A dispensing mechanism for intravenous drugs

Abstract

The application relates to a medicine dispensing mechanism for intravenous injection, comprising a medicine dispensing mechanism, a solvent supply mechanism and an intravenous injection supply mechanism; the medicine dispensing mechanism comprises a rotating disc, and a plurality of bearing ports are uniformly arranged in the circumferential direction of the rotating disc; the medicine dispensing mechanism further comprises a solvent feeding station, a solvent identification station, a solvent emptying station, a medicine dispensing station and a solvent discharging station; the solvent supply mechanism comprises an infusion bag feeding conveying line and an infusion bag discharging conveying line; the intravenous injection supply mechanism comprises an intravenous injection feeding manipulator; the rotating disc is used for receiving an infusion bag from the infusion bag feeding conveying line at the solvent feeding station, and through rotation, the infusion bag is sequentially identified at the solvent identification station, a small amount of solvent is discharged at the solvent emptying station, medicine liquid is injected at the medicine dispensing station, and the infusion bag is transferred to the infusion bag discharging conveying line at the solvent discharging station. The application has the advantages of compact overall structure, reasonable action, accurate control of each step, ensured accuracy of medicine dispensing, and high medicine dispensing efficiency.

Description

Technical Field

[0001] This invention relates to the field of intravenous medication preparation equipment, and in particular to a medication preparation mechanism for intravenous medication. Background Technology

[0002] The automation of intravenous medication preparation can separate people and drugs, avoiding air pollution during the current medication preparation process, allergic reactions and unknown drug reactions caused by accidental or inevitable drug cross-contamination, and reducing cross-infection; it can also reduce the probability of errors in manual medication preparation, lower the chance of medical accidents, greatly reduce the workload of nurses, and protect nurses from toxic drugs.

[0003] In automating intravenous medication preparation, it is necessary to consider the rationality of the preparation operations and the full utilization of limited space; it is also necessary to ensure that each operation in the preparation process is simple and easy to perform. In addition, in the automation of intravenous medication preparation, the automatic supply of medicine bottles and infusion bags also needs to be optimized to ensure that each operation is accurate and precisely matched, so as to improve the success rate and efficiency of intravenous medication preparation.

[0004] Therefore, in order to achieve the above objectives, designing a highly efficient, successful, and accurate drug dispensing system has become a problem that needs to be solved. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a dispensing mechanism for intravenous medication, which features a compact overall structure, rational operation, precise control of each step to ensure accurate dispensing, and smooth and efficient operation.

[0006] The technical solution adopted by this invention to solve its technical problem is: a drug preparation mechanism for intravenous administration, comprising a mixing mechanism, a solvent supply mechanism, and an intravenous drug supply mechanism; the mixing mechanism includes a rotating disk with multiple bearing ports evenly arranged around its circumference; the mixing mechanism further includes a solvent loading station, a solvent identification station, a solvent emptying station, a mixing station, and a solvent unloading station arranged sequentially around the rotating disk; the solvent supply mechanism includes an infusion bag loading conveyor line and an infusion bag unloading line. The conveyor line; the intravenous medication supply mechanism includes an intravenous medication loading robot for supplying vials containing intravenous medication solutions; the rotary table is used to receive infusion bags from the infusion bag loading conveyor line through a carrying port at the solvent loading station, and by rotating, the infusion bag is sequentially identified at the solvent identification station, a small amount of solvent is discharged at the solvent emptying station, intravenous medication solutions drawn from vials supplied by the intravenous medication supply mechanism are injected at the mixing station, and the infusion bag is transferred to the infusion bag unloading conveyor line at the solvent unloading station.

[0007] Furthermore, the bearing port at the solvent feeding station is connected to the outlet end of the infusion bag feeding conveyor line; the infusion bag feeding conveyor line includes two first conveyor lines; the infusion bag is placed between the two first conveyor lines by an infusion bag clamp; the solvent supply mechanism also includes an infusion bag feeding transfer assembly; the infusion bag feeding transfer assembly includes a toggle member and a toggle drive mechanism for driving the toggle member to move; the toggle member acts on the infusion bag clamp to move the infusion bag located on the infusion bag feeding conveyor line to the bearing port at the solvent feeding station through the toggle drive mechanism.

[0008] Furthermore, a barcode scanning component is provided at the solvent identification station.

[0009] Furthermore, a draining assembly is provided at the solvent draining station; the draining assembly includes a draining injection head; the draining injection head is located directly above the infusion bag at the solvent draining station; the draining assembly also includes a draining lifting module, the draining injection head is installed on the lifting end of the draining lifting module, and is used to insert downward into the infusion bag or pull upward from the infusion bag by being driven by the draining lifting module; the draining assembly also includes a draining peristaltic pump, which acts on the tubing of the draining injection head, and is used to drain the solvent from the infusion bag.

[0010] Furthermore, a preparation assembly is provided at the preparation station; the preparation assembly includes a preparation injection head; the preparation injection head is located directly above the infusion bag at the preparation station; the preparation assembly also includes a preparation lifting module, the preparation injection head is installed on the lifting end of the preparation lifting module, and is used to insert downward into the infusion bag or pull upward from the infusion bag by being driven by the preparation lifting module; the preparation assembly also includes a preparation peristaltic pump and a drug extraction injection head; the drug extraction injection head is fixedly installed and connected to the preparation injection head through a pipeline, the intravenous medication loading robot is used to control the movement of the gripped medicine bottle, so that the drug extraction injection head is inserted and pulled out of the medicine bottle; the preparation peristaltic pump acts on the pipeline to draw the drug solution from the medicine bottle and inject it into the infusion bag.

