46 and the load-bearing wheel assembly 47 each include at least one pair of guide wheels and at least one pair of load-bearing wheels. The guide wheels and load-bearing wheels are spaced apart along the transmission chain 43. The guide wheels are fixed to the outer section of the transmission chain 43, and the wheel surface abuts against the vertical surface of the load-bearing platform 44. The load-bearing wheels are fixed to the vertical plate 451 of the hook 45, and the wheel surface rests on the plane of the load-bearing platform 44.

[0170] like Figure 11 , Figure 12 As shown, the cylinder 48 is divided into two types according to the method of using the transmission chain 43: input type and output type. The piston rod of the input type cylinder is used to pass through the gap between a pair of vertical plates 451 and push out the medicine device. The output type cylinder is used to push the medicine device into the hook 45.

[0171] Regardless of whether the medical device is a syringe or a solvent bag, when the medical device is suspended, the arc-shaped flange at the end of the syringe or the nozzle of the solvent bag can enter through the notch 453 of the vertical plate 451. Then the medical device automatically falls onto the first horizontal section 454 of the horizontal plate 452. At this time, the second inclined section 455 engages with the arc-shaped flange at the end of the syringe or the nozzle of the solvent bag, thus achieving stable support of the medical device.

[0172] When the transmission chain 43 moves, it is stabilized along a preset route by the limiting action of the support platform 44, guide wheel group 46, and support wheel group 47. When it reaches the position of the liquid dispensing robot mechanism 1, the transmission chain 43 stops working. At this time, the input or output cylinder operates, pushing the syringe or solvent bag out of or into the hook 45, thus achieving a stable supply of medicines.

[0173] like Figure 12 As shown, the docking assembly 42 includes a first storage rack 421 and a sliding assembly 422.

[0174] like Figure 12 As shown, the first storage rack 421 consists of a first suspension plate 4211, a first storage plate 4212, a solvent bag nozzle gripper 4213, and a solvent bag body gripper 4214. The first suspension plate 4211 is vertically arranged, and the first storage plate 4212 is fixed to the first suspension plate 4211. A channel for the piston rod of the output cylinder to pass through is passed through the first suspension plate 4211, and the solvent bag nozzle gripper 4213 and the solvent bag body gripper 4214 are distributed above and below the channel.

[0175] like Figure 12 As shown, the sliding assembly 422 consists of a slide block 4221 and a rotary motor 4222. The slide block 4221 carries the first storage rack 421 and slides vertically, docking with the output position of the transmission chain 43 and the liquid dispensing robot mechanism 1. The rotary motor 4222 is fixed on the slide block 4221 and is used to control the slide block 4221 to rotate 180° as needed, so that the nozzle of the solvent bag faces up or down, docking with the liquid dispensing robot mechanism 1.

[0176] like Figure 12 As shown, the solvent bag nozzle gripper 4213 consists of a nozzle gripper and a pneumatic gripper. The pneumatic gripper drives the nozzle gripper to open and close, releasing and pressing the nozzle. The solvent bag body gripper 4214 consists of a bag body gripper and a cylinder 48. The cylinder 48 drives the gripper to open and close by 90°, allowing the solvent bag to enter, exit, and be clamped.

[0177] When the solvent bag is being transferred, the solvent bag nozzle gripper 4213 and the solvent bag body gripper 4214 are in the open state. At this time, the input cylinder pushes the solvent bag from the hook 45 onto the first storage plate 4212. Subsequently, the solvent bag nozzle gripper 4213 and the solvent bag body gripper 4214 close, thus securing the entire solvent bag. At this time, the dispensing robot mechanism 1 slides laterally, positioning the syringe above the nozzle of the solvent bag with the needle pointing downwards, to perform the air-evacuation and liquid injection operation.

[0178] When the rotary motor 4222 controls the slide 4221 to rotate 180°, the slide 4221 drives the first suspension plate 4211 and the first storage plate 4212 to rotate together, so that the nozzle of the solvent bag faces downward. At this time, the dispensing robot mechanism 1 slides laterally so that the syringe is below the nozzle of the solvent bag with the needle pointing upward, and performs air injection and liquid extraction operation on the solvent. After the solvent dispensing is completed, the dispensing robot mechanism 1 resets, the rotary motor 4222 controls the slide 4221 to rotate 180° in the opposite direction, so that the nozzle of the solvent bag faces upward. Then the sliding component 422 carries the solvent bag to the solvent bag feed chain docking position. The solvent bag nozzle gripper 4213 and the solvent bag body gripper 4214 open, and the piston rod of the output cylinder passes through the hole on the first suspension plate 4211, pushing the solvent bag into the hook 45, completing the dispensing.

