A liquid preparation robot and a liquid preparation method

Abstract

The application discloses a liquid preparation robot, which comprises a support frame and a liquid preparation device. The liquid preparation device comprises a liquid preparation turntable, which is rotatably installed on the support frame. The liquid preparation turntable is provided with a plurality of liquid preparation stations in the circumferential direction. Each liquid preparation station comprises a flask clamping mechanism, a syringe clamping mechanism and a transfusion bag clamping mechanism. The flask clamping mechanism is used for clamping a flask. The syringe clamping mechanism is used for clamping a syringe. The transfusion bag clamping mechanism is used for clamping a transfusion bag. The relative positions among the flask clamping mechanism, the transfusion bag clamping mechanism and the liquid preparation turntable are invariable, and the syringe clamping mechanism can rotate relative to the liquid preparation turntable. The application can realize automatic liquid preparation and improve the liquid preparation efficiency. The application further provides a liquid preparation method, which is executed by the liquid preparation robot.

Description

Technical Field

[0001] This invention relates to the field of automated liquid preparation equipment technology, and in particular to a liquid preparation robot and a liquid preparation method. Background Technology

[0002] In hospitals, drug preparation requires drawing the liquid (such as sodium chloride solution) from the infusion bag into a syringe, then injecting the liquid from the syringe into a vial, shaking it to mix the liquid and powder in the vial, and finally drawing the mixed liquid into the infusion bag through the syringe.

[0003] Currently, drug preparation in the market is mainly done manually by medical staff, which is inefficient. Summary of the Invention

[0004] The purpose of this invention is to solve the problem of low efficiency in manual drug preparation by medical personnel. This invention provides a drug preparation robot that can automate drug preparation and improve efficiency.

[0005] To address the aforementioned technical problems, embodiments of the present invention disclose a liquid dispensing robot, comprising a support frame and a liquid dispensing device;

[0006] The solution preparation device includes:

[0007] A liquid dispensing turntable, which is rotatably mounted on the support frame;

[0008] Along the circumference of the liquid dispensing turntable, the liquid dispensing turntable is provided with multiple liquid dispensing stations;

[0009] Each of the aforementioned solution preparation stations includes a vial clamping mechanism, a syringe clamping mechanism, and an infusion bag clamping mechanism;

[0010] The vial holding mechanism includes vial grippers, each vial gripper being used to hold one vial;

[0011] The syringe clamping mechanism is rotatably fixed to the liquid dispensing turntable. The syringe clamping mechanism includes a first clamping component and a second clamping component. The first clamping component is used to clamp the syringe barrel, and the second clamping component is used to clamp the syringe piston rod.

[0012] The first clamping assembly and the second clamping assembly are capable of moving the syringe so that the syringe can aspirate or inject into the vial and the infusion bag. Along the extension direction of the syringe, the second clamping assembly is capable of moving relative to the first clamping assembly.

[0013] The infusion bag clamping mechanism includes infusion bag grippers, which are used to clamp the infusion bag;

[0014] The relative positions of the vial clamping mechanism, the infusion bag clamping mechanism, and the dispensing turntable remain unchanged, while the syringe clamping mechanism is able to rotate relative to the dispensing turntable.

[0015] By adopting the above technical solution, a solution preparation device is set on the solution preparation robot, and the solution preparation device uses a solution bottle clamping mechanism to clamp the solution bottle, a syringe clamping mechanism to clamp the syringe, and an infusion bag clamping mechanism to clamp the infusion bag, so as to fix the solution bottle, syringe, and infusion bag to the solution preparation device respectively, thereby realizing automatic solution preparation.

[0016] During solution preparation, the syringe clamping mechanism rotates below the infusion bag clamping mechanism, allowing the syringe to draw liquid from the infusion bag. Then, the syringe clamping mechanism rotates below the vial clamping mechanism to inject the liquid into the vial, and the vial clamping mechanism agitates the liquid to mix it with the powdered medication inside the vial. Next, the syringe clamping mechanism withdraws the mixed liquid from the vial, rotates it below the infusion bag clamping mechanism, and injects the mixed liquid into the infusion bag, completing the solution preparation.

[0017] The above process does not require human control, thus improving the efficiency of solution preparation.

[0018] According to another specific embodiment of the present invention, each of the liquid preparation stations further includes a needle cap clamping mechanism;

[0019] The needle cap clamping mechanism includes a needle cap gripper, which is used to clamp the needle cap of the syringe;

[0020] The syringe clamping mechanism can rotate to the needle cap clamping mechanism so that the needle cap jaws clamp the needle cap and drive the syringe to move away from the needle cap jaws through the first clamping assembly, so that the needle cap and the syringe are separated.

[0021] By adopting the above technical solution, a needle cap clamping mechanism is added to remove the needle cap of the syringe, which ensures that the needle cap of the syringe is always on the injection needle of the syringe before the injection begins, so as to ensure that the injection needle is not contaminated.

[0022] During solution preparation, the syringe clamping mechanism first rotates below the needle cap clamping mechanism to separate the needle cap from the syringe. Next, it rotates below the infusion bag clamping mechanism, allowing the syringe to draw liquid from the infusion bag. Then, it rotates below the vial clamping mechanism to inject the liquid into the vial, and the vial clamping mechanism agitates the liquid to mix it with the powdered medication inside. The syringe clamping mechanism then withdraws the mixed liquid from the vial, rotates it below the infusion bag clamping mechanism, and injects the mixed liquid into the infusion bag. Throughout this process, the needle cap remains fixed to the needle cap clamping jaws. Finally, the syringe clamping mechanism rotates below the needle cap clamping mechanism, inserting the needle cap into the syringe, completing the solution preparation.

[0023] According to another specific embodiment of the present invention, the liquid dispensing turntable includes an upper layer and a lower layer in the vertical direction;

[0024] The vial clamping mechanism, the infusion bag clamping mechanism, and the needle cap clamping mechanism of each of the aforementioned solution preparation stations are located on the upper layer;

[0025] The syringe clamping mechanism of each of the liquid preparation stations is located on the lower layer, and the syringe clamping mechanism is located at the middle position of the liquid preparation station along the circumference of the liquid preparation turntable.

[0026] By adopting the above technical solution, the vial clamping mechanism, infusion bag clamping mechanism, and needle cap clamping mechanism are located on the upper layer, while the syringe clamping mechanism is located on the lower layer. This allows the syringe clamping mechanism to move the syringe to the positions of the vial clamping mechanism, infusion bag clamping mechanism, and needle cap clamping mechanism simply by rotating it relative to these mechanisms along the circumference of the dispensing turntable. This effectively simplifies the operation of the syringe clamping mechanism and improves dispensing efficiency.

[0027] According to another specific embodiment of the present invention, it further includes a vial feeding module, an infusion bag feeding module, and a syringe feeding module;

[0028] The vial feeding module, the infusion bag feeding module, and the syringe feeding module are respectively arranged relative to any one of the three adjacent liquid preparation stations along the circumference of the liquid preparation turntable.

[0029] Each of the solution preparation stations is rotatable relative to the vial feeding module, the infusion bag feeding module, and the syringe feeding module.

[0030] By adopting the above technical solution, vials are supplied to the solution preparation device through the vial feeding module, infusion bags are supplied to the solution preparation device through the infusion bag feeding module, and syringes are supplied to the solution preparation device through the syringe feeding module, thereby automating the feeding process and improving the solution preparation efficiency.

[0031] According to another specific embodiment of the present invention, the vial feeding module includes a tray gripper mechanism and a feeding turntable;

[0032] The pallet gripper mechanism is located on one side of the feed turntable along the circumference of the feed turntable;

[0033] The pallet gripper mechanism includes a pallet gripper mechanism body and pallet grippers, wherein the pallet grippers are movably disposed on the pallet gripper mechanism body;

[0034] The feeding turntable is provided with multiple feeding stations, each feeding station can hold a vial tray, and each vial tray can hold multiple vials. The feeding turntable is rotatably mounted on the support frame.

[0035] The feed turntable can rotate any available feed station on the feed turntable to the position of the pallet gripper.

[0036] By adopting the above technical solution, a tray gripper mechanism is set to hold the vial tray, and multiple vials are placed on the vial tray, which can effectively improve the vial feeding efficiency and thus improve the solution preparation efficiency.

[0037] According to another specific embodiment of the present invention, the vial feeding module further includes a feeding shaft that extends along the vertical direction and is rotatably mounted on the support frame;

[0038] Along the vertical direction, the feeding shaft is fixedly provided with a plurality of feeding turntables, and the plurality of feeding turntables can rotate synchronously with the feeding shaft;

[0039] Along the vertical direction, the plurality of feed turntables form a feed rotation assembly;

[0040] The pallet gripper mechanism also includes a longitudinal guide rail that extends along the vertical direction. The main body of the pallet gripper mechanism is movably disposed on the longitudinal guide rail, and the main body of the pallet gripper mechanism can drive the pallet gripper to move relative to the feeding rotary assembly along the vertical direction.

[0041] By adopting the above technical solution, and by setting up a multi-layer feeding turntable to accommodate more vials, the feeding efficiency is further improved.

[0042] According to another specific embodiment of the present invention, the vial feeding module is provided with a plurality of feeding rotating components along a first direction, wherein the first direction is perpendicular to the vertical direction;

[0043] The pallet gripper mechanism is located on the same side of the plurality of feeding rotating assemblies along a second direction, which is perpendicular to the first direction and the vertical direction;

[0044] The pallet gripper mechanism includes a first transverse guide rail and a first longitudinal guide rail;

[0045] The first transverse guide rail extends along the first direction;

[0046] The first longitudinal guide rail is movably mounted on the first transverse guide rail, and the first longitudinal guide rail can drive the pallet gripper mechanism body and the pallet gripper to move along the first direction.

[0047] By adopting the above technical solution, multiple feeding rotating components are set up to accommodate more vial turntables, thereby accommodating more vials and further improving feeding efficiency.

[0048] According to another specific embodiment of the present invention, the liquid dispensing robot further includes a vial capping mechanism, and the vial feeding module further includes a feeding gripper mechanism;

[0049] The feeding gripper mechanism includes a feeding gripper mechanism body and feeding grippers;

[0050] The main body of the feeding gripper mechanism is located between the feeding turntable and the vial capping mechanism;

[0051] The feeding gripper is rotatably mounted on the main body of the feeding gripper mechanism and is used to grip the vial on the feeding turntable and place it on the vial capping mechanism to remove the cap from the vial.