[0011] Furthermore, the infusion bag feeding conveyor line includes two second conveyor lines; the infusion bag is placed between the two second conveyor lines by an infusion bag clamp; an infusion bag feeding transfer assembly is provided between the receiving port at the solvent feeding station and the inlet end of the infusion bag feeding conveyor line; the infusion bag feeding transfer assembly includes a claw and a claw driving mechanism for driving the claw to move; the claw acts on the infusion bag clamp to transfer the infusion bag located at the receiving port at the solvent feeding station to the infusion bag feeding conveyor line.

[0012] Furthermore, the intravenous drug delivery device also includes a pre-dissolving component; the pre-dissolving component includes a pre-dissolving base and a swaying base; the swaying base is mounted on the pre-dissolving base via a slide rail slider structure; an eccentric wheel assembly is also provided between the swaying base and the pre-dissolving base for driving the swaying base to sway back and forth relative to the pre-dissolving base; the pre-dissolving component also includes a pre-dissolving translation module mounted on the swaying base and a pre-dissolving clamping platform mounted on the moving end of the pre-dissolving translation module.

[0013] Furthermore, the pre-dissolving component also includes a pre-dissolving solvent supply component; the pre-dissolving solvent supply component includes a pre-dissolving peristaltic pump and a pre-dissolving injection head assembly; the pre-dissolving injection head assembly includes a first pre-dissolving lifting module, a second pre-dissolving lifting module installed at the lifting end of the first pre-dissolving lifting module, and a pre-dissolving injection head installed at the lifting end of the second pre-dissolving lifting module; the pipeline of the pre-dissolving injection head is connected to a common solvent after passing through the pre-dissolving peristaltic pump; a pressure plate is also provided on the bottom side of the lifting end of the first pre-dissolving lifting module.

[0014] Furthermore, the intravenous medication supply mechanism also includes a vial delivery mechanism; the vial delivery mechanism includes a vial delivery line for conveying a single row of vials; the outlet end of the vial delivery line is provided with a positioning and arranging assembly, the positioning and arranging assembly including a vial-carrying platform, a positioning receiving plate, and a positioning push plate disposed on the side of the end of the vial delivery line; the positioning receiving plate is provided with multiple receiving ports; the positioning and arranging assembly also includes a positioning receiving translation module and a positioning push plate translation module; the positioning receiving translation module is used to control the multiple receiving ports of the positioning receiving plate to sequentially connect with the vial delivery line, and to receive the vials. The bottles are moved to the bottle-carrying platform; the positioning pusher translation module is used to drive the positioning pusher to translate and push the received bottles to be close to the corresponding bottle inlet, thereby realizing the positioning of multiple bottles; the bottle conveying mechanism also includes a bottle transfer mechanism; the bottle transfer mechanism includes a second bottle clamp for holding multiple bottles, and a bottle clamp drive mechanism for driving the second bottle clamp to move; the bottle transfer mechanism is connected to the positioning arrangement assembly and the pre-dissolving clamping platform, and is used to clamp multiple bottles positioned by the positioning arrangement assembly and transfer them to the pre-dissolving clamping platform by the drive of the bottle clamp drive mechanism.

[0015] Furthermore, the medicine bottle conveyor line is provided with a fixed side rail and a movable side rail. The medicine bottle conveyor line also includes a side rail translation module for driving the movable side rail to move closer to or away from the fixed side rail. The fixed side rail and the movable side rail form a conveying channel for a single row of medicine bottles to pass through. A first stop assembly and a second stop assembly are arranged sequentially near the medicine bottle conveyor line according to the conveying direction. The medicine bottle conveying mechanism also includes a first visual recognition assembly arranged in the first stop assembly and a second visual recognition assembly arranged near the second stop assembly. A gripping mechanism is also provided above the medicine bottle conveyor line. An NG channel is also provided near the gripping mechanism; the first visual recognition component is used to identify the shape of the medicine bottle blocked by the first stop component and determine whether it meets the specifications based on its shape; the gripping mechanism is used to grip the medicine bottle blocked by the second stop component, so that the medicine bottle is facing the second visual recognition component, and is also used to rotate the medicine bottle; the second visual recognition component is used to perform quality inspection on the medicine bottle and determine whether it is required; the gripping mechanism is also used to return the medicine bottle that is detected as required by the second visual recognition component to the conveying channel, and put the medicine bottle that is detected as unrequired into the NG channel.

[0016] Advantages of the present invention: The drug dispensing mechanism for intravenous administration of the present invention has a compact overall structure, reasonable operation, and precise control of each step to ensure the accuracy of dispensing; the operation is reasonable and smooth, and has high dispensing efficiency. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of a drug dispensing mechanism for intravenous medication, as described in an embodiment.