[0179] When the bottom solvent bag output chain and the top solvent bag input chain are combined, after the dispensing robot mechanism 1 is reset, the rotary motor 4222 controls the slide 4221 to rotate 180° in the opposite direction, so that the bottle nozzle of the solvent bag faces upward. Then the slide 4221 carries the dispensed solvent bag downward. Subsequently, the solvent bag bottle nozzle gripper 4213 and the solvent bag body gripper 4214 open, and the piston rod of the top output cylinder passes through the hole on the first suspension plate 4211, pushing the solvent bag into the hook 45 of the upper transmission chain 43, completing the dispensing.

[0180] like Figure 11 , Figure 12 As shown, a chute 49 is connected to the bottom solvent bag conveyor chain. When the solvent bag is conveyed, the input cylinder pushes the solvent bag off the hook 45 and into the chute 49. The solvent bag then slides from the chute 49 into the next mechanism, such as the user's tote box or conveyor belt. This ensures that the solvent bag falls into the designated chute 49 according to the procedure, avoiding secondary sorting.

[0181] like Figure 12 As shown, the docking assembly 42 includes a second storage rack 423.

[0182] like Figure 12As shown, the second storage rack 423 consists of a second suspension plate 4231 and a second storage plate 4232. The second storage plate 4232 is horizontally disposed on the lower sidewalls of both sides of the second suspension plate 4231 and is used to support the arc-shaped flange portions on both sides of the syringe barrel. One end of the second storage plate 4232 is used to connect to the horizontal plate 452 and to carry the syringe ejected by the corresponding cylinder 48. The other end of the second storage plate 4232 is connected to the liquid dispensing robot mechanism 1.

[0183] When the syringe is being transported, the transport chain 43 needs to transport the syringe to the opposite side of the liquid dispensing robot mechanism 1, so that the two ends of the second storage plate 4232 are respectively connected to the hook 45 and the liquid dispensing robot mechanism 1.

[0184] The input cylinder then pushes the syringe from the hook 45 onto the second storage plate 4232 and continues to apply thrust, causing the syringe to slide along the second storage plate 4232 into the liquid dispensing robot mechanism 1, thereby achieving continuous and stable supply of the syringe.

[0185] like Figure 13 As shown, the second suspension plate 4231 and the second storage plate 4232 can rotate together by 90°. One end of the second storage plate 4232 is used to dock with the horizontal plate 452 before rotation, and the other end of the second storage plate 4232 is docked with the liquid dispensing robot mechanism 1 after rotation by 90°. The middle part of the second storage plate 4232 is recessed downward to form the storage section of the syringe.

[0186] When the syringe is being transported, the second suspension plate 4231 and the second storage plate 4232 can rotate together by 90°, so the transport chain can transport the syringe to the side of the liquid dispensing robot 1, that is, the solvent bag input and output position. At this time, one end of the second storage plate 4232 is connected to the hook 45.

[0187] Subsequently, an input cylinder pushes the syringe from the hook 45 onto the second storage plate 4232, and the arc-shaped flange at the end of the syringe is embedded into the storage section formed by the downward indentation on the second storage plate 4232, thereby achieving temporary stable storage of the syringe.

[0188] Subsequently, the second suspension plate 4231 and the second storage plate 4232 rotate together by 90°, at which point the other end of the second storage plate 4232 is aligned with the liquid dispensing robot mechanism 1. Then, another input cylinder located opposite the liquid dispensing robot mechanism 1 applies a thrust to the syringe, causing the syringe to slide along the second storage plate 4232 into the liquid dispensing robot mechanism 1, thus achieving continuous and stable supply of the syringe.

[0189] Example 2:

[0190] A method for preparing a medical solution includes the following steps:

[0191] S1, Injection bottle input: The output push rod 33 of the injection bottle input mechanism 2 pushes the injection bottle in the transmission chain into the clamping jaw 21 of the injection bottle input mechanism 2 to a predetermined height. After the clamping jaw 21 is tightened, the camera 22 on the side of the clamping jaw 21 reads and identifies the information of the injection bottle from the gap of the clamping jaw 21. After confirming that the information is correct, the clamping jaw 21 is released but the bottle is kept vertical and stable.