[0052] According to another specific embodiment of the present invention, the feeding gripper mechanism further includes a second transverse guide rail and a second longitudinal guide rail;

[0053] The main body of the feeding gripper mechanism is movably mounted on the second longitudinal guide rail, which extends along the vertical direction;

[0054] The second transverse guide rail extends along the first direction;

[0055] The second longitudinal guide rail is movably mounted on the second transverse guide rail.

[0056] According to another specific embodiment of the present invention, the feeding gripper is equipped with a camera, which is used to take pictures of the vials on the vial tray for confirmation.

[0057] By adopting the above technical solution, and by setting a camera on the feeding gripper to confirm the vial, it is possible to effectively prevent the feeding gripper from picking up the wrong vial, which would result in the final medication being inconsistent with the target, and thus effectively avoid medical accidents.

[0058] According to another specific embodiment of the present invention, the vial feeding module further includes a vial cap removal mechanism;

[0059] The vial capping mechanism includes: a vial capping platform, a vial capping component, and a vial capping clamp;

[0060] The vial cap-removing clamp is used to hold the vial body, and the vial cap-removing component is used to hold the vial cap.

[0061] The vial cap remover is movable relative to the vial cap remover clamp to separate the cap from the vial body;

[0062] The vial capping device is disposed on the vial capping platform, the vial capping clamp is disposed at intervals from the vial capping platform along the vertical direction, and the vial capping clamp is movable relative to the vial capping platform.

[0063] By adopting the above technical solution and setting a cap-removing mechanism to remove the caps from vials, the automation of the liquid preparation robot can be further improved. This allows the staff to simply place the complete vials into the liquid preparation device without performing any other operations, thus further improving the liquid preparation efficiency.

[0064] According to another specific embodiment of the present invention, a first robotic arm is provided between the cap-removing clamp and the dispensing device. The first robotic arm is used to feed the vial with the cap removed from the cap-removing clamp into the vial clamping mechanism so that the vial jaws clamp the vial.

[0065] According to another specific embodiment of the present invention, a detection mechanism is provided between the vial capping mechanism and the first robotic arm;

[0066] The detection mechanism includes a rotating gripper and at least one camera. The rotating gripper is used to hold the vial after the cap has been removed, and the camera is positioned toward the rotating gripper to detect the vial.

[0067] The above technical solution employs a detection mechanism between the vial capping mechanism and the first robotic arm to inspect the vials after capping. Specifically, the inspection includes verifying whether the vial capping was successful and whether the medication inside the vial is the required medication. If either of these conditions is not met, the vial is immediately discarded to prevent medical accidents or damage to the dispensing device.

[0068] According to another specific embodiment of the present invention, the infusion bag feeding module includes an infusion bag storage mechanism, and the infusion bag includes a bag body and a liquid tube;

[0069] The infusion bag storage facility includes:

[0070] The support includes a storage channel for storing multiple infusion bags and for engaging with the tubing, the tubing being able to slide down along the extension direction of the storage channel to provide the infusion bags to the infusion bag clamping mechanism.

[0071] According to another specific embodiment of the present invention, the infusion bag feeding module further includes an infusion bag cap peeling mechanism, and the liquid tube is provided with a tube cap;

[0072] The infusion bag cap-removing mechanism is located between the infusion bag storage mechanism and the liquid dispensing device;

[0073] The infusion bag cap-removing mechanism includes an infusion bag clamping part and an infusion bag cap-removing part;

[0074] The infusion bag clamping part is used to clamp the infusion tube. The infusion bag cap peeling part is arranged opposite to the infusion bag clamping part in the vertical direction. The infusion bag cap peeling part can move relative to the infusion bag clamping part in the vertical direction and can rotate relative to the infusion bag clamping part.

[0075] The infusion bag cap-peeling part is provided with a receiving groove on the side of the infusion bag clamping part along the vertical direction. The receiving groove can engage with the tube cap and drive the tube cap to rotate relative to the infusion bag clamping part.

[0076] By adopting the above technical solution and setting up an infusion bag cap-removing mechanism, the automatic cap removal of the infusion bag can be achieved, further improving the automation of the infusion dispensing robot and increasing the infusion dispensing efficiency.

[0077] According to another specific embodiment of the present invention, a second robotic arm is provided between the infusion bag peeling mechanism and the liquid dispensing device. The second robotic arm is used to feed the infusion bag on the infusion bag clamping part into the infusion bag clamping mechanism so that the infusion bag gripper clamps the infusion bag after the cap has been peeled off.

[0078] According to another specific embodiment of the present invention, the syringe feeding module includes a syringe storage mechanism;

[0079] The syringe storage mechanism includes: a storage mechanism housing extending in a vertical direction;

[0080] Multiple syringe holders, each of which is used to accommodate multiple syringes;

[0081] A storage section extends along the vertical direction and is disposed inside the housing of the storage mechanism. Along the vertical direction, the storage section is provided with a plurality of support components at intervals. Each of the plurality of support components corresponds to a plurality of syringe clamps. Each of the plurality of support components is used to support the syringe clamp. The storage section is connected to the inner wall of the housing of the storage mechanism in a manner that allows it to slide up and down along the vertical direction.

[0082] A conveying assembly is connected to one side of the storage mechanism housing along a first direction, the conveying assembly being used to transport the syringe clamp to the location of the dispensing device.

[0083] According to another specific embodiment of the present invention, a third robotic arm is provided between the syringe storage mechanism and the liquid dispensing device, the third robotic arm being used to clamp the syringe from the syringe clamp to the syringe clamping mechanism.

[0084] According to another specific embodiment of the present invention, a syringe flipping mechanism is provided between the syringe storage mechanism and the third robotic arm. The syringe flipping mechanism is used to flip the syringe to an injection posture so that the third robotic arm can clamp the flipped syringe to the syringe clamping mechanism.

[0085] According to another specific embodiment of the present invention, it further includes a vial feeding mechanism;

[0086] The vial feeding mechanism includes a first robotic arm and a vial gripper, wherein the vial gripper is fixed to the first robotic arm;

[0087] The vial gripper is used to hold the vial, and the first robotic arm is used to move the vial gripper to remove the vial from the vial gripping mechanism.

[0088] By adopting the above technical solution and setting up a vial feeding mechanism, the vials after solution preparation can be automatically fed, thereby improving the solution preparation efficiency.

[0089] According to another specific embodiment of the present invention, it further includes an infusion bag feeding mechanism;

[0090] The infusion bag feeding mechanism includes a second robotic arm and an infusion bag feeding suction cup, wherein the infusion bag feeding suction cup is fixed to the second robotic arm;

[0091] The infusion bag feeding suction cup is used to fix the infusion bag, and the second robotic arm is used to drive the infusion bag feeding suction cup to move so as to remove the infusion bag from the infusion bag clamping mechanism.

[0092] By adopting the above technical solution and setting up an infusion bag feeding mechanism, the infusion bags can be fed after the solution is prepared, thereby improving the solution preparation efficiency.

[0093] A specific embodiment of the present invention also discloses a solution preparation method, which employs a solution preparation robot as described in any of the above specific embodiments;

[0094] The solution preparation method includes:

[0095] The syringe clamping mechanism drives the syringe to draw liquid from the infusion bag;

[0096] The syringe clamping mechanism drives the syringe to inject the liquid into the vial, and then the vial clamping mechanism drives the vial to rotate so that the powder and liquid in the vial are mixed.

[0097] The syringe clamping mechanism drives the syringe to draw the mixed liquid in the vial into the syringe;

[0098] The syringe clamping mechanism drives the syringe to inject the liquid inside the syringe into the infusion bag.

[0099] By adopting the above technical solution and implementing the liquid preparation method using the liquid preparation robot described in any of the above specific embodiments, the liquid preparation efficiency can be effectively improved.

[0100] According to another specific embodiment of the present invention, before the step of driving the syringe to draw liquid from the infusion bag by the syringe clamping mechanism, the method further includes:

[0101] The vial is supplied to the vial clamping mechanism via the vial feeding module;

[0102] An infusion bag is supplied to the infusion bag clamping mechanism via an infusion bag feeding module;

[0103] The syringe is supplied to the syringe clamping mechanism via the syringe feeding module. Attached Figure Description

[0104] Figure 1 A perspective view of the liquid preparation robot according to an embodiment of the present invention is shown;

[0105] Figure 2 Show Figure 1 A magnified view of a portion of point a;

[0106] Figure 3 A top view of the liquid dispensing robot according to an embodiment of the present invention is shown;

[0107] Figure 4 A side view of the liquid preparation robot according to an embodiment of the present invention is shown;

[0108] Figure 5 A perspective view of a vial used in conjunction with the dispensing robot of an embodiment of the present invention is shown;

[0109] Figure 6 A perspective view of a vial used in conjunction with the dispensing robot of this invention is shown after the cap has been removed.

[0110] Figure 7 A schematic diagram of the syringe used in conjunction with the liquid dispensing robot of this invention is shown.

[0111] Figure 8 A perspective view of an infusion bag used in conjunction with the infusion dispensing robot of an embodiment of the present invention is shown;

[0112] Figure 9 A perspective view of the vial clamping mechanism of the liquid dispensing robot according to an embodiment of the present invention is shown;

[0113] Figure 10 A front view of the vial clamping mechanism of the liquid dispensing robot according to an embodiment of the present invention is shown;

[0114] Figure 11 A perspective view showing the internal structure of the vial clamping mechanism of the liquid dispensing robot according to an embodiment of the present invention;

[0115] Figure 12 A perspective view of the vial clamping mechanism of the liquid dispensing robot according to an embodiment of the present invention is shown;

[0116] Figure 13 A top view of the vial gripper of the vial holding mechanism of the liquid dispensing robot according to an embodiment of the present invention is shown.

[0117] Figure 14 A top-view cross-sectional view of the vial gripper of the vial holding mechanism of the liquid dispensing robot according to an embodiment of the present invention.

[0118] Figure 15 A cross-sectional view of the vial gripper of the vial holding mechanism of the liquid dispensing robot according to an embodiment of the present invention is shown from a side view.

[0119] Figure 16A cross-sectional view showing the interaction between the vial gripper and the vial in the vial holding mechanism of the liquid dispensing robot according to an embodiment of the present invention;

[0120] Figure 17 A perspective view of the syringe clamping mechanism of the liquid dispensing robot according to an embodiment of the present invention is shown;

[0121] Figure 18 Show Figure 17 A magnified view of a section at point b in the middle;

[0122] Figure 19 A perspective view of the syringe clamping mechanism of the liquid dispensing robot according to an embodiment of the present invention is shown from another angle.