[0018] Figure 2 This is a top view schematic diagram of the punching and assembly mechanism in an embodiment;

[0019] Figure 3 This is a three-dimensional schematic diagram of the stamping mechanism in an embodiment;

[0020] Figure 4 This is a three-dimensional schematic diagram of the combination of the mixing mechanism, solvent supply mechanism and intravenous drug loading robot in the embodiment;

[0021] Figure 5 A three-dimensional schematic diagram of the solvent supply mechanism in an embodiment;

[0022] Figure 6 A perspective view of the infusion bag and infusion bag clamp assembly as an embodiment;

[0023] Figure 7 A perspective view of the infusion bag loading and transfer assembly in an embodiment;

[0024] Figure 8 A three-dimensional schematic diagram of the infusion bag feeding and transfer assembly in an embodiment;

[0025] Figure 9 A three-dimensional schematic diagram of an intravenous drug delivery system as an example;

[0026] Figure 10 This is a three-dimensional schematic diagram of the pre-dissolved component in an embodiment;

[0027] Figure 11 A three-dimensional schematic diagram of the medicine bottle delivery mechanism in an embodiment;

[0028] Figure 12 This is a top view of the medicine bottle delivery mechanism in an embodiment.

[0029] Figure 13 A three-dimensional schematic diagram of the combination of the movable sidebar and the sidebar translation module in the embodiment;

[0030] Figure 14 This is a perspective view of the first stop component in the embodiment;

[0031] Figure 15 This is a perspective view of the second stop component in an embodiment;

[0032] Figure 16 A three-dimensional schematic diagram of the gripping mechanism in an embodiment;

[0033] Figure 17 A three-dimensional schematic diagram of the positioning and arrangement components in an embodiment;

[0034] Figure 18 A three-dimensional schematic diagram of the medicine bottle transfer mechanism in an embodiment;

[0035] The components include: 1-Preparation mechanism, 2-Soluble supply mechanism, 3-Intravenous drug supply mechanism, 4-Infusion bag, 5-Drug bottle, 11-Rotating disc, 12-Scanning component, 13-Evaporation component, 14-Preparation component, A-Soluble loading station, B-Soluble identification station, C-Soluble evacuation station, D-Preparation station, E-Soluble unloading station, 111-Carrier port, 112-Limiting plate, 131-Evaporation injection head, 132-Evaporation lifting module, 133-Evaporation peristaltic pump, 141-Preparation injection head, 142-Preparation lifting module, 143-Preparation peristaltic pump, 144-Drug extraction injection head, 21-Infusion bag loading conveyor line, 22-Infusion bag unloading conveyor line, 23-Infusion bag loading... 24-Infusion bag unloading and transfer assembly, 25-Infusion bag clamp, 211-First conveyor line, 212-Baffle assembly, 221-Second conveyor line, 231-Pulling and translating module, 232-Pulling and lifting module, 233-Pulling component, 2331-Pulling claw, 241-Claw rotation module, 242-Claw lifting module, 243-Claw translation module, 244-Claw, 251-First slot, 252-Second slot, 31-Intravenous medication loading robot, 32-Pre-dissolving assembly, 33-Valve delivery mechanism, 311-First valve clamp, 321-Pre-dissolving base, 322-Shaking base, 323-Eccentric wheel assembly, 324-Pre-dissolving translation module, 325 - Pre-dissolving clamping platform, 326- Pre-dissolving solvent supply assembly, 3251- Receptacle, 3252- Clamping rod, 3253- Clamping rod translation mechanism, 3261- Pre-dissolving peristaltic pump, 3262- Pre-dissolving injection head assembly, 32621- First pre-dissolving lifting module, 32622- Pressure plate, 32623- Second pre-dissolving lifting module, 32624- Pre-dissolving injection head, 331- Visible conveyor line, 332- First stop assembly, 333- First vision recognition assembly, 334- Second stop assembly, 335- Second vision recognition assembly, 336- Gripping mechanism, 337- Positioning and arrangement assembly, 338- Visible transfer mechanism, 339- NG channel, 3311- Side rail translation module 3312-Moving sidebar, 3313-Buffer pool, 3321-First baffle, 3322-First baffle translation module, 3341-Second baffle, 3342-Positioning stop translation module, 3343-Second baffle translation module, 3361-Grip gripper, 3362-Grip translation module, 3363-Grip lifting module, 3364-Grip rotation module, 3371-Bottle platform, 3372-Positioning bottle receiving plate, 3373-Positioning push plate, 3374-Positioning bottle receiving translation module, 3375-Positioning push plate translation module, 33721-Bottle opening, 3381-Second medicine bottle clamp, 3382-Medicine bottle clamp lifting module, 3383-Medicine bottle clamp translation module. Detailed Implementation

[0036] To enhance understanding of the present invention, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. These embodiments are only used to explain the invention and do not limit the scope of protection of the invention.

[0037] Example

[0038] Please refer to Figures 1 to 18 As shown, this embodiment provides a drug preparation mechanism for intravenous medication, including a preparation mechanism 1, a solvent supply mechanism 2, and an intravenous medication supply mechanism 3. The preparation mechanism 1 includes a rotating disk 11 with multiple carrying ports 111 evenly arranged around its circumference. The preparation mechanism 1 also includes a solvent loading station A, a solvent identification station B, a solvent emptying station C, a preparation station D, and a solvent unloading station E arranged sequentially around the rotating disk 11. The solvent supply mechanism 2 includes an infusion bag loading conveyor line 21 and an infusion bag unloading conveyor line. 22; The intravenous medication supply mechanism 3 includes an intravenous medication loading robot 31, used to supply medicine bottles containing intravenous medication solutions; the rotary disk 11 is used to receive infusion bags 4 from the infusion bag loading conveyor line through the bearing port 111 at the solvent loading station A, and by rotating, the infusion bag 4 is sequentially identified at the solvent identification station B, a small amount of solvent is discharged at the solvent emptying station C, intravenous medication solutions drawn from the medicine bottles supplied by the intravenous medication supply mechanism 3 are injected at the mixing station D, and transferred to the infusion bag unloading conveyor line 22 at the solvent unloading station E.