[0192] When the medicine bottle is an ampoule:

[0193] S2, when the medicine bottle is an ampoule: the first slide 311 slides to the top of the injection bottle input mechanism 2, the ampoule pretreatment gripper 312 is aligned with the center of the gripping gripper 21 on the injection bottle input mechanism 2, the input push rod 23 of the injection bottle input mechanism 2 pushes the ampoule that has passed the information recognition into the ampoule pretreatment gripper 312 to a predetermined height, after the ampoule pretreatment gripper 312 clamps, the input push rod 23 is retracted to the lowest position, the first slide 311 is moved away, and the injection bottle transmission chain at the bottom moves until the next medicine bottle arrives directly below the injection bottle input mechanism 2;

[0194] S3, Ampoule opening: The first slide 311 slides the ampoule to a fixed point below the operation box 313. The neck of the ampoule at the predetermined height is at the same height as the cutting wheel inside the operation box 313. The first slide 311 moves slowly, and the neck of the ampoule moves forward slowly, passing through the cutting wheel and the dander suction tube 315, the first disinfection tube 316 and the breaking wheel 3172 one by one. The cutting wheel and the dander suction tube 315, the first disinfection tube 316 and the breaking wheel 3172 extend outwards by a predetermined length in sequence, cutting, dander suction, disinfection and breaking the neck of the ampoule one by one;

[0195] S4, Ampoule Simulation Aspiration: The first slide 311 carries the open ampoule to the bottom of the dispensing robot. The ampoule gripper 15 on the rotating frame 11 stops at its lowest position, and the ampoule pretreatment gripper 312 and the ampoule gripper 15 are aligned. The output push rod 33 extends into the ampoule pretreatment gripper 312 and pushes the ampoule to a predetermined height inside the ampoule gripper 15. After the ampoule gripper 15 clamps, the output push rod 33 returns to its starting position. The rotary motor 18 on the rotating frame 11 slowly rotates, driving the ampoule gripper 15 to rotate at a predetermined angle. The syringe needle descends until it touches the neck of the ampoule, and the needle is at a predetermined angle to the center line of the ampoule. The syringe slowly rotates the rotating frame 11 while aspirating, so that the liquid always submerges the needle without overflowing the bottle mouth, realizing the action of simulating manual tilting aspiration with less residual liquid.

[0196] When the medicine bottle is a vial:

[0197] S5, when the vial is a vial: the second slide 321 slides above the vial input mechanism 2, the vial pretreatment gripper 322 is aligned with the center of the gripper 21 on the vial input mechanism 2, the input push rod 23 of the vial input mechanism 2 pushes the vial that has passed the information recognition into the vial pretreatment gripper 322 to a predetermined height, after the vial pretreatment gripper 322 clamps, the input push rod 23 is retracted to the lowest position, the second slide 321 is moved away, and the vial transport chain at the bottom moves until the next vial arrives directly below the vial input mechanism 2;

[0198] S6, Ampoule cap removal: The second slide 321 slides the ampoule to a position below the fixed point of the operating frame 323. The ampoule cap, which is at a predetermined height, is slightly higher than the upper surface of the opening plate 325 of the operating frame 323. The second slide 321 moves slowly, and the ampoule cap slowly enters the channel between the opening plates 325. The inclined surface of the opening plate 325 applies an upward force to the cap to remove it.

[0199] S7, Vial Pressure Aspiration: The second slide 321 carries the capped vial to below the dispensing robot mechanism 1. The vial gripper 16 on the rotating frame 11 stops at its lowest position, and the centers of the vial pretreatment gripper 322 and the vial gripper 16 are aligned. The output push rod 33 extends into the vial pretreatment gripper 322 and pushes the vial to a predetermined height within the vial gripper 16. After the vial gripper 16 clamps, the output push rod 33 returns to its starting position. The syringe needle descends and pierces the vial cap. The syringe piston draws out a predetermined amount of air and injects a predetermined amount of solvent. The rotating frame 11 rotates 180°, and the vial cap changes from upward to downward. After the powder in the vial dissolves, the syringe injects a predetermined amount of air, draws out a predetermined amount of liquid, withdraws the needle, and the vial gripper 16 retracts to a position that does not obstruct the vertical movement of the mounting plate 171.