[0123] Figure 20 Show Figure 19 A magnified view of a section at point c in the middle;

[0124] Figure 21 A schematic diagram showing the positional relationship between the syringe that cooperates with the syringe clamping mechanism of the liquid dispensing robot in an embodiment of the present invention and the first clamping component and the second clamping component in an embodiment of the present invention;

[0125] Figure 22 Show Figure 19 A magnified view of a portion at point d in the middle;

[0126] Figure 23 A side view of the syringe clamping mechanism of the liquid dispensing robot according to an embodiment of the present invention is shown;

[0127] Figure 24 A perspective view of the rear of the syringe clamping mechanism of the liquid dispensing robot according to an embodiment of the present invention is shown.

[0128] Figure 25 A perspective view of the tray gripper of the liquid dispensing robot according to an embodiment of the present invention is shown;

[0129] Figure 26 A perspective view of the tray gripper of the liquid dispensing robot according to an embodiment of the present invention, excluding the base;

[0130] Figure 27 A perspective view of the tray gripper drive unit and transmission assembly of the liquid dispensing robot according to an embodiment of the present invention is shown.

[0131] Figure 28 A perspective view of the transmission block of the tray gripper of the liquid dispensing robot according to an embodiment of the present invention is shown;

[0132] Figure 29 A perspective view of the gripper of the tray gripper of the liquid dispensing robot according to an embodiment of the present invention is shown.

[0133] Figure 30A perspective view of the tray gripper of the liquid dispensing robot according to an embodiment of the present invention is shown from another angle.

[0134] Figure 31 Show Figure 30 A magnified view of a section at point e in the middle;

[0135] Figure 32 A perspective view showing the tray gripper of the liquid dispensing robot according to an embodiment of the present invention mounted on the first longitudinal guide rail;

[0136] Figure 33 A perspective view of the vial-opening mechanism of the liquid dispensing robot according to an embodiment of the present invention is shown.

[0137] Figure 34 A perspective view of the vial capping platform of the vial capping mechanism of the liquid dispensing robot in an embodiment of the present invention is shown.

[0138] Figure 35 This is a partially enlarged view of the cap-removing component of the vial cap-removing mechanism of the liquid dispensing robot in an embodiment of the present invention;

[0139] Figure 36 This image shows a partial enlargement of the vial-opening mechanism of the liquid dispensing robot in an embodiment of the present invention. Figure 1 ;

[0140] Figure 37 A perspective view of the vial capping mechanism of the liquid dispensing robot in an embodiment of the present invention is shown.

[0141] Figure 38 This image shows a partial enlargement of the vial-opening mechanism of the liquid dispensing robot in an embodiment of the present invention. Figure 2 ;

[0142] Figure 39 A cross-sectional view of the vial capping clamp of the vial capping mechanism of the liquid dispensing robot in an embodiment of the present invention is shown.

[0143] Figure 40 A bottom view of the cap-holding part in the cap-removing component of the vial cap-removing mechanism of the liquid dispensing robot in an embodiment of the present invention is shown.

[0144] Figure 41 A perspective view of the vial capping mechanism and the feeder according to an embodiment of the present invention is shown;

[0145] Figure 42 This is a perspective view of the vial capping mechanism and feeder according to an embodiment of the present invention from another angle;

[0146] Figure 43 Show Figure 42 A magnified view of a portion of region f in the middle;

[0147] Figure 44 This is a perspective view of the vial capping mechanism and the detection mechanism according to an embodiment of the present invention, viewed from above.

[0148] Figure 45 This diagram shows a perspective view of an application scenario of the infusion bag storage mechanism according to an embodiment of the present invention.

[0149] Figure 46 A three-dimensional view of the infusion bag storage mechanism according to an embodiment of the present invention is shown. Figure 1 ;

[0150] Figure 47 A three-dimensional view of the infusion bag storage mechanism according to an embodiment of the present invention is shown. Figure 2 ;

[0151] Figure 48 A three-dimensional view of the infusion bag storage mechanism according to an embodiment of the present invention is shown. Figure 3 The top plate and support plate are omitted.

[0152] Figure 49 This shows a partially enlarged view of the stop portion in an embodiment of the present invention;

[0153] Figure 50 This figure shows a perspective view of the stop portion in an embodiment of the present invention;

[0154] Figure 51 A three-dimensional view of the infusion bag storage mechanism according to an embodiment of the present invention is shown. Figure 4 The top plate and support plate are omitted.

[0155] Figure 52 This diagram shows a partial enlarged cross-sectional view of the infusion bag storage mechanism according to an embodiment of the present invention. Figure 1 The stop portion is located in the first position.

[0156] Figure 53 This diagram shows a partial enlarged cross-sectional view of the infusion bag storage mechanism according to an embodiment of the present invention. Figure 2 The stop is located in the second position.

[0157] Figure 54 This diagram shows a partially enlarged view of the infusion bag storage mechanism according to an embodiment of the present invention; wherein, the stop and the limiting part are shown;

[0158] Figure 55 Show Figure 54 A magnified view of a portion of region g;

[0159] Figure 56 A perspective view of the limiting part in an embodiment of the present invention is shown; wherein, the first limiting member, the second limiting member and the third limiting member are shown, and the first limiting guide rail, the second limiting guide rail and the third limiting guide rail are omitted;

[0160] Figure 57A perspective view of the limiting part in an embodiment of the present invention is shown; wherein, the infusion bag is shown and the first limiting guide rail, the second limiting guide rail and the third limiting guide rail are omitted;

[0161] Figure 58 Show Figure 57 A magnified view of a portion of region h in the middle;

[0162] Figure 59 This image shows a partial enlarged top view of the infusion bag storage mechanism according to an embodiment of the present invention. Figure 1 The limiting part is shown, but the infusion bag is omitted.

[0163] Figure 60 This image shows a partial enlarged top view of the infusion bag storage mechanism according to an embodiment of the present invention. Figure 1 The diagram shows the limiting part and the infusion bag.

[0164] Figure 61a This diagram shows a partially enlarged perspective view of the infusion bag storage mechanism according to an embodiment of the present invention; it shows three support plates, a top plate, and a first limiting guide rail, a second limiting guide rail, and a third limiting guide rail.

[0165] Figure 61b This image shows a partial enlarged bottom view of the infusion bag storage mechanism according to an embodiment of the present invention. Figure 3 The diagram shows three support plates, a top plate, and three limiting guide rails: a first limiting guide rail, a second limiting guide rail, and a third limiting guide rail.

[0166] Figure 62 A three-dimensional view of the infusion bag storage mechanism according to an embodiment of the present invention is shown. Figure 1 The cabinet body is omitted.

[0167] Figure 63 Show Figure 62 A magnified view of a portion of region i;

[0168] Figure 64 A three-dimensional view of the infusion bag storage mechanism according to an embodiment of the present invention is shown. Figure 2 ;

[0169] Figure 65 A three-dimensional view of the infusion bag storage mechanism according to an embodiment of the present invention is shown. Figure 3 The third frame is omitted.

[0170] Figure 66 Show Figure 65 A magnified view of a portion of region j;

[0171] Figure 67 A partially enlarged perspective view of the angle adjustment block in an embodiment of the present invention is shown;

[0172] Figure 68A three-dimensional representation of the infusion bag cap-removing mechanism according to an embodiment of the present invention is shown. Figure 1 ;

[0173] Figure 69 A three-dimensional representation of the infusion bag cap-removing mechanism according to an embodiment of the present invention is shown. Figure 2 ;

[0174] Figure 70 This invention presents a perspective view of the lifting assembly, the third drive unit, and the infusion bag clamping unit in an embodiment of the invention.

[0175] Figure 71 This invention illustrates a three-dimensional view of the infusion bag clamping part in an embodiment of the present invention. Figure 1 ;

[0176] Figure 72 Figure 71 A magnified view of a portion of region k;

[0177] Figure 73 This shows a partial enlarged view of the infusion bag clamping part in an embodiment of the present invention;

[0178] Figure 74 This invention illustrates a three-dimensional view of the infusion bag clamping part in an embodiment of the present invention. Figure 2 ;

[0179] Figure 75 This shows a front view of the peel-off base in an embodiment of the present invention;

[0180] Figure 76 This figure shows a perspective view of the cap-removing portion of the infusion bag in an embodiment of the present invention;

[0181] Figure 77 This shows a cross-sectional view of the cap-removing portion of the infusion bag in an embodiment of the present invention;

[0182] Figure 78 A bottom view of the cap-removing rotating component in an embodiment of the present invention is shown;

[0183] Figure 79 A three-dimensional representation of the syringe storage mechanism according to an embodiment of the present invention is shown. Figure 1 ;

[0184] Figure 80 A perspective view of the syringe storage mechanism according to an embodiment of the present invention is shown;

[0185] Figure 81 A three-dimensional representation of the syringe storage mechanism according to an embodiment of the present invention is shown. Figure 2 The diagram shows an intermediate state of the third state of the syringe storage mechanism.

[0186] Figure 82 A three-dimensional view of the storage section in the syringe storage mechanism of an embodiment of the present invention is shown. Figure 1 ;

[0187] Figure 83a A three-dimensional view of the storage section in the syringe storage mechanism of an embodiment of the present invention is shown. Figure 2 ;

[0188] Figure 83b Show Figure 83a A magnified view of a portion of region l in the middle;

[0189] Figure 83c Show Figure 83a A magnified view of a portion of region m;

[0190] Figure 84a A perspective view of the transfer component in the syringe storage mechanism according to an embodiment of the present invention is shown;

[0191] Figure 84b Show Figure 84a A magnified view of a portion of region n;

[0192] Figure 85 A three-dimensional representation of the syringe storage mechanism according to an embodiment of the present invention is shown. Figure 3 Among them, the syringe storage mechanism is in the first state of the first case, and is also in the initial state of the third state;

[0193] Figure 86 A perspective side view of the syringe storage mechanism according to an embodiment of the present invention is shown;

[0194] Figure 87 A three-dimensional representation of the syringe storage mechanism according to an embodiment of the present invention is shown. Figure 4 The diagram shows an intermediate state of the third state of the syringe storage mechanism.

[0195] Figure 88 A three-dimensional representation of the syringe storage mechanism according to an embodiment of the present invention is shown. Figure 5 The diagram shows the final state of the third state of the syringe storage mechanism.