[0039] Refer to Figures 3 to 7As shown, the bearing port 111 at the solvent feeding station A is connected to the outlet end of the infusion bag feeding conveyor line 21; the infusion bag feeding conveyor line 21 includes two first conveyor lines 211; the infusion bag 4 is placed between the two first conveyor lines through the infusion bag clamp 25; the solvent supply mechanism 2 also includes an infusion bag feeding transfer assembly 23; the infusion bag feeding transfer assembly 23 includes a toggle member 233 and a toggle drive mechanism for driving the toggle member 233 to move; the toggle member 233 acts on the infusion bag clamp to toggle the infusion bag located on the infusion bag feeding conveyor line 21 to the bearing port 111 at the solvent feeding station A through the toggle drive mechanism. In this embodiment, an arc frame is provided on the outer periphery of the rotary disk 11 at the solvent feeding station A and the solvent unloading station E; the arc frame forms a limit for the infusion bag clamp 25 to radially disengage from the bearing port 111; a limit plate 112 is also provided on the top side of the arc frame, which forms an upper limit for the infusion bag clamp 25; specifically, a first slot 251 is provided on the infusion bag clamp 25; a toggle claw 2331 extends from the bottom side of the actuating member 233; the actuating drive mechanism includes a toggle translation module 231 and a toggle lifting module 232 installed at the translation end of the toggle translation module 231; the toggle member 233 is installed at the lifting end of the toggle lifting module 232; the toggle claw 2331 cooperates with the first slot 251; the infusion bag feeding and transfer assembly 23 A baffle assembly 212 is also provided at the outlet end of the two first conveyor lines. Specifically, the infusion bag feeding process is as follows: multiple infusion bags are arranged in sequence after being blocked by the baffle assembly 212 under the conveying of the two first conveyor lines. When infusion bag feeding is required, the baffle assembly stops blocking, and the actuating claw of the actuating component moves to the outlet end under the control of the actuating translation module, and is located directly above the first slot of the infusion bag clamp of the first infusion bag near the outlet end. The actuating lifting module drives the actuating claw to descend until it is inserted into the first slot. The actuating translation module drives the actuating claw to act on the first infusion bag, so that the infusion bag enters the bearing port 111 located at the solvent feeding station A. Then, the baffle assembly blocks again, and the two first conveyor lines convey forward the distance of one infusion bag, preparing for the next transfer.

[0040] Refer to Figure 3 As shown, a barcode scanning component 12 is installed at the solvent identification station B. Specifically, the infusion bag input from the solvent feeding station A enters the solvent identification station B under the drive of the rotary table. The label on the infusion bag is scanned by the barcode scanning component 12. After confirming the match, the rotary table continues to rotate, bringing the infusion bag to the solvent emptying station C.

[0041] Refer to Figure 2 and Figure 3As shown, a draining assembly 13 is provided at the solvent draining station C; the draining assembly 13 includes a draining injection head 131; the draining injection head 131 is located directly above the infusion bag at the solvent draining station C; the draining assembly 13 also includes a draining lifting module 132, the draining injection head 131 is installed on the lifting end of the draining lifting module 132, and is used to insert downward into the infusion bag or pull upward out of the infusion bag by being driven by the draining lifting module 132; the draining assembly 13 also includes a draining peristaltic pump 133, which acts on the pipeline of the draining injection head 131, and is used to drain the solvent from the infusion bag. Specifically, after the infusion bag enters the solvent emptying station C, the emptying lifting module 132 drives the emptying injection head 131 to descend until it is inserted into the infusion bag. The emptying peristaltic pump works to extract a small amount of solvent from the infusion bag, which can be output to a public solvent infusion bag or other similar collection device. After extracting a set amount of solvent, the emptying lifting module 132 drives the emptying injection head 131 to rise and pull it out of the infusion bag. Then, the rotary table continues to rotate, bringing the infusion bag into the mixing station D.

[0042] Refer to Figure 2 and Figure 3As shown, a filling and dispensing assembly 14 is provided at the filling and dispensing station D; the filling and dispensing assembly 14 includes a filling and dispensing injection head 141; the filling and dispensing injection head 141 is located directly above the infusion bag at the filling and dispensing station D; the filling and dispensing assembly 14 also includes a filling and dispensing lifting module 142, the filling and dispensing injection head 141 is installed on the lifting end of the filling and dispensing lifting module 142, and is used to insert downward into the infusion bag or pull upward from the infusion bag by being driven by the filling and dispensing lifting module 142; the filling and dispensing assembly 14 also includes a filling and dispensing peristaltic pump 143 and a drug extraction injection head 144; the drug extraction injection head 144 is fixedly installed and connected to the filling and dispensing injection head 141 through a pipeline; the intravenous medication loading robot 31 is used to control the movement of the gripped medicine bottle 5, so that the drug extraction injection head 144 is inserted and pulled out of the medicine bottle; the filling and dispensing peristaltic pump 143 acts on the pipeline to draw the drug solution from the medicine bottle 5 and inject it into the infusion bag. Specifically, after the infusion bag enters the filling station D, the filling and lifting module lowers the filling injection head until it is inserted into the infusion bag; simultaneously, the working end of the intravenous medication loading robot 31 is equipped with a first bottle clamp 311 for holding multiple bottles; the first bottle clamp 311 holds multiple bottles containing intravenous medication solutions dissolved in solvent; the intravenous medication loading robot 31 controls the bottle openings of the held bottles to face downwards; the medication extraction injection head 144... With the needle pointing upwards, the intravenous medication loading robot controls the vial, causing the medication extraction injection head to be inserted into the vial. Then, the peristaltic pump operates, drawing medication from the vial and injecting it into the infusion bag. After extraction, the filling and lifting module raises the filling injection head, pulling it out of the infusion bag. Then, the rotary table continues to rotate, bringing the infusion bag into the solvent unloading station E. Simultaneously, the intravenous medication loading robot 31 controls the vial, causing the medication extraction injection head to be pulled out of the vial.