[0200] S8, Solvent input, dispensing and output: The solvent bag conveyor chain carries the solvent to the predetermined position. The input cylinder pushes the solvent out of the hook 45 into the docking assembly 42. Inside the docking assembly 42, the solvent bag is fixed by the bottle mouth gripper and the bag body gripper, and is respectively moved to the high position by the sliding assembly, with the bottle mouth downward and the syringe needle injecting air to draw out the solvent. When moved to the low position, with the bottle mouth upward, the syringe needle draws air from the bag to input the drug solution. After the drug solution is prepared, the solvent bag aligns with the first storage plate 4212 and the hook 45 at the low position. The bottle mouth gripper and the bag body gripper open, and the output cylinder pushes the solvent bag out of the docking assembly 42 and into the hook 45.

[0201] S9, Syringe Input: The syringe transport chain carries the syringe to the predetermined position, and the input cylinder pushes the syringe out from the hook 45 onto the second storage plate 4232 in the second storage rack 423; after the second storage rack 423 rotates 90°, it docks with the liquid preparation robot mechanism 1, and the output cylinder pushes the syringe out from the second storage plate 4232 and sends it into the syringe gripper 174, needle gripper 175 and piston handle gripper 176 of the mounting plate 171 of the syringe operator 17;

[0202] S10, Syringe clamping and ejection: The output cylinder pushes the syringe against the inclined surface of the insertion block 1746 of the left clamping block 1741 and the right clamping block 1742. The arc-shaped flange at the end of the syringe falls between the guide inclined surfaces. After the left clamping block 1741 and the right clamping block 1742 close and tighten, the syringe moves upward against the inclined surface of the insertion block 1746. The arc-shaped flange at the end of the syringe falls into the slot 1745 of the left clamping block 1741 and the right clamping block 1742. The syringe falls into the notch. The needle clamp 175 and the piston handle clamp 176 simultaneously clamp the needle and the piston handle.

[0203] The specific embodiments are merely illustrative of the present invention and are not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to these embodiments without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A medical solution preparation machine, characterized in that: include: The liquid dispensing robot (1) is used to automatically extract the liquid from the ampoule or vial and inject the extracted liquid into the solvent bag; The injection vial pretreatment mechanism (3) includes an ampoule processor (31) and / or a vial processor (32) and an output push rod (33). The ampoule processor (31) and the vial processor (32) respectively realize the breaking of the ampoule and the opening of the vial, and are used to slide and dock with the liquid dispensing robot mechanism (1). The output push rod (33) is used to push the processed injection vial out from the ampoule processor (31) or the vial processor (32). The vial input mechanism (2) is used to connect to the vial transport chain, to accommodate and store vials, and to connect to the vial pretreatment mechanism (3); The drug supply mechanism (4) includes a transport chain assembly (41) and a docking assembly (42). The transport chain assembly (41) surrounds the liquid dispensing robot mechanism (1), and the docking assembly (42) is used to dock the drug supply on the transport chain and the liquid dispensing robot mechanism (1) after the liquid dispensing robot mechanism (1) moves. The injection vial input mechanism (2) includes a gripper (21), a camera (22), and an input push rod (23). The gripper (21) connects to the transmission chain of the injection vials, accommodating and storing the injection vials. The camera (22) is located to the side of the gripper (21) and is used to pass through the gap of the gripper (21) to identify the information of the injection vials. The input push rod (23) is used to pass through the gripper (21) to push the injection vials into the position of the camera (22) and the liquid dispensing robot mechanism (1). The liquid dispensing robot mechanism (1) includes: The rotating frame (11) is provided with ampoule clamps (15) and vial clamps (16) at both ends, which are used to clamp the injection vials as needed after rotation; The first motor (12) is used to control the rotation of the rotating frame (11); A rotating plate (13) is located in front of the rotating frame (11). A syringe operator (17) is vertically slidably connected to the rotating plate (13) for carrying a syringe. After the rotating plate (13) rotates, it connects to the ampoule clamp (15) and the vial clamp (16) as needed to extract the liquid from the ampoule and vial and inject it into the solvent bag. The second motor (14) is fixed on the rotating frame (11) and is used to control the rotation of the rotating plate (13).

2. The medical solution dispensing machine according to claim 1, characterized in that: The syringe needle on the syringe manipulator (17) is eccentrically positioned with the ampoule gripper (15). The rotating frame (11) is equipped with a rotary motor (18) that controls the slow rotation of the ampoule gripper (15). The rotary motor (18) drives the ampoule gripper (15) to rotate by a predetermined angle. The center line of the ampoule gripper (15) coincides with the center line of the syringe needle at a predetermined spatial point. By slowly rotating the rotating frame (11), the syringe can mimic the action of manually tilting and drawing liquid from the medicine bottle.