[0196] Figure 89 A three-dimensional representation of the syringe storage mechanism according to an embodiment of the present invention is shown. Figure 6 The diagram shows the initial state of the second state of the syringe storage mechanism.

[0197] Figure 90 A three-dimensional representation of the syringe storage mechanism according to an embodiment of the present invention is shown. Figure 7 The diagram shows an intermediate state of the second state of the syringe storage mechanism.

[0198] Figure 91 This diagram shows a partially enlarged view of the third bearing component, the third clamp, and the positioning pin in the syringe storage mechanism of an embodiment of the present invention.

[0199] Figure 92A left view of a syringe storage mechanism according to an embodiment of the present invention is shown; wherein the syringe storage mechanism is in a second case of the first state, and also in the final state of the second state;

[0200] Figure 93 A three-dimensional representation of the syringe storage mechanism according to an embodiment of the present invention is shown. Figure 8 The third load-bearing component slides out of the housing along the first direction, and the second load-bearing component slides to the bottom of the housing along the first direction. Detailed Implementation

[0201] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention is presented in conjunction with preferred embodiments, this does not mean that the features of the invention are limited to these embodiments. On the contrary, the purpose of describing the invention in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of the present invention. To provide a deep understanding of the invention, many specific details will be included in the following description. The invention may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of the invention, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0202] It should be noted that in this specification, similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0203] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the invention is usually placed in during use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0204] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0205] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0206] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0207] refer to Figures 1 to 4 This application provides a liquid preparation robot 1.

[0208] The liquid preparation robot 1 can perform the following liquid preparation process: draw liquid (e.g., sodium chloride solution) from the infusion bag into the syringe, inject the liquid in the syringe into the vial, shake the vial to mix the liquid and powder in the vial, and then draw the mixed liquid into the infusion bag through the syringe to complete the liquid preparation.

[0209] Reference 5 and Figure 6 , Figure 5 and Figure 6 The image shows a vial 101 used in conjunction with the dispensing robot 1 of this application embodiment. The vial 101 includes a vial clamping part 1011, a vial body 1012, an injection part 1013, and a vial cap 1014. The vial body 1012 is used to contain the drug (powdered drug or liquid medicine), the vial clamping part 1011 is used for clamping by the dispensing robot 1 (see below for details), and the injection part 1013 is used for injecting the syringe 102 (e.g., ...). Figure 7 (As shown) puncture, so that the syringe 102 can inject or aspirate liquid into the bottle 1012, and the bottle cap 1014 covers the bottle clamping part 1011 and the injection part 1013 (as shown). Figure 5 (As shown), to protect the injection section 1013 from damage.

[0210] refer to Figure 7 , Figure 7The diagram shows a syringe 102 used in conjunction with the liquid dispensing robot 1 of this application embodiment. The syringe 102 includes an injection needle 1021, a barrel 1022, and a piston rod 1023. The injection needle 1021 is used to puncture the injection portion 1013 of the vial 101 to inject or aspirate liquid into or from the vial 1012. The barrel 1022 is used to contain liquid. The piston rod 1023 is used to aspirate or inject liquid. Exemplarily, the barrel 1022 has two barrel flanges 10221 at one end along the extending direction T away from the injection needle 1021, and the two barrel flanges 10221 are located on opposite sides of the barrel 1022 along the width direction S. The piston rod 1023 extends outward along the circumferential direction (not shown) of the piston rod 1023 at one end away from the barrel 1022 to form a piston rod flange 10231. The cylinder flange 10221 and the piston rod flange 10231 are respectively used for clamping by the liquid dispensing robot 1 (see below for details) to drive the piston rod 1023 and the cylinder 1022 to move equally along the extension direction T of the syringe 102 to aspirate or inject liquid.

[0211] refer to Figure 8 , Figure 8 The diagram shows an infusion bag 103 used in conjunction with the liquid preparation robot 1 of this application embodiment. The infusion bag 103 includes a bag body 1031, a liquid tube 1032, and a tube cap 1033. The bag body 1031 is used to contain liquid (e.g., sodium chloride solution). The liquid tube 1032 includes a tube body 10324 and an annular outer edge 10323. The tube body 10324 allows liquid to enter the bag body 1031, and the annular outer edge 10323 is used for clamping by the liquid preparation robot 1 (see below for details). The tube cap 1033 covers the liquid tube 1032. The liquid tube 1032 has an injection section (not shown) for puncture by a syringe 102, and the tube cap 1033 protects the injection section.

[0212] The structure of the liquid preparation robot 1 will be described in detail below with reference to the accompanying drawings.

[0213] For example, refer to Figures 1 to 4 The liquid preparation robot 1 includes a support frame 10 and a liquid preparation device 11.

[0214] The liquid preparation device 11 includes a liquid preparation turntable 110.

[0215] Exemplarily, the dispensing turntable 110 is rotatably mounted on the support frame 10. Along the circumferential direction R1 of the dispensing turntable 110, eight dispensing stations 111 are provided. Each dispensing station 111 includes a vial clamping mechanism 8, a syringe clamping mechanism 9, and an infusion bag clamping mechanism 1111. It should be noted that the number of dispensing stations 111 is not specifically limited in this embodiment; it can be six, nine, ten, or more, and can be adjusted according to actual needs.

[0216] For example, the vial holding mechanism 8 (see below for details) includes vial grippers 7 (see below for details), each vial gripper 7 being used to grip one vial 101 (the vial 101 gripped by the vial holding mechanism 8 is...). Figure 6 The bottle 101 is shown after the cap has been removed.

[0217] In this embodiment, the relative positions of the vial clamping mechanism 8, the infusion bag clamping mechanism 1111, and the dispensing turntable 110 remain unchanged, while the syringe clamping mechanism 9 can rotate relative to the dispensing turntable 110, so that the syringe clamping mechanism 9 can rotate relative to the vial clamping mechanism 8 and the infusion bag clamping mechanism 1111.

[0218] Specifically, the syringe clamping mechanism 9 is rotatably fixed to the dispensing turntable 110. The syringe clamping mechanism 9 includes a first clamping component 94 (see below) and a second clamping component 95 (see below). The first clamping component 94 is used to clamp the barrel flange 10221 of the syringe 102 (e.g., Figure 7 As shown), the second clamping assembly 95 is used to clamp the piston rod flange 10231 of the syringe 102 (as shown). Figure 7 (As shown). The first clamping assembly 94 can move the syringe 102 relative to the dispensing turntable 110, positioning it to allow for aspiration or injection into the vial 101 and infusion bag 103. Correspondingly, the second clamping assembly 95 can move relative to the first clamping assembly 94 along the extending direction T of the syringe 102, thereby moving the piston rod 1023 relative to the barrel 1022 along the extending direction T of the syringe 102, thus enabling aspiration or injection by the syringe 102.

[0219] For example, the infusion bag clamping mechanism 1111 includes an infusion bag gripper 11111, which is used to clamp the infusion bag 103.

[0220] In this embodiment of the application, the liquid dispensing turntable 110 includes an upper layer 1101 and a lower layer 1102 along the vertical direction X.

[0221] Each solution preparation station 111 has a vial clamping mechanism 8 and an infusion bag clamping mechanism 1111 located on the upper layer 1101, and a syringe clamping mechanism 9 located on the lower layer 1102. That is, when the vial 101, syringe 102 and infusion bag 103 are respectively fixed on a solution preparation station 111, the vial 101 and infusion bag 103 are located above the syringe 102 in the vertical direction X. When preparing the solution, the injection part 1013 of the vial 101 is set downward in the vertical direction X, the liquid tube 1032 of the infusion bag 103 is set downward in the vertical direction X, and correspondingly, the injection needle 1021 of the syringe 102 is set upward in the vertical direction X. In other words, during solution preparation, the syringe 102 punctures the vial 101 or infusion bag 103 from bottom to top in the vertical direction X by the first clamping component 94, and then aspirates or injects by the second clamping component 95.

[0222] However, the relative positions of the vial 101, syringe 102 and infusion bag 103, as well as the orientation of the injection section 1013, injection needle 1021 and liquid tube 1032, are not limited in this application embodiment and can be adjusted according to actual conditions (e.g., the specific structure of the liquid preparation device 11).

[0223] For example, in this embodiment of the application, the lower layer 1102 can rotate relative to the upper layer 1101 so that the syringe clamping mechanism 9 can drive the syringe 102 to rotate relative to the vial clamping mechanism 8 and the infusion bag clamping mechanism 1111.

[0224] In one possible implementation, each dispensing station 111 also includes a needle cap clamping mechanism 1112.

[0225] Exemplarily, the needle cap holding mechanism 1112 includes a needle cap gripper 11121 for gripping the needle cap 1024 of the syringe 102. Specifically, the syringe holding mechanism 9 can rotate the syringe 102 to a position below the needle cap holding mechanism 1112 in the vertical direction X, so that the needle cap gripper 11121 clamps the needle cap 1024 and, through the first gripping assembly 94, moves the syringe 102 away from the needle cap gripper 11121, thereby separating the needle cap 1024 from the syringe 102. This allows for subsequent liquid preparation using the syringe 102.

[0226] Exemplarily, in this embodiment of the application, the needle cap clamping mechanism 1112 is disposed on the upper layer 1101 of the dispensing turntable 110, along the circumferential direction R1 of the dispensing turntable 110. The syringe clamping mechanism 9 and the infusion bag clamping mechanism 1111 are located in the middle of a dispensing station 111. That is, on the upper layer 1101, the needle cap clamping mechanism 1112 and the vial clamping mechanism 8 are respectively located on both sides of the infusion bag clamping mechanism 1111 along the circumferential direction R1. Along the vertical direction X, the syringe clamping mechanism 9 is located below the infusion bag clamping mechanism 1111, so as to make the working efficiency of the syringe clamping mechanism 9 higher.

[0227] Specifically, during solution preparation, the syringe clamping mechanism 9 first rotates below the needle cap clamping mechanism 1112 to separate the needle cap 1024 from the syringe 102. Then, the syringe clamping mechanism 9 rotates below the infusion bag clamping mechanism 1111 so that the syringe 102 draws liquid from the infusion bag 103. Next, the syringe clamping mechanism 9 rotates below the vial clamping mechanism 8 to inject into the vial 101, and the vial clamping mechanism 8 shakes the vial to mix the liquid with the powdered medication inside. Then, the syringe clamping mechanism 9 extracts the mixed liquid from the vial 101, rotates below the infusion bag clamping mechanism 1111, and injects the mixed liquid into the infusion bag 103. Throughout this process, the needle cap 1024 remains fixed to the needle cap clamping jaw 11121. Finally, the syringe clamping mechanism 9 rotates to the lower part of the needle cap clamping mechanism 1112, so that the needle cap 1024 is inserted into the syringe 102, completing the solution preparation.