[0043] Refer to Figure 4 , Figure 5 , Figure 6 , Figure 8As shown, the infusion bag feeding conveyor line 22 includes two second conveyor lines 221; the infusion bag 4 is placed between the two second conveyor lines 221 via the infusion bag clamp 25; an infusion bag feeding transfer assembly 24 is provided between the bearing port 111 at the solvent feeding station E and the inlet end of the infusion bag feeding conveyor line 22; the infusion bag feeding transfer assembly 24 includes a claw 244 and a claw driving mechanism for driving the claw 244 to move; the claw acts on the infusion bag clamp 25 to transfer the infusion bag located at the bearing port 111 at the solvent feeding station E to the infusion bag feeding conveyor line 22. The infusion bag clamp 25 is also provided with a second slot 252; the inserter driving mechanism includes an inserter rotating module 241, an inserter lifting module 242 installed at the rotating end of the inserter rotating module 241, and an inserter translating module 243 installed at the lifting end of the inserter lifting module 242; the inserter 244 is fixed to the translating end of the inserter translating module 243; the inserter 244 cooperates with the second slot 252; specifically, the infusion bag feeding process is as follows: when the infusion bag needs to be fed, the inserter rotating module 241 drives the inserter to adjust to the position corresponding to the bearing port 111 at the solvent feeding station E; then, the inserter lifting module 242 drives the inserter so that the inserter is directly aligned with the second slot 252, and the inserter translating module 243 drives the inserter to extend and insert into the second slot 252. Then, the claw lifting module 242 lifts the claw, the claw translation module 243 retracts the claw, and the claw rotation module 241 adjusts the claw to the position corresponding to the two second conveyor lines 221 of the infusion bag feeding conveyor line 22. Then, the claw translation module 243 extends the claw so that the infusion bag is directly above the inlet end of the infusion bag feeding conveyor line 22. The claw lifting module 242 lowers the claw until the infusion bag clamp 25 falls on the two second conveyor lines 221. The claw translation module 243 retracts the claw, and the infusion bag feeding transfer component 24 returns to its initial position. After receiving the infusion bag, the two second conveyor lines transport the infusion bag to the outlet direction a distance equivalent to one infusion bag, thus freeing up the space of one infusion bag on the infusion bag feeding conveyor line 22.

[0044] Refer to Figure 1 , Figure 9 and Figure 10As shown, the intravenous drug supply mechanism 3 also includes a pre-dissolving component 32; the pre-dissolving component 32 includes a pre-dissolving base 321 and a swaying seat 322; the swaying seat 322 is mounted on the pre-dissolving base 321 via a slide rail slider structure; an eccentric wheel assembly 323 is also provided between the swaying seat 322 and the pre-dissolving base 321 for driving the swaying seat 322 to sway back and forth relative to the pre-dissolving base 321; the pre-dissolving component 32 also includes a pre-dissolving translation module 324 mounted on the swaying seat 322 and a pre-dissolving clamping platform 325 mounted on the moving end of the pre-dissolving translation module 324. Specifically, the pre-dissolving clamping platform 325 includes multiple evenly distributed receiving slots 3251 and a clamping rod 3252; the receiving slot 3251 has a V-shaped edge; the clamping rod 3252 is driven by a clamping rod translation mechanism 3253. After the medicine bottle is placed in the receiving slot 3251, the clamping rod 3252 is pushed towards the V-shaped edge by the clamping rod translation mechanism 3253, and then the clamping rod and the V-shaped edge together position and clamp the medicine bottle.

[0045] Refer to Figure 10As shown, the pre-dissolving component 32 further includes a pre-dissolving solvent supply component 326; the pre-dissolving solvent supply component 326 includes a pre-dissolving peristaltic pump 3261 and a pre-dissolving injection head assembly 3262; the pre-dissolving injection head assembly 3262 includes a pre-dissolving first lifting module 32621, a pre-dissolving second lifting module 32623 installed at the lifting end of the pre-dissolving first lifting module 32621, and a pre-dissolving injection head 32624 installed at the lifting end of the pre-dissolving second lifting module 32623; the pipeline of the pre-dissolving injection head 32624 is connected to a common solvent after passing through the pre-dissolving peristaltic pump 3261; a pressure plate 32622 is also provided on the bottom side of the lifting end of the pre-dissolving first lifting module 32621. Specifically, the pre-dissolving process is as follows: The pre-dissolving clamping platform receives and clamps the vial. The pre-dissolving translation module 324 moves the pre-dissolving clamping platform, positioning the vial directly below the pre-dissolving injection head 32624. The first pre-dissolving lifting module 32621 moves the pre-dissolving injection head 32624 and the pressure plate 32622 downwards together, with the pressure plate 32622 forming the upper limit of the vial. Then, the second pre-dissolving lifting module 32623 continues to move the pre-dissolving injection head 32624 downwards, inserting it into the vial. The pre-dissolving peristaltic pump 3261 starts, drawing in the common solvent and injecting it into the vial. The second pre-dissolving lifting module 32623 continues to move the pre-dissolving injection head 32624 upwards from the vial... Pull out, and then the pre-dissolving first lifting module 32621 drives the pre-dissolving injection head 32624 and the pressure plate 32622 to move upward together, detaching from the medicine bottle. The pre-dissolving translation module 324 drives the pre-dissolving clamping platform to move and inject the common solvent into the next medicine bottle. After all medicine bottles have been injected with the common solvent, the pre-dissolving translation module 324 drives the pre-dissolving clamping platform to return to the initial position. The eccentric wheel assembly 323 is activated. Under the combined action of the eccentric wheel and the slide rail slider, the shaking seat drives the medicine bottle to shake back and forth, accelerating the drug dissolution. After the drug dissolution is completed, the intravenous drug loading robot 31 grabs multiple medicine bottles at once and enters the mixing station for mixing.