3. A medical solution dispensing machine according to claim 2, characterized in that: The syringe manipulator (17) includes: Mounting plate (171) is located in front of rotating plate (13). Mounting plate (171) is provided with syringe gripper (174), needle gripper (175) and piston handle gripper (176) on its surface. The syringe gripper (174) is used to hold and fix the syringe. The needle gripper (175) is used to hold the connection end between the needle and the syringe. The piston handle gripper (176) is used to hold the tail of the piston handle. The first driving component (172) is fixed on the mounting plate (171) and is used to control the pulling motion of the piston handle gripper (176) to realize the suction and injection of the liquid medicine; The second driving component (173) is fixed on the rotating plate (13) and is used to control the vertical movement of the mounting plate (171).

4. A medical solution dispensing machine according to claim 3, characterized in that: The syringe gripper (174) includes a left gripper (1741) and a right gripper (1742). The cross-sections of the left gripper (1741) and the right gripper (1742) are L-shaped with bottom and side sides. The bottom and side sides of the left gripper (1741) and the right gripper (1742) form a storage space for storing syringes. The left clamping block (1741) and the right clamping block (1742) are each provided with a boss (1743) at one end of their sides. When the two bosses (1743) are brought together, they form a notch for clamping the syringe. The opening size of the notch is smaller than the outer diameter of the syringe, thereby achieving clamping and limiting of the syringe. Lower locking blocks (1744) are provided on the inner side of the other end of the side of the left clamping block (1741) and the right clamping block (1742). The lower locking blocks (1744) are provided with flared slots (1745) for the arc-shaped flange portion of the syringe end to be inserted. The slots (1745) are composed of a bottom arc-shaped vertical surface, upper and lower planes and upper and lower guide slopes. The arc-shaped vertical surface fits into the arc-shaped flange portion of the syringe. The bottom edge of the left clamp (1741) and the bottom edge of the right clamp (1742) are both horizontally provided with interlocking inserts (1746). The surface of the insert (1746) has a forward-sloping guide slope. The left and right guide slopes form a V-shaped slope surrounding the syringe. When the left clamp (1741) and the right clamp (1742) separate, the arc-shaped flange at the end of the syringe leaves the slot (1745) and falls on the guide slope. The V-shaped slope pushes the syringe away from the guide slope.

5. A medical solution dispensing machine according to claim 4, characterized in that: The ampoule processor (31) includes: The first slide (311) is used to slide above the syringe bottle input mechanism (2); Ampoule pretreatment gripper (312) is slidably connected to the first slide (311) for docking with the gripper (21) on the injection bottle input mechanism (2) and for holding and fixing the injection bottle pushed out by the input push rod (23) on the injection bottle input mechanism (2); The operation box (313) contains a cutting component (314), a chip suction tube (315), a first disinfection tube (316), and a breaking component (317) arranged in sequence. The cutting component (314) rotates automatically and cuts the ampoule when the ampoule pretreatment gripper (312) slides. The chip suction tube (315) is used to pick up glass chips. The first disinfection tube (316) is used to disinfect the ampoule. The breaking component (317) is used to apply force to the top of the ampoule when the ampoule pretreatment gripper (312) slides, so that the upper end of the ampoule breaks off automatically.

6. A medical solution preparation machine according to claim 5, characterized in that: The cutting assembly (314) is used to cut scratches on the ampoule, and the cutting assembly (314) includes: The support (3141) is slidably connected to the operation box (313) from front to back; The cutting blade (3142) is rotatably connected to the front end of the support (3141); The cutting drive (3143) is fixed inside the operation box (313) and located behind the support (3141). It drives the support (3141) to slide back and forth, and controls the cutting blade (3142) to contact or detach from the ampoule. The elastic connector (3144) is fixed between the cutting drive (3143) and the support (3141), and applies elastic force to the support (3141) and the cutting blade (3142) to achieve stable cutting by the cutting blade (3142) following the outer contour of the ampoule. The chip suction tube (315) is fixed to the support (3141) and placed on the side of the chip discharge direction of the cutting blade (3142). When the ampoule pretreatment gripper (312) slides to cut the ampoule, the chip suction tube (315) is used to pick up glass chips. The first sterilization tube (316) is used to sterilize the ampoule, and the first sterilization tube (316) includes: The support plate (3161) is slidably connected to the operation box (313) from front to back; A straight pipe (3163) is horizontally positioned in the middle of the support plate (3161); A left-bend pipe (3164) is disposed on the support plate (3161) and located to the left of the straight pipe (3163); A right-bend pipe (3165) is disposed on the support plate (3161) and located to the right of the straight pipe (3163); The disinfection drive (3162) is fixed inside the operation box (313) and located behind the support plate (3161). It drives the support plate (3161) to slide back and forth, and controls the first disinfection tube (316) to enter or exit the disinfection position. The left bend (3164) and the right bend (3165) form a channel for the ampoule to enter. The left bend (3164), the right bend (3165) and the straight tube (3163) form a disinfection space surrounding the ampoule, so as to achieve all-round disinfection of the ampoule opening. The breaking assembly (317) is used for automatic breaking of the ampoule, and the breaking assembly (317) includes: The wheel seat (3171) is slidably connected to the operation box (313) in the front and rear directions; A break-off wheel (3172) is rotatably fixed to the wheel seat (3171). The break-off wheel (3172) is a rubber wheel used to apply force to the top of the ampoule when the ampoule pretreatment gripper (312) slides, so that the upper end of the ampoule breaks off automatically. The break-off drive (3173) is fixed inside the operation box (313) and located behind the wheel seat (3171). It drives the wheel seat (3171) to slide back and forth, and controls the break-off wheel (3172) to contact or detach from the ampoule.