[0228] The specific structure of the vial clamping mechanism 8 in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0229] refer to Figures 9 to 17 This application provides a vial clamping mechanism 8 for clamping vials 101.

[0230] Specifically, the vial clamping mechanism 8 includes: a vial clamping mechanism body 81, vial grippers 7, and a push rod 83. Specifically, the vial grippers 7 are fixed to one side of the clamping mechanism body 81 along a third direction A. The push rod 83 is disposed on the clamping mechanism body 81 and extends along a third direction A, and the push rod 83 is movable along a third direction A. Exemplarily, the push rod 83 and the vial grippers 7 are arranged opposite each other along a third direction A to press against the vial grippers 7, causing the vial grippers 7 to open or clamp.

[0231] In this embodiment of the application, the vial gripper 7 is a self-locking gripper (see below for details). However, this embodiment of the application does not impose specific limitations on the gripper. For example, the vial gripper 7 can be replaced with an electric gripper or a pneumatic gripper, as long as it can grip the vial 101.

[0232] For example, in this embodiment of the application, the number of vial grippers 7 is five, but it is not limited to this. For example, the number of vial grippers 7 can also be four, six, seven, or more. The push rod 83 is disposed opposite to any one of the vial grippers 7 along a third direction A, so that the push rod 83 can press against the vial gripper 7 aligned with the push rod 83, so that the vial gripper 7 opens or clamps.

[0233] Specifically, five vial grippers 7 are fixed to the main body 81 of the clamping mechanism via a vial turntable 82. The vial turntable 82 is fixed to one side of the main body 81 along a third direction A, and is rotatable relative to the main body 81. The five vial grippers 7 are fixed to the vial turntable 82 along a circumferential direction R2, and each vial gripper 7 can rotate synchronously with the vial turntable 82. Each rotation of the vial turntable 82 aligns another vial gripper 7 with the push rod 83 along a third direction A; that is, the vial turntable 82 rotates by the same angle each time, ensuring that all five vial grippers 7 can engage with the push rod 83. For example, in this embodiment of the application, the angle of rotation of the vial turntable 82 is 72° each time, but it is not limited to this. It can be adjusted according to the number of vial grippers 7. For example, when the vial turntable 82 is provided with six vial grippers 7, the angle of rotation of the vial turntable 82 each time can be 60°.

[0234] In addition, the vial turntable 82 can also drive the vial gripper 7 to rotate back and forth, thereby causing the vial 101 to shake, so that the powder and liquid inside the vial 101 are fully mixed.

[0235] By cooperating with the vial turntable 82 and multiple vial grippers 7, the vial clamping mechanism 8 provided in this application embodiment can clamp multiple vials 101, and drive the vial turntable 82 to rotate the vial grippers 7 so that each vial gripper 7 clamps one vial 101 for liquid preparation, effectively improving the liquid preparation efficiency.

[0236] Furthermore, the vial clamping mechanism 8 provided in this application can open or close the vial clamp 7 through the cooperation of the vial clamp 7 and the push rod 83. It should be noted that the vial clamp 7 is normally in the closed state to clamp the vial 101. When the push rod 83 presses against the vial clamp 7, the vial clamp 7 opens to clamp the vial 101 to be clamped for dispensing, or to release the vial 101 after dispensing, which can effectively prevent the vial 101 from falling and prevent drug waste. At the same time, the vial clamp 7 is less expensive than traditional electric or pneumatic clamps.

[0237] In some possible implementations, refer to Figures 9 to 11The clamping mechanism body 81 is equipped with a first motor 85. The output shaft of the first motor 85 (not shown) extends along a third direction A. The output shaft of the first motor 85 can drive the vial turntable 82 to rotate. For example, along the third direction A, a reducer 851 is provided on the side of the vial turntable 82 near the clamping mechanism body 81. The reducer 851 is fixed to the output shaft of the first motor 85. That is, the vial turntable 82 is fixed to the output shaft of the first motor 85 through the reducer 851. The reducer 851 can reduce the speed of the output shaft of the first motor 85, thereby adjusting the rotation angle of the vial turntable 82. So that each time the vial turntable 82 rotates, the next vial gripper 7 and the push rod 83 are arranged opposite each other along the third direction A.

[0238] In one possible implementation, the push rod 83 is driven by the drive unit 84 to move linearly along a third direction A.

[0239] Specifically, in one possible implementation, the drive unit 84 includes a lead screw motor 841 and a lead screw mating member 843. Along the third direction A, the lead screw mating member 843 is fixed to the side of the clamping mechanism body 81 away from the vial gripper 7. The lead screw mating member 843 has a threaded hole (not shown) extending along the third direction A. The output shaft 842 of the lead screw motor 841 is threaded, and the output shaft 842 of the lead screw motor 841 is threaded into the threaded hole. The lead screw motor 841 is located along the third direction A on the side of the lead screw mating member 843 away from the vial gripper 7. When the lead screw motor 841 operates, the lead screw mating member 843 remains stationary, and the output shaft 842 of the lead screw motor 841 rotates, thereby driving the lead screw motor 841 to move linearly along the third direction A.

[0240] In some possible embodiments, a fixed slider 844 is provided at the bottom of the lead screw mating member 843 along the vertical direction X. A slide rail 831 is provided at the top of the push rod 83, extending along the third direction A. The fixed slider 844 engages with the slide rail 831 so that the slide rail 831 can slide relative to the lead screw mating member 843 along the third direction A. The push rod 83 is fixedly connected to the slide rail 831, that is, the push rod 83 can slide synchronously with the slide rail 831 along the third direction A to press against the vial gripper 7. The push rod 83 is located below the lead screw mating member 843 and the lead screw motor 841 along the vertical direction X. The lead screw motor 841, the lead screw mating member 843, and the push rod 83 form a generally rectangular structure in the third direction A and the vertical direction X.

[0241] In one possible implementation, refer to Figures 9 to 11The clamping mechanism body 81 includes a first outer shell 811, which covers the clamping mechanism body 81 to protect the various components of the clamping mechanism body 81 (e.g., the drive unit 84). The first outer shell 811 has a push rod clearance opening 8111 on one side along the third direction A, through which the push rod 83 passes to press against the vial gripper 7.

[0242] In one possible implementation, continue to refer to Figures 9 to 11 The vial turntable 82 is provided with a second outer shell 821. The second outer shell 821 has an opening on the side of the third direction A near the clamping mechanism body 81. The opening allows the second outer shell 821 to be fitted onto the vial turntable 82 along the third direction A and to cover a portion of a plurality of vial grippers 7 (five in this embodiment) to protect the plurality of vial grippers 7. Along the third direction A, the side of the second outer shell 821 away from the clamping mechanism body 81 is provided with a plurality of gripper clearance openings 822. The gripper clearance openings 822 allow a portion of the vial grippers 7 to extend out of the second outer shell 821 for gripping.

[0243] The specific structure of the vial clamp 7 will be described in detail below with reference to the accompanying drawings.

[0244] In some possible implementations, refer to Figures 12 to 16 and combined Figures 9 to 11 The vial gripper 7 includes: a first fixed base 71, a push rod 72, a connecting rod assembly 701, and a vial gripper assembly 702. The connecting rod assembly 701 includes a first connecting rod 73 and a second connecting rod 74, and the vial gripper assembly 702 includes a first vial gripper 75, a second vial gripper 76, and a first elastic element 79.

[0245] Specifically, the first fixed base 71 is provided with a through hole 711, which extends through the first fixed base 71 along a third direction A. A push rod 72 extends along a third direction A and is disposed within the through hole 711, allowing the push rod 72 to move along a third direction A within the through hole 711. Correspondingly, the push rod 72 cooperates with a push rod 83, which can move along a third direction A to press against the push rod 72 and push the push rod 72 along a third direction A in a direction away from the clamping mechanism body 81 (i.e., towards the linkage assembly 701).

[0246] In this configuration, one end of the first connecting rod 73 is fixed to the end of the push rod 72 along the third direction A, away from the main body 81 of the clamping mechanism, and the other end is fixed to the first vial gripper 75. One end of the second connecting rod 74 is fixed to the point where the first connecting rod 73 and the push rod 72 are fixed, and the other end is fixed to the second vial gripper 76. In other words, in the projection along the fifth direction C, the first vial gripper 75 and the second vial gripper 76 are fixed at the same position on the push rod 72. The fifth direction C is perpendicular to the third direction A.

[0247] For example, a step 712 is provided in the through hole 711. Correspondingly, an abutment portion 721 is provided at the end of the push rod 72 away from the first connecting rod 73 along the third direction A. One end of the first elastic member 79 along the third direction A can abut against the step 712, and the other end can abut against the abutment portion 721.

[0248] For example, when the push rod 83 presses against the push rod 72 along the third direction A (that is, when the push rod 72 moves away from the clamping mechanism body 81 along the third direction A), the push rod 72 causes the abutment portion 721 and the step 712 to compress the first elastic member 79. Simultaneously, the distance between the first vial gripper 75 and the second vial gripper 76 along the fourth direction B increases, so that the vial gripper 7 is in an open state. When the push rod 83 moves away from the push rod 72 along the third direction A, under the action of the first elastic member 79, the push rod 72 moves along the third direction A towards the clamping mechanism body 81 (that is, towards the direction away from the linkage assembly 701). At this time, the distance between the first vial gripper 75 and the second vial gripper 76 along the fourth direction B decreases, so that the vial gripper 7 is in a clamped state. The fourth direction B is perpendicular to both the third direction A and the fifth direction C.

[0249] The cooperation between the first elastic member 79, the step 712, and the abutment part 721 enables the vial gripper 7 to remain clamped without external force, thereby preventing the vial 101 from being clamped and falling.

[0250] During the process of switching the vial gripper 7 from the open state to the clamping state, it is achieved by the elastic force of the first elastic element 79. Compared with traditional electric grippers or pneumatic grippers (which require energy to switch from the open state to the clamping state and from the clamping state to the open state), it consumes less energy and therefore has lower operating costs.