[0046] Refer to Figure 1 , Figure 11 , Figure 12 , Figure 17 and Figure 18As shown, the intravenous medication supply mechanism 3 also includes a vial conveying mechanism 33; the vial conveying mechanism 33 includes a vial conveying line 331 for conveying a single row of vials; the outlet end of the vial conveying line 331 is provided with a positioning and arranging assembly 337, the positioning and arranging assembly 337 including a vial carrying platform 3371, a positioning receiving plate 3372, and a positioning pusher plate 3373 disposed on the side of the end of the vial conveying line 331; the positioning receiving plate 3372 is provided with multiple vial receiving ports 33721; the positioning and arranging assembly 337 also includes a positioning receiving translation module 3374 and a positioning pusher plate translation module 3375; the positioning receiving translation module 3374 is used to control the multiple vial receiving ports of the positioning receiving plate 3372 to sequentially connect with the vial conveying line 3371. 1. The receiving medicine bottles are connected and moved to the bottle carrier platform 3371; the positioning push plate translation module 3375 is used to drive the positioning push plate to translate and push the received medicine bottles to be close to the corresponding bottle receiving port, thereby realizing the positioning of multiple medicine bottles; the medicine bottle conveying mechanism 33 also includes a medicine bottle transfer mechanism 338; the medicine bottle transfer mechanism 338 includes a second medicine bottle clamp 3381 for clamping multiple medicine bottles, and a medicine bottle clamp driving mechanism for driving the second medicine bottle clamp 3381 to move; the medicine bottle transfer mechanism 338 is connected to the positioning arrangement assembly 337 and the pre-dissolving clamping platform 325, and is used to clamp multiple medicine bottles positioned by the positioning arrangement assembly 337 through the drive of the medicine bottle clamp driving mechanism, and transfer them to the pre-dissolving clamping platform 325. Specifically, the medicine bottle clamp driving mechanism includes a medicine bottle clamp lifting module 3382 and a medicine bottle clamp translation module 3383 installed on the lifting end of the medicine bottle clamp lifting module 3382; the second medicine bottle clamp 3381 is installed on the translation end of the medicine bottle clamp translation module 3383.The positioning and conveying process is as follows: The bottle conveyor line 331 sequentially conveys a single row of individual bottles. Driven by the positioning and receiving translation module, the positioning receiving plate aligns the first receiving port with the bottle conveyor line 331. After the first bottle enters the first receiving port, the positioning receiving plate moves one receiving port's distance under the guidance of the positioning and receiving translation module, aligning the second bottle with the bottle conveyor line 331, while the first bottle is moved to the bottle-carrying platform. This process continues until multiple bottles are received (four bottles in this embodiment). Once all four bottles have been transferred to the bottle-carrying platform, the positioning pusher translation module drives the positioning pusher to push the bottles close to their corresponding receiving ports (the receiving ports are V-shaped), thus positioning the multiple bottles. Then, the bottle clamp translation module 3383 moves the second bottle clamp 3381 to the bottle-carrying platform. Above, multiple grippers of the second bottle clamp 3381 correspond to multiple bottles on the bottle carrier platform. The bottle clamp lifting module 3382 drives the second bottle clamp 3381 to move downward, and at the same time, the grippers of the second bottle clamp 3381 open. When the grippers move to correspond to the neck of the bottle, the second bottle clamp lifting module stops, the grippers close to hold the corresponding bottle, the bottle clamp lifting module drives the second bottle clamp to rise, and the bottle clamp translation module drives the second bottle clamp to move above the pre-dissolving clamping platform 325. Multiple bottles correspond to the receiving slots 3251 of the pre-dissolving clamping platform 325. The bottle clamp lifting module drives the second bottle clamp to descend, and then the grippers open to place the corresponding bottles into the receiving slots 3251, thus realizing the one-time positioning and transfer of multiple bottles from the bottle conveying mechanism 33 to the pre-dissolving component 32.