7. A medical solution dispensing machine according to claim 6, characterized in that: The vial processor (32) includes: The second slide (321) is used to slide above the syringe bottle input mechanism (2); The vial pretreatment gripper (322) is slidably connected to the second slide (321) and is used to dock with the gripper (21) on the vial input mechanism (2) and to hold and fix the vial pushed out by the input push rod (23) on the vial input mechanism (2); The operating frame (323) is hollow inside and forms a channel for vials to pass through. A pair of opening plates (325) are horizontally arranged on the lower side walls of both sides of the operating frame (323) along the direction of movement of the vials. A channel for the neck of the vial to pass through is formed between the opening plates (325). The upper part of the opening plates (325) is a channel for the bottle cap to pass through. The upper surface of the opening plates (325) forms an upward inclined surface from the starting end to the ending end, which is used to apply an upward lifting force to the bottle cap when the vial passes through, so as to remove the bottle cap. The second disinfection tube (324) is vertically mounted on the operating frame (323) and located behind the tail of the inclined surface of the opening plate (325). The opening of the second disinfection tube (324) faces downward and is used for disinfection after the vial is opened.

8. A medical solution dispensing machine according to claim 7, characterized in that: The first slide (311) and the second slide (321) are combined to form a long slide. The ampoule pretreatment gripper (312) and the vial pretreatment gripper (322) are slidably connected to the long slide. The operation box (313) is located on one side of the ampoule pretreatment gripper (312), and the operation frame (323) is located above the motion center of the vial pretreatment gripper (322).

9. A medical solution dispensing machine according to claim 8, characterized in that: The transmission link component (41) includes: The transmission chain (43) is arranged in a ring around the liquid dispensing robot (1) and is used for inputting and outputting medicines; The carrying platform (44) has a double L-shaped structure and is horizontally arranged. It is located next to the liquid dispensing robot (1) for the transmission chain (43) to pass through and to carry the transmission chain (43). The hook (45) includes a vertical plate (451) and a horizontal plate (452) of an L-shaped plate, which is connected to the outer section of the transmission chain (43) from below. The vertical plate (451) has a notch (453) on it, which is adapted to the shape of the medicine and has a preset distance from the horizontal plate (452). The horizontal plate (452) includes a first horizontal section (454), a second inclined section (455), and a third horizontal section (456). The first horizontal section (454) stores the medicines. The second inclined section (455) is connected to the first horizontal section (454) and is inclined upward. The inclined surface cooperates with the vertical plate (451) to limit the position of the medicines. The third horizontal section (456) is horizontally connected to the upper end of the second inclined section (455) to realize the transfer and transportation of the medicines. The guide wheel assembly (46) and the load-bearing wheel assembly (47) include several pairs of guide wheels and several pairs of load-bearing wheels, which are spaced apart along the transmission chain (43). The guide wheels are fixed to the outer section of the transmission chain (43), and the wheel surface abuts against the vertical surface of the load-bearing platform (44). The load-bearing wheels are fixed to the vertical plate (451) of the hook (45), and the wheel surface rests on the plane of the load-bearing platform (44). An input or output cylinder (48), wherein the piston rod of the input cylinder is used to pass through the gap between the pair of vertical plates (451) to push out the medicine device.