[0251] For example, in this embodiment of the application, the first elastic element 79 is a spring (not shown in the figure). The spring is sleeved on the push rod 72 in the third direction A. One end of the spring can abut against the step 712, and the other end of the spring can abut against the abutment portion 721. However, it is not limited to this, and the first elastic element 79 can also be other elastic components.

[0252] The connection relationship between push rod 72 and first link 73 and second link 74 is described in detail below.

[0253] In some possible implementations, refer to Figure 14 and Figure 15 The push rod 72 has a fixing groove 722 at one end along the third direction A. The fixing groove 722 passes through the push rod 72 along the fourth direction B.

[0254] For example, a first mounting shaft 714 is provided in the fixing groove 722, and the first mounting shaft 714 extends along the fifth direction C. One end of the first connecting rod 73 is provided with a first mounting hole (not shown in the figure), and one end of the second connecting rod 74 is provided with a second mounting hole (not shown in the figure). The first mounting hole and the second mounting hole are respectively connected to the first mounting shaft 714 in a manner that allows them to rotatably surround the first mounting shaft 714.

[0255] Accordingly, refer to Figures 12 to 15 In this embodiment, the first vial gripper 75 is fixed to the first connecting rod 73 by a first fixing member 77 (that is, the end of the first connecting rod 73 away from the first mounting shaft 714 is fixed to the first fixing member 77), and the second vial gripper 76 is fixed to the second connecting rod 74 by a second fixing member 78 (that is, the end of the second connecting rod 74 away from the first mounting shaft 714 is fixed to the second fixing member 78). The first fixing member 77 has a first sliding member fixed to it, the second fixing member 78 has a second sliding member fixed to it, and the first fixing base 71 has a sliding portion. The first and second sliding members respectively cooperate with the sliding portion to drive the first fixing member 77 and the second fixing member 78 to slide relative to the first fixing base 71 along the fourth direction B.

[0256] Through the connection of the first link 73, the second link 74 and the push rod 72, and the connection of the first sliding member, the second sliding member and the sliding part, when the push rod 72 moves away from the clamping mechanism body 81 along the third direction A, under the cooperation of the first sliding member and the sliding part and the cooperation of the second sliding member and the sliding part, the distance between the first fixing member 77 and the second fixing member 78 along the fourth direction B gradually increases. During this process, the included angle α between the first link 73 and the second link 74 (e.g., ...) Figure 14 The size of (as shown) gradually increases.

[0257] In one possible implementation, the sliding part is a guide rail 713, which extends along the fourth direction B and is fixed to the first fixed base 71. Correspondingly, the first sliding member is a first slider 772, and the second sliding member is a second slider 782. The first slider 772 and the second slider 782 respectively cooperate with the guide rail 713 so that the first slider 772 and the second slider 782 can slide relative to the first fixed base 71 along the fourth direction B. However, the embodiments of this application do not impose specific limitations on the specific forms of the first sliding member, the second sliding member, and the sliding part, as long as it enables the push rod 72 to move along the third direction A in a direction away from the clamping mechanism body 81, the distance between the first fixed member 77 and the second fixed member 78 along the fourth direction B gradually increases under the cooperation of the first sliding member and the sliding part, and the cooperation of the second sliding member and the sliding part.

[0258] In one possible implementation, the first fixing member 77 is L-shaped. Specifically, the first fixing member 77 includes a first extension 7701 and a second extension 7702. The first extension 7701 and the second extension 7702 are set at an angle (in this embodiment, the first extension 7701 and the second extension 7702 are set at 90°, but not limited to this, for example, it can also be 80° or 100°, which can be adjusted according to the use needs of the vial gripper 7). One end of the first extension 7701 is connected to one end of the second extension 7702. The first vial gripper 75 is fixed to the first extension 7701. The first sliding member (in this embodiment, the first slider 772) is fixed to the second extension 7702. The first connecting rod 73 is fixed at the connection between the first extension 7701 and the second extension 7702.

[0259] Correspondingly, the second fixing member 78 is also L-shaped. Specifically, the second fixing member 78 includes a third extension 7801 and a fourth extension 7802. The third extension 7801 and the fourth extension 7802 are set at an angle (in this embodiment, the third extension 7801 and the fourth extension 7802 are set at 90°, but not limited to this, for example, it can also be 80° or 100°, which can be adjusted according to the use needs of the vial gripper 7). One end of the third extension 7801 is connected to one end of the fourth extension 7802. The second vial gripper 76 is fixed to the third extension 7801. The second sliding member (in this embodiment, the second slider 782) is fixed to the fourth extension 7802. The second connecting rod 74 is fixed at the connection between the third extension 7801 and the fourth extension 7802.

[0260] For example, refer to Figures 12 to 15 A second mounting shaft 771 is provided at the connection between the first extension 7701 and the second extension 7702. The second mounting shaft 771 extends along the fifth direction C. The other end of the first connecting rod 73 (i.e. the end away from the first mounting shaft 714) is provided with a third mounting hole (not shown in the figure). The third mounting hole is connected to the second mounting shaft 771 in a manner that allows it to rotate around the second mounting shaft 771.

[0261] Correspondingly, a third mounting shaft 781 is provided at the connection between the third extension 7801 and the fourth extension 7802. The third mounting shaft 781 extends along the fifth direction C. The other end of the second connecting rod 74 (i.e. the end away from the first mounting shaft 714) is provided with a fourth mounting hole (not shown in the figure). The fourth mounting hole is connected to the third mounting shaft 781 in a manner that allows it to rotate around the third mounting shaft 781.

[0262] In one possible implementation, refer to Figures 12 to 15The first vial gripper 75 has a first gripping portion 751, and the second vial gripper 76 has a second gripping portion 761. Along the fifth direction C, the projections of the first gripping portion 751 and the second gripping portion 761 are arc-shaped. Along the fourth direction B, the first arc-shaped inner side 7510 of the first gripping portion 751 and the second arc-shaped inner side 7610 of the second gripping portion are disposed opposite to each other, forming a gripping space for gripping the vial 101.

[0263] In one possible implementation, refer to Figures 12 to 16 The first clamping part 751 is provided with a first limiting groove 7511, which is recessed along the fourth direction B in a direction away from the second clamping part 761, and extends through the first clamping part 751 along its extension direction (i.e., the arcuate direction). Correspondingly, the second clamping part 761 is provided with a second limiting groove 7611, which is recessed along the fourth direction B in a direction away from the first clamping part 751, and extends through the second clamping part 761 along its extension direction (i.e., the arcuate direction). The first limiting groove 7511 and the second limiting groove 7611 are used to engage the vial clamping part 1011 of the vial 101.

[0264] refer to Figure 16 to and combine Figure 6 The vial 101 includes a vial clamping part 1011 and a vial body 1012. The vial clamping part 1011 is simultaneously engaged in the first limiting groove 7511 and the second limiting groove 7611.

[0265] The structure of the syringe clamping mechanism 9 will be described in detail below with reference to the attached drawings.

[0266] refer to Figures 17 to 24 and combined Figures 1 to 7 This application provides a syringe clamping mechanism 9, which is used to clamp a syringe 102 and drive the syringe 102 to draw or inject into an infusion bag 103 or a vial 101 to achieve solution preparation.

[0267] Continue to refer to Figure 17 and combined Figure 18 The syringe clamping mechanism 9 includes: a main frame 91, a first lifting body 92, a second lifting body 93, a first clamping component 94, and a second clamping component 95.

[0268] Specifically, the first lifting body 92 is slidably connected to the main frame 91, and the first lifting body 92 is movable relative to the main frame 91 in the vertical direction X. The second lifting body 93 is slidably connected to the first lifting body 92, and the second lifting body 93 is movable relative to the first lifting body 92 in the vertical direction X.

[0269] Exemplarily, a first clamping component 94 is disposed on a first lifting body 92, and the first clamping component 94 is capable of moving synchronously with the first lifting body 92 along the vertical direction X. The first clamping component 94 is used to clamp the barrel 1022 to drive the barrel 1022 of the syringe 102 to move along the vertical direction X, so that the injection needle 1021 punctures into the vial or infusion bag. Exemplarily, in this embodiment of the application, when the first clamping component 94 clamps the syringe 102, the extension direction T of the syringe 102 is the same as the vertical direction X.

[0270] For example, the second clamping component 95 is disposed on the second lifting body 93, and the second clamping component 95 can move synchronously with the second lifting body 93 in the vertical direction X. The second clamping component 95 is used to clamp the piston rod 1023 to drive the piston rod 1023 to move relative to the cylinder 1022, so as to draw liquid from the vial or infusion bag into the cylinder 1022, or inject liquid from the cylinder 1022 into the vial or infusion bag.

[0271] Along the seventh direction E, the first lifting body 92 is located between the main frame 91 and the second lifting body 93. Along the vertical direction X, the second clamping assembly 95 is disposed opposite to the first clamping assembly 94.

[0272] In the above embodiment, the first clamping assembly 94 clamps the cylinder 1022, the second clamping assembly 95 clamps the piston rod 1023, and the second lifting body 93 causes the piston rod 1023 and the cylinder 1022 to move relative to each other in the vertical direction X, thereby completing the aspiration and injection actions of the syringe 102. Furthermore, the first lifting body 92 drives the syringe 102 to move relative to the main frame 91 in the vertical direction X, thereby completing the puncture and withdrawal actions of the syringe 102. In other words, the first lifting body 92 and the second lifting body 93 realize the aspiration and injection actions, as well as the puncture and withdrawal actions of the syringe 102, for fully automated solution preparation, eliminating the need for manual operation and effectively improving solution preparation efficiency.

[0273] Specifically, during solution preparation, the first lifting body 92 moves vertically (X) to puncture the infusion bag with the syringe 102. Then, the second lifting body 93 moves vertically (X) relative to the first lifting body 92, causing the piston rod 1023 to move vertically (X) away from the cylinder 1022, thereby drawing liquid from the infusion bag. Next, the first lifting body 92 pulls the syringe 102 out of the infusion bag and punctures the vial. Then, the second lifting body 93 moves vertically (X) relative to the first lifting body 92, causing the piston rod 1023 to move vertically (X) towards the cylinder 1022, thereby injecting the vial. After injection, the first lifting body 92 drives the syringe 102 to withdraw the vial. The liquid is mixed with the powder inside the vial and shaken well. Then, the first lifting body 92 drives the syringe 102 to puncture the vial. The second lifting body 93 drives the piston rod 1023 to move vertically (X) away from the cylinder 1022 to aspirate the liquid inside the vial. After aspiration, the first lifting body 92 drives the syringe 102 to withdraw the vial. Next, the first lifting body 92 drives the syringe 102 to puncture the infusion bag. The second lifting body 93 then drives the piston rod 1023 to move towards the cylinder 1022 to inject the prepared liquid from the syringe 102 into the infusion bag.