[0047] Refer to Figures 11 to 16As shown, the medicine bottle conveyor line 331 is provided with a fixed side rail and a movable side rail 3312. The medicine bottle conveyor line 331 also includes a side rail translation module 3311 for driving the movable side rail 3312 to move closer to or away from the fixed side rail. The fixed side rail and the movable side rail form a conveying channel for a single row of medicine bottles to pass through. A first stop assembly 332 and a second stop assembly 334 are arranged sequentially near the medicine bottle conveyor line 331 according to the conveying direction. The medicine bottle conveying mechanism 33 also includes a first visual recognition component 333 arranged in the first stop assembly 332 and a second visual recognition component 335 arranged near the second stop assembly 334. The medicine bottle conveyor line 331... A gripping mechanism 336 is also provided above 1; an NG channel 339 is also provided near the gripping mechanism 336; the first visual recognition component 333 is used to identify the shape of the medicine bottle blocked by the first stop component and determine whether it meets the specifications from the shape; the gripping mechanism 336 is used to grip the medicine bottle blocked by the second stop component, so that the medicine bottle is facing the second visual recognition component, and is also used to rotate the medicine bottle; the second visual recognition component is used to perform quality inspection on the medicine bottle and determine whether it is required; the gripping mechanism is also used to put the medicine bottle that is detected as required by the second visual recognition component back into the conveying channel, and put the medicine bottle that is detected as unrequired into the NG channel. Specifically, the first stop assembly 332 includes a first baffle 3321 that passes through the fixed side rail of the medicine bottle conveyor line 331, and a first baffle translation module 3322 for driving the first baffle 3321 to extend into or retract from the conveyor channel; the second stop assembly 334 includes a second baffle 3341 that passes through the fixed side rail of the medicine bottle conveyor line 331, and the second stop assembly 334 also includes a positioning stop translation module 3342 that is in the same direction as the medicine bottle conveyor line, and a second baffle translation module 3343 that is installed on the moving end of the positioning stop translation module 3342 and is used to drive the second baffle 3341 to extend into or retract from the conveyor channel.The gripping mechanism 336 includes a gripping translation module 3362, a gripping lifting module 3363 installed at the translation end of the gripping translation module 3362, a gripping rotation module 3364 installed at the lifting end of the gripping lifting module 3363, and a gripping gripper 3361 installed at the rotation end of the gripping rotation module 3364. A buffer pool 3313 is also provided at the inlet end of the medicine bottle conveying line 331. The conveying process of the medicine bottle conveying mechanism further includes: medicine bottles are randomly stacked in the buffer pool; under the action of the buffer pool, the medicine bottles are arranged in a single row at the inlet end of the medicine bottle conveying line 331. First, the foremost medicine bottle is blocked by a first stop component. A first visual recognition component performs shape recognition on the medicine bottle to determine whether it conforms to specifications. Then, the first stop component stops the first medicine bottle... The first bottle is released, and the next bottle is blocked. The first bottle continues to be conveyed on the bottle conveyor line and is blocked by the second stop component. If the first vision recognition component determines that the first bottle does not meet the specifications, the gripping mechanism grabs the first bottle and puts it into the NG channel. If the first vision recognition component determines that the first bottle meets the specifications, the gripping mechanism grabs the first bottle and raises it to the height corresponding to the recognition area of ​​the second vision recognition component. The second vision recognition component checks the specifications of the bottle to determine if it is required. If it is not required, the gripping mechanism grabs the first bottle and puts it into the NG channel. If it is required, the gripping mechanism puts the bottle back on the bottle conveyor line, and the second stop component releases the bottle. Then, the first stop component releases the second bottle, and the above operation is repeated. The bottles released by the second stop component enter the positioning and arrangement component for positioning and arrangement.

[0048] The above embodiments should not limit the present invention in any way. All technical solutions obtained by equivalent substitution or equivalent conversion fall within the protection scope of the present invention.

Claims

1. A dispensing device for intravenous medication, characterized in that: The system includes a mixing mechanism, a solvent supply mechanism, and an intravenous medication supply mechanism. The mixing mechanism includes a rotating disk with multiple receiving ports evenly distributed around its circumference. The mixing mechanism also includes a solvent loading station, a solvent identification station, a solvent emptying station, a mixing station, and a solvent unloading station arranged sequentially around the rotating disk. The solvent supply mechanism includes an infusion bag loading conveyor line and an infusion bag unloading conveyor line. The intravenous medication supply mechanism includes an intravenous medication loading robot for supplying vials containing intravenous medication solutions. The rotating disk receives infusion bags from the infusion bag loading conveyor line through the receiving ports at the solvent loading station, and through rotation, sequentially identifies the infusion bags at the solvent identification station, discharges a small amount of solvent at the solvent emptying station, injects intravenous medication solutions drawn from vials supplied by the intravenous medication supply mechanism at the mixing station, and transfers the vials to the infusion bag unloading conveyor line at the solvent unloading station. The infusion bag feeding and conveying line includes two second conveying lines; the infusion bag is placed between the two second conveying lines by an infusion bag clamp; an infusion bag feeding and transfer assembly is provided between the receiving port at the solvent feeding station and the inlet end of the infusion bag feeding and conveying line; the infusion bag feeding and transfer assembly includes a claw and a claw driving mechanism for driving the claw to move; the claw acts on the infusion bag clamp to transfer the infusion bag located at the receiving port at the solvent feeding station to the infusion bag feeding and conveying line; The intravenous drug delivery system also includes a pre-dissolving component; the pre-dissolving component includes a pre-dissolving base and a swaying seat; the swaying seat is mounted on the pre-dissolving base via a slide rail slider structure; an eccentric wheel assembly is also provided between the swaying seat and the pre-dissolving base for driving the swaying seat to sway back and forth relative to the pre-dissolving base; the pre-dissolving component also includes a pre-dissolving translation module mounted on the swaying seat and a pre-dissolving clamping platform mounted on the moving end of the pre-dissolving translation module; The pre-dissolving component also includes a pre-dissolving solvent supply component; the pre-dissolving solvent supply component includes a pre-dissolving peristaltic pump and a pre-dissolving injection head assembly; the pre-dissolving injection head assembly includes a first pre-dissolving lifting module, a second pre-dissolving lifting module installed at the lifting end of the first pre-dissolving lifting module, and a pre-dissolving injection head installed at the lifting end of the second pre-dissolving lifting module; the pipeline of the pre-dissolving injection head is connected to a common solvent after passing through the pre-dissolving peristaltic pump; a pressure plate is also provided on the bottom side of the lifting end of the first pre-dissolving lifting module.