10. A medical solution dispensing machine according to claim 9, characterized in that: The transmission chain (43) is a single-layer syringe transmission chain, or a single-layer solvent bag transmission chain, or a combination of a bottom solvent bag inlet chain and a top solvent bag outlet chain, or a combination of a single-layer syringe transmission chain and a single-layer solvent bag transmission chain, or a combination of a single-layer syringe transmission chain, a bottom solvent bag inlet chain, and a top solvent bag outlet chain.

11. A medical solution dispensing machine according to claim 10, characterized in that: The docking component (42) includes: The first storage rack (421) is composed of a first suspension plate (4211), a first storage plate (4212), a solvent bag nozzle gripper (4213), and a solvent bag body gripper (4214). The first suspension plate (4211) is vertically arranged and has a channel through which the piston rod of the output cylinder passes. The solvent bag nozzle gripper (4213) and the solvent bag body gripper (4214) are distributed above and on both sides of the channel. The sliding assembly (422) consists of a slide (4221) and a rotary motor (4222). The slide (4221) carries the first storage rack (421) and slides vertically to connect with the output position of the transmission chain (43) and the liquid dispensing robot (1). The rotary motor (4222) is fixed on the slide (4221) and is used to control the slide (4221) to rotate 180° as needed, so that the nozzle of the solvent bag faces up or down and connects with the liquid dispensing robot (1).

12. A medical solution dispensing machine according to claim 11, characterized in that: The docking component (42) includes: The second storage rack (423) is composed of a second suspension plate (4231) and a second storage plate (4232). The second storage plate (4232) is horizontally disposed on the lower sidewalls of both sides of the second suspension plate (4231) and is used to support the arc-shaped flange portions on both sides of the syringe barrel. One end of the second storage plate (4232) is used to connect with the horizontal plate (452) and carry the syringe pushed out by the corresponding cylinder (48). The other end of the second storage plate (4232) is connected with the liquid dispensing robot mechanism (1). The middle part of the second storage plate (4232) is recessed downward to form a storage section for the syringe.

13. A medical solution dispensing machine according to claim 12, characterized in that: The second suspension plate (4231) and the second storage plate (4232) can rotate together by 90°. One end of the second storage plate (4232) is used to dock with the horizontal plate (452) before rotation, and the other end of the second storage plate (4232) is docked with the liquid dispensing robot mechanism (1) after rotation of 90°.