[0274] In one possible implementation, refer to Figure 17 and combined Figures 18 to 22 The first clamping assembly 94 includes a syringe limiting groove 941 and a syringe fixing claw 942 arranged sequentially along the vertical direction X. The syringe fixing claw 942 is used to clamp the syringe barrel 1022 to drive the barrel 1022 to move along the vertical direction X. The syringe limiting groove 941 is used to fix the orientation of the barrel 1022 so that the extension direction T of the syringe 102 is the same as the vertical direction X, which facilitates liquid preparation.

[0275] Specifically, the syringe limiting groove 941 extends in the vertical direction X. The syringe limiting groove 941 is used to accommodate a portion of the syringe barrel 1022; therefore, the inner wall of the syringe limiting groove 941 is arc-shaped to fit against the syringe barrel 1022. Exemplarily, along the sixth direction D, the two side walls of the syringe limiting groove 941 extend along the seventh direction E away from the first lifting body 92, respectively, to form a first limiting portion 9411 and a second limiting portion 9412. The first limiting portion 9411 and the second limiting portion 9412 together limit the syringe barrel 1022 in the sixth direction D.

[0276] For example, the sidewall of the first limiting part 9411 and the syringe limiting groove 941 is L-shaped, and correspondingly, the sidewall of the second limiting part 9412 and the syringe limiting groove 941 is also L-shaped. An avoidance space 9413 is formed at the corner of the L-shaped structure. The avoidance space 9413 is used to avoid the mechanism for transporting the syringe 102 (see below) so that the syringe 102 can cooperate with the first clamping assembly 94.

[0277] In one possible implementation, continue to refer to Figure 17 and combined Figures 18 to 22 The syringe clamp 942 includes a first syringe clamping part 9421 and a second syringe clamping part 9422 disposed opposite to each other along the sixth direction D. The first syringe clamping part 9421 and the second syringe clamping part 9422 can move closer to each other along the sixth direction D to clamp the syringe clamp 942 and hold the syringe body 1022, or move further apart to open the syringe clamp 942 and release the syringe body 1022.

[0278] For example, along the vertical direction X, the first syringe clamping part 9421 has a first clamping groove 9426 on the side away from the syringe limiting groove 941, and the second syringe clamping part 9422 has a second clamping groove 9427 on the side away from the syringe limiting groove 941. Both the first clamping groove 9426 and the second clamping groove 9427 extend along the sixth direction D. The first clamping groove 9426 and the second clamping groove 9427 form a first clamping space along the sixth direction D to clamp the cylindrical flange 10221.

[0279] For example, the syringe 102 has two barrel flanges 10221 at one end of its barrel 1022 away from the injection needle 1021 along the extending direction T. The two barrel flanges 10221 are located on both sides of the barrel 1022 along the width direction S of the barrel 1022. The width direction S is perpendicular to the sixth direction D. The first clamping groove 9426 and the second clamping groove 9427 respectively accommodate one barrel flange 10221 to form a limit on the syringe 102 in the vertical direction X, so as to drive the syringe 102 to move in the vertical direction X, so that the syringe 102 can puncture the infusion bag 103 or the vial 101.

[0280] In another possible implementation, the cylinder flange 10221 may also be an annular flange that protrudes around the cylinder 1022 circumferentially.

[0281] In one possible implementation, continue to refer to Figure 17 and combined Figures 18 to 22Along the sixth direction D, the first syringe clamping part 9421 has a first cylindrical groove 9423 on the side near the second syringe clamping part 9422, and the second syringe clamping part 9422 has a second cylindrical groove 9424 on the side near the first syringe clamping part 9421. The first cylindrical groove 9423 and the second cylindrical groove 9424 form a second clamping space along the sixth direction D to clamp the cylindrical body 1022. Furthermore, the inner walls of the first cylindrical groove 9423 and the second cylindrical groove 9424 are arc-shaped to adapt to the shape of the cylindrical body 1022.

[0282] Exemplarily, the inner walls of the first cylindrical groove 9423 and the second cylindrical groove 9424 are provided with a plurality of anti-slip strips 9425. Each anti-slip strip 9425 extends in the vertical direction X. The number of anti-slip strips 9425 is not specifically limited in this embodiment. The anti-slip strips are used to prevent the cylinder 1022 from moving relative to the first cylindrical groove 9423 and the second cylindrical groove 9424 in the seventh direction E, so as to improve the clamping effect.

[0283] By coordinating the first clamping space and the second clamping space, the cylinder 1022 is limited from the vertical direction X and the sixth direction D, respectively, which can better clamp the syringe 102 to drive the syringe 102 to move.

[0284] In one possible implementation, continue to refer to Figure 17 and combined Figures 18 to 22 The first clamping assembly 94 further includes a needle fixing claw 943, which is disposed vertically X-oriented on the side of the syringe limiting groove 941 away from the syringe fixing claw 942. The needle fixing claw 943 is used to clamp the injection needle 1021.

[0285] Specifically, the needle retaining claw 943 includes a first needle holding portion 9431 and a second needle holding portion 9432 disposed opposite to each other along the sixth direction D. The first needle holding portion 9431 and the second needle holding portion 9432 can move closer to each other along the sixth direction D to clamp the needle retaining claw 943 in a clamped state to hold the injection needle 1021, or move further apart to open the needle retaining claw 943 to release the injection needle 1021.

[0286] For example, the first needle holding portion 9431 is recessed along the sixth direction D in a direction away from the second needle holding portion 9432 to form a first needle groove 9433. Correspondingly, the second needle holding portion 9432 is recessed along the sixth direction D in a direction away from the first needle holding portion 9431 to form a second needle groove 9434. When the needle fixing claw is in the clamping state, the first needle groove 9433 and the second needle groove 9434 form a needle fixing hole to hold the injection needle 1021, improve the positioning effect of the injection needle 1021, and enable the injection needle 1021 to puncture the vial 101 or the infusion bag 103 more accurately, so as to facilitate injection or aspiration by the syringe 102.

[0287] In one possible implementation, continue to refer to Figure 17 and combined Figures 18 to 22 Along the sixth direction D, the first needle clamping part 9431 has a first groove 9435 on the side near the second needle clamping part 9432, and the second needle clamping part 9432 has a first protrusion 9436 on the side near the first needle clamping part 9431. The first groove 9435 can engage with the first protrusion 9436. For example, along the vertical direction X, the two sidewalls of the first groove 9435 each have a first needle groove 9433, and the first protrusion 9436 has a second needle groove 9434. When the first groove 9435 engages with the first protrusion 9436, along the vertical direction X, the two first needle grooves 9433 and the second needle groove 9434 form a needle fixing hole.

[0288] By setting the first needle groove 9433 on the side wall of the first groove 9435 and setting the second needle groove 9434 on the first protrusion 9436, the diameter of the needle fixing hole formed by the first needle groove 9433 and the second needle groove 9434 can be reduced, thereby improving the clamping effect on the injection needle 1021 and better positioning the injection needle 1021.

[0289] In one possible implementation, continue to refer to Figure 17 and combined Figures 18 to 22 The second clamping assembly 95 includes a piston rod gripper 951, which includes a first piston rod clamping portion 9511 and a second piston rod clamping portion 9512 disposed opposite to each other along the sixth direction D.

[0290] For example, the first piston rod clamping portion 9511 and the second piston rod clamping portion 9512 can move closer to each other along the sixth direction D to clamp the piston rod jaws 951 to hold the piston rod 1023, or move further apart to open the piston rod jaws 951 to release the piston rod 1023.

[0291] For example, along the vertical direction X, the end of the piston rod 1023 away from the cylinder 1022 extends outward along the circumference of the piston rod 1023 (not shown) to form a piston rod flange 10231. Along the sixth direction D, the first piston rod clamping portion 9511 has a first piston rod clamping groove 9513 on the side near the second piston rod clamping portion 9512, and the second piston rod clamping portion 9512 has a second piston rod clamping groove 9514 on the side near the first piston rod clamping portion 9511. Furthermore, along the sixth direction D, the first piston rod clamping groove 9513 is recessed away from the second piston rod clamping portion 9512, and the second piston rod clamping groove 9514 is recessed away from the first piston rod clamping portion 9511. Both the first piston rod clamping groove 9513 and the second piston rod clamping groove 9514 extend along the seventh direction E.

[0292] The first piston rod clamping groove 9513 and the second piston rod clamping groove 9514 form a third clamping space along the sixth direction D to clamp the piston rod flange 10231, thereby limiting the piston rod flange 10231 in the vertical direction X, so as to drive the piston rod 1023 to move relative to the cylinder 1022 in the vertical direction X, so as to realize the syringe 102 to draw aspiration from the infusion bag 103 or the vial 101.

[0293] For example, the cross-sections of the first piston rod clamping groove 9513 and the second piston rod clamping groove 9514 are triangular.

[0294] In one possible implementation, refer to Figures 20 to 23 The main frame 91 is equipped with a first lifting screw 922, which extends vertically in the direction X. A first lifting motor 921 is located at one end of the first lifting screw 922 along the vertical direction X, and the first lifting motor 921 can drive the first lifting screw 922 to rotate. Correspondingly, the first lifting screw 922 is equipped with a first lifting block 9231, which has a first threaded hole (not shown). The first lifting screw 922 is threaded, and the first lifting screw 922 is threaded into the first threaded hole. The first lifting block 9231 can move vertically in the direction X as the first lifting screw 922 rotates. The first lifting block 9231 is fixed to the first lifting body 92 by a first fixing block 923, and the first lifting block 9231 can move synchronously with the first lifting body 92. That is, when the first lifting screw 922 rotates, the first lifting block 9231 drives the first lifting body 92 to move vertically in the direction X, so as to drive the syringe 102 to move vertically in the direction X.

[0295] In one possible implementation, a detection baffle 925 is provided on one side of the first lifting block 9231 along the sixth direction D. The detection baffle 925 can move synchronously with the first lifting block 9231 along the vertical direction X. Correspondingly, a sensor 924 is provided at each end of the first lifting screw 922 along the vertical direction X. The sensor 924 has a sensing groove 9241 that penetrates the sensor 924 along the vertical direction X, so that the detection baffle 925 can enter the sensing groove 9241 of the sensor 924.