2. A dispensing mechanism for intravenous medication according to claim 1, characterized in that: The carrier port at the solvent feeding station is connected to the outlet end of the infusion bag feeding conveyor line; the infusion bag feeding conveyor line includes two first conveyor lines; the infusion bag is placed between the two first conveyor lines by an infusion bag clamp; the solvent supply mechanism also includes an infusion bag feeding transfer assembly; the infusion bag feeding transfer assembly includes a toggle member and a toggle drive mechanism for driving the toggle member to move; the toggle member acts on the infusion bag clamp to move the infusion bag located on the infusion bag feeding conveyor line to the carrier port at the solvent feeding station by the toggle drive mechanism.

3. A dispensing mechanism for intravenous medication according to claim 1, characterized in that: A barcode scanning component is installed at the solvent identification station.

4. A dispensing mechanism for intravenous medication according to claim 1, characterized in that: A purging assembly is provided at the solvent purging station; the purging assembly includes a purging injection head; the purging injection head is located directly above the infusion bag at the solvent purging station; the purging assembly also includes a purging lifting module, the purging injection head is installed on the lifting end of the purging lifting module, and is used to insert downward into the infusion bag or pull upward from the infusion bag by being driven by the purging lifting module; the purging assembly also includes a purging peristaltic pump, which acts on the tubing of the purging injection head, and is used to discharge the solvent from the infusion bag.

5. A dispensing mechanism for intravenous medication according to claim 1, characterized in that: The preparation station is equipped with a preparation assembly; the preparation assembly includes a preparation injection head; the preparation injection head is located directly above the infusion bag at the preparation station; the preparation assembly also includes a preparation lifting module, the preparation injection head is installed on the lifting end of the preparation lifting module, and is used to insert downward into the infusion bag or pull upward from the infusion bag by being driven by the preparation lifting module; the preparation assembly also includes a preparation peristaltic pump and a drug extraction injection head; the drug extraction injection head is fixedly installed and connected to the preparation injection head through a pipeline; the intravenous medication loading robot is used to control the movement of the gripped medicine bottle, so that the drug extraction injection head is inserted and pulled out of the medicine bottle; the preparation peristaltic pump acts on the pipeline to draw the medicine from the medicine bottle and inject it into the infusion bag.

6. A dispensing mechanism for intravenous medication according to claim 1, characterized in that: The intravenous medication supply system also includes a vial delivery mechanism; the vial delivery mechanism includes a vial delivery line for conveying a single row of vials; the outlet end of the vial delivery line is provided with a positioning and arranging assembly, which includes a vial-carrying platform, a positioning receiving plate, and a positioning push plate disposed on the side of the end of the vial delivery line; the positioning receiving plate is provided with multiple receiving ports; the positioning and arranging assembly also includes a positioning receiving translation module and a positioning push plate translation module; the positioning receiving translation module is used to control the multiple receiving ports of the positioning receiving plate to sequentially connect with the vial delivery line and to move the received vials. The positioning pusher translation module is used to drive the positioning pusher to translate and push the received medicine bottles to be close to the corresponding bottle receiving port, thereby realizing the positioning of multiple medicine bottles; the medicine bottle conveying mechanism also includes a medicine bottle transfer mechanism; the medicine bottle transfer mechanism includes a second medicine bottle clamp for clamping multiple medicine bottles, and a medicine bottle clamp driving mechanism for driving the second medicine bottle clamp to move; the medicine bottle transfer mechanism is connected to the positioning arrangement assembly and the pre-dissolving clamping platform, and is used to clamp multiple medicine bottles positioned by the positioning arrangement assembly and transfer them to the pre-dissolving clamping platform by the drive of the medicine bottle clamp driving mechanism.

7. A dispensing mechanism for intravenous medication according to claim 1, characterized in that: The medicine bottle conveyor line is equipped with a fixed side rail and a movable side rail. The conveyor line also includes a side rail translation module for driving the movable side rail to move closer to or away from the fixed side rail. The fixed and movable side rails form a conveying channel for a single row of medicine bottles to pass through. A first stop assembly and a second stop assembly are sequentially arranged near the medicine bottle conveyor line according to the conveying direction. The medicine bottle conveying mechanism also includes a first visual recognition component located on the first stop assembly and a second visual recognition component located near the second stop assembly. A gripping mechanism is also provided above the medicine bottle conveyor line. An NG channel is also provided near the picking mechanism; the first visual recognition component is used to identify the shape of the medicine bottle blocked by the first stop component and determine whether it meets the specifications based on its shape; the gripping mechanism is used to grip the medicine bottle blocked by the second stop component, so that the medicine bottle is facing the second visual recognition component, and is also used to rotate the medicine bottle; the second visual recognition component is used to perform quality inspection on the medicine bottle and determine whether it is required; the gripping mechanism is also used to return the medicine bottle that is required by the second visual recognition component to the conveying channel, and put the medicine bottle that is not required into the NG channel.

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