14. A method for preparing medical solutions, using a solution preparation machine as described in any one of claims 1-13, characterized in that, Includes the following steps: S1, Injection bottle input: The output push rod (33) of the injection bottle input mechanism (2) pushes the injection bottle in the transmission chain into the clamping jaw (21) of the injection bottle input mechanism (2) to a predetermined height. After the clamping jaw (21) is tightened, the camera (22) on the side of the clamping jaw (21) reads and identifies the information of the injection bottle from the gap of the clamping jaw (21). After confirming that the information is correct, the clamping jaw (21) is released but the bottle is kept vertical and stable. When the medicine bottle is an ampoule: S2, when the medicine bottle is an ampoule: the first slide (311) slides above the injection bottle input mechanism (2), the ampoule pretreatment gripper (312) is aligned with the center of the gripping gripper (21) on the injection bottle input mechanism (2), the input push rod (23) of the injection bottle input mechanism (2) pushes the ampoule that has passed the information recognition into the ampoule pretreatment gripper (312) to a predetermined height, after the ampoule pretreatment gripper (312) clamps, the input push rod (23) is withdrawn to the lowest position, the first slide (311) moves away, and the injection bottle transmission chain at the bottom moves until the next medicine bottle arrives directly below the injection bottle input mechanism (2); S3, Ampoule opening: The first slide (311) slides the ampoule to a fixed point below the operation box (313). The neck of the ampoule at a predetermined height is at the same height as the cutting wheel inside the operation box (313). The first slide (311) moves slowly, and the neck of the ampoule moves forward slowly, passing through the cutting wheel and the dust suction tube (315), the first disinfection tube (316) and the breaking wheel (3172) one by one. The cutting wheel and the dust suction tube (315), the first disinfection tube (316) and the breaking wheel (3172) extend outwards to a predetermined length in sequence, and cut, suction, disinfect and break the neck of the ampoule one by one. S4, Ampoule Simulation Aspiration: The first slide (311) carries the open ampoule to below the dispensing robot. The ampoule gripper (15) on the rotating frame (11) stops at its lowest position, and the ampoule pretreatment gripper (312) and the ampoule gripper (15) are aligned. The output push rod (33) extends into the ampoule pretreatment gripper (312) and pushes the ampoule to a predetermined height within the ampoule gripper (15). After clamping, the output rod (33) returns to the starting position; the rotating motor (18) on the rotating frame (11) slowly rotates, driving the ampoule clamp (15) to rotate at a predetermined angle, and the syringe needle descends until it touches the neck of the ampoule, with the needle and the center line of the ampoule at a predetermined angle; while the syringe is drawing aspirate, the rotating frame (11) is slowly rotated, so that the liquid medicine is always immersed in the needle without overflowing the bottle mouth, realizing the action of imitating manual tilting and drawing aspirate with less residual liquid medicine; When the medicine bottle is a vial: S5, when the vial is a vial: the second slide (321) slides above the vial input mechanism (2), the vial pretreatment gripper (322) is aligned with the center of the gripper (21) on the vial input mechanism (2), the input push rod (23) of the vial input mechanism (2) pushes the vial that has passed the information recognition into the vial pretreatment gripper (322) to a predetermined height, after the vial pretreatment gripper (322) clamps, the input push rod (23) is withdrawn to the lowest position, the second slide (321) moves away, and the vial transport chain at the bottom moves until the next vial arrives directly below the vial input mechanism (2); S6, Ampoule cap removal: The second slide (321) slides the ampoule to a position below the fixed point of the operating frame (323). The ampoule cap, which is at a predetermined height, is slightly higher than the upper surface of the opening plate (325) of the operating frame (323). The second slide (321) moves slowly, and the ampoule cap slowly enters the channel between the opening plates (325). The inclined surface of the opening plate (325) applies an upward force to the cap to remove it. S7, Vial Pressure Aspiration: The second slide (321) carries the capped vial to below the dispensing robot (1), the vial gripper (16) on the rotating frame (11) stops at its lowest position, and the vial pretreatment gripper (322) and the vial gripper (16) are aligned; the output push rod (33) extends into the vial pretreatment gripper (322) and pushes the vial to a predetermined height within the vial gripper (16), the vial gripper... After the claw (16) clamps, the output rod (33) returns to the starting position; the syringe needle descends and pierces the vial cap, the syringe piston draws out a predetermined amount of air and injects a predetermined amount of solvent, the rotating frame (11) rotates 180°, and the vial cap turns from upward to downward; after the powder in the vial dissolves, the syringe injects a predetermined amount of air, draws out a predetermined amount of liquid, withdraws the needle, and the vial clamp (16) moves backward to not obstruct the vertical movement of the mounting plate (171); S8, solvent input, dispensing and output: The solvent bag conveyor chain carries the solvent to the predetermined position, and the input cylinder pushes the solvent out of the hook (45) into the docking assembly (42); in the docking assembly (42), the solvent bag is fixed by the bottle mouth clamp and the bag body clamp, and is respectively sent to the high position by the sliding assembly (422), with the bottle mouth downward and the needle of the syringe injecting air to draw out the solvent; sent to the low position, with the bottle mouth upward, the needle of the syringe drawing air from the bag to input the drug solution; after the drug solution is prepared, the solvent bag is aligned with the first storage plate (4212) and the hook (45) at the low position, the bottle mouth clamp and the bag body clamp open, and the output cylinder pushes the solvent bag out from the docking assembly (42) and into the hook (45); S9, Syringe input: The syringe transport chain carries the syringe to the predetermined position, and the input cylinder pushes the syringe from the hook (45) onto the second storage plate (4232) in the second storage rack (423); after the second storage rack (423) rotates 90°, it docks with the liquid dispensing robot (1), and the output cylinder pushes the syringe from the second storage plate (4232) and sends it into the syringe gripper (174), needle gripper (175) and piston handle gripper (176) of the mounting plate (171) of the syringe manipulator (17); S10, Syringe clamping and ejection: The output cylinder pushes the syringe to fit against the inclined surface of the insertion block (1746) of the left clamping block (1741) and the right clamping block (1742). The arc-shaped flange at the end of the syringe falls between the guide inclined surfaces. After the left clamping block (1741) and the right clamping block (1742) close and tighten, the syringe moves upward close to the inclined surface of the insertion block (1746). The arc-shaped flange at the end of the syringe falls into the slot (1745) of the left clamping block (1741) and the right clamping block (1742). The syringe falls into the notch. The needle clamp (175) and the piston handle clamp (176) simultaneously clamp the needle and the piston handle.

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