[0296] When the detection baffle 925 moves vertically X into the sensing groove 9241, the first lifting motor 921 stops rotating, and the syringe 102 stops moving vertically X, so that the syringe 102 can accurately reach the position that matches the infusion bag 103 or vial 101, so as to puncture and aspirate the vial 101 or infusion bag 103.

[0297] In one possible implementation, continue to refer to Figures 20 to 23The first lifting body 92 is equipped with a second lifting screw 932, which extends vertically in the direction X. A second lifting motor 931 is located at one end of the second lifting screw 932 along the vertical direction X, and the second lifting motor 931 can drive the second lifting screw 932 to rotate. Correspondingly, the second lifting screw 932 is equipped with a second lifting block 9331, which has a second threaded hole (not shown). The second lifting screw 932 is threaded, and the second lifting screw 932 is threaded into the second threaded hole. The second lifting block 9331 can move vertically in the direction X as the second lifting screw 932 rotates. The second lifting block 9331 is fixed to the second lifting body 93 through a second fixing hole 933, so as to drive the second lifting body 93 to move vertically in the direction X, thereby driving the piston rod 1023 of the syringe 102 to move vertically in the direction X relative to the cylinder 1022.

[0298] In one possible implementation, along the vertical direction X, one end of the main frame 91 is provided with a speed reducer 912 and a rotary motor 911. The rotary motor 911 is connected to the speed reducer 912 to drive the speed reducer 912 to rotate. The speed reducer 912 is used to connect to a liquid preparation device (not shown) so that the syringe clamping mechanism 9 can rotate relative to the liquid preparation device so that the syringe 102 fixed on the syringe clamping mechanism 9 can cooperate with the vial or infusion bag.

[0299] In one possible implementation, refer to Figure 17 and Figure 24 Along the sixth direction D, a cable chain 96 is provided on one side of the main frame 91. The cable chain 96 is used to accommodate cables (not shown in the figure), which are mainly used to connect the motor and the PLC (programmable controller). The cable chain 96 can keep the cables of the syringe clamping mechanism 9 neatly arranged and prevent them from hindering the function of the syringe clamping mechanism 9 (such as rotation and movement in the vertical direction X).

[0300] In one possible implementation, refer to Figure 24 Along the seventh direction E, a clamp 913 is provided on the side of the main frame 91 away from the first lifting body 92. The clamp 913 is used to fix the cable. Specifically, the clamp 913 is semi-circular, and the semi-circular opening is fixed to the main frame 91.

[0301] In one possible implementation, refer to Figure 24 and combined Figure 23 Along the sixth direction D, the main frame 91 has supporting ribs 914 on both sides, and the supporting ribs 914 have a triangular structure. In addition, the supporting ribs 914 are hollow to reduce their weight.

[0302] Continue to refer to Figures 1 to 4The solution preparation robot 1 also includes a vial feeding module 12, a syringe feeding module 13, and an infusion bag feeding module 14. The vial feeding module 12 can provide vials 101 to the solution preparation device 11, the syringe feeding module 13 can provide syringes 12 to the solution preparation device 11, and the infusion bag feeding module 14 can provide infusion bags 103 to the solution preparation device 11.

[0303] Specifically, along the circumferential direction R1 of the liquid preparation turntable, the vial feeding module 12, the syringe feeding module 13, and the infusion bag feeding module 14 are respectively positioned relative to any one of the three adjacent liquid preparation stations 111 along the circumferential direction R1 of the liquid preparation turntable 110.

[0304] For example, see Figure 3 Along the clockwise direction of the circumferential direction R1 of the liquid preparation turntable 110, the liquid preparation turntable 110 has three liquid preparation stations 111a, 111b and 111c arranged sequentially and adjacently.

[0305] Each solution preparation station 111 can rotate relative to the vial feeding module 12, the syringe feeding module 13, and the infusion bag feeding module 14. For example... Figure 2 As shown in the embodiment of this application, a syringe feeding module 13 is provided near the liquid preparation station 111a, a vial feeding module 12 is provided near the liquid preparation station 111b, and an infusion bag feeding module 14 is provided near the liquid preparation station 111c. The liquid preparation turntable 110 rotates clockwise.

[0306] For example, the syringe feeding module 13 provides a syringe 12 to the solution preparation station 111a, while the vial feeding module 12 provides a vial 101 to the solution preparation station 111b, and the infusion bag feeding module 14 provides an infusion bag 103 to the solution preparation station 111c. At this time, the filling process at the solution preparation station 111c is complete (i.e., the solution preparation station 111c has a vial 101, a syringe 102, and an infusion bag 103). Next, the solution preparation turntable 110 rotates once, the vial feeding module 12 provides a vial 101 to the solution preparation station 111a, and the infusion bag feeding module 14 provides an infusion bag 103 to the solution preparation station 111b. At this time, the filling process at the solution preparation station 111b is complete. Next, the liquid preparation turntable 110 rotates once more, and the infusion bag feeding module 14 provides the infusion bag 103 to the liquid preparation station 111a. At this time, the feeding of the liquid preparation station 111a is completed.

[0307] Similarly, while the solution mixing turntable 110 is rotating, the three solution mixing stations 111 on the solution mixing turntable 110 are filled with materials (i.e., provided with vials 101, syringes 102 and infusion bags 103), while the other solution mixing stations 111 perform solution mixing or other operations (such as labeling the infusion bags 103).

[0308] In another possible implementation, the vial feeding module 12, the syringe feeding module 13 and the infusion bag feeding module 14 can be set on the same liquid preparation station 111, and vials 101, syringes 102 or infusion bags 103 can be provided to the liquid preparation station 111.

[0309] The vial feeding module 12 is described in detail below with reference to the attached diagram.

[0310] refer to Figure 1 and Figure 3 The vial feeding module 12 includes a rotary feeding tray 1041, which is rotatably mounted at the entrance of the liquid dispensing robot 1 (in this embodiment, the entrance of the liquid dispensing robot 1 is a cabinet-like structure, but it is not limited to this and can be adjusted according to the actual situation). The rotary feeding tray 1041 is used to feed the vial tray 104 into the interior of the liquid dispensing robot 1 (it should be noted that in this embodiment, the liquid dispensing robot 1 is provided with an outer shell. To facilitate the explanation of the internal structure of the liquid dispensing robot 1, the outer shell is not shown in the figure. The outer shell isolates the internal environment of the liquid dispensing robot 1 from the outside to ensure the hygiene of the environment during liquid dispensing).

[0311] For example, the rotating feed disk 1041 is circular, and a feed baffle 1042 is provided at the middle position. The feed baffle 1042 can rotate synchronously with the rotating feed disk 1041. Correspondingly, a first feed inlet (not shown) is provided in the outer casing, and the size of the feed baffle 1042 matches the first feed inlet. Half of the rotating feed disk 1041 is disposed inside the liquid dispensing robot 1, and the other half is disposed outside the liquid dispensing robot 1.

[0312] For example, a vial tray 104 can be placed on either side of the feed baffle 1042 on the rotary feed tray 1041. During feeding, the vial tray 104 is placed on the part of the rotary feed tray 1041 outside the liquid dispensing robot 1, at which time the feed baffle 1042 is in a closed state (i.e. the first feed port is in a closed state). Next, the rotating feed tray 1041 is rotated 180° (this embodiment does not specifically limit this; for example, when the feed baffle 1042 has a cross-shaped structure, the feed baffle 1042 divides the rotating feed tray 1041 into four parts, and only a 90° rotation is needed) so that the vial tray 104 rotates into the interior of the dispensing robot 1. During this process, the feed baffle 1042 rotates synchronously with the rotating feed tray 1041. The state of the feed baffle 1042 changes from the closed state (when the vial tray 104 is outside the dispensing robot 1) to the open state (during the rotation of the rotating feed tray 1041, the first feed port is open to allow the vial tray 104 to enter the interior of the dispensing robot 1), and finally to the closed state (after the rotation is completed, the feed baffle 1042 still blocks the first feed port to isolate the internal environment of the dispensing robot 1 from the outside).

[0313] refer to Figures 1 to 4 The vial feeding module 12 includes a tray gripper mechanism 121 and a feeding turntable 122. The feeding turntable 122 has eight feeding stations 1220, which are spaced apart along the circumference R3 of the feeding turntable 122. Each feeding station 1220 can hold one vial tray 104, and each vial tray 104 can hold multiple vials 101. The feeding turntable 122 is movably mounted on the support frame 10.

[0314] The tray gripper mechanism 121 can grip the vial tray 104 from the rotary feed plate 1041 and place it onto the feed station 1220 of the feed turntable 122.

[0315] The number of feeding stations 1220 is not specifically limited in this embodiment. For example, the number of feeding stations 1220 on each feeding turntable 122 can be nine, ten, or more.

[0316] For example, in this embodiment of the application, the tray gripper mechanism 121 is disposed on one side of the feed turntable 122 along the circumferential direction R3, so as to provide the vial tray 104 to the feed turntable 122.

[0317] Specifically, the pallet gripper mechanism 121 includes a pallet gripper mechanism body 1211 and a pallet gripper 2, which is slidably disposed on the pallet gripper mechanism body 1211.

[0318] For example, the feed turntable 122 can rotate any vacant feed station 1220 on the feed turntable 122 to the position of the tray gripper 2, so that the tray gripper 2 can place the vial tray 104 on the vacant feed station 1220.

[0319] Continue to refer to Figures 1 to 4 In one possible implementation, the vial feeding module 12 further includes a feeding shaft 1221 that extends in the vertical direction X and is rotatably mounted on the support frame 10.

[0320] For example, along the vertical direction X, the feeding shaft 1221 is fixedly provided with seven feeding turntables 122. The seven feeding turntables 122 are spaced apart along the vertical direction X, and the seven feeding turntables 122 can rotate synchronously with the feeding shaft 1221. Along the vertical direction X, the multiple feeding turntables 122 form a feeding rotation assembly 120. The feeding rotation assembly 120 has fifty-six feeding stations 1220, which effectively increases the number of vials 101 that the vial feeding module 12 can accommodate.

[0321] The number of feed turntables 122 fixed by one feed shaft 1221 is not specifically limited in this embodiment. For example, one feed shaft 1221 may also fix eight, nine or more feed turntables 122.

[0322] In one possible implementation, the vial feeding module 12 has two feeding rotating assemblies 120 along a first direction Z, which is perpendicular to the vertical direction X. A tray gripper mechanism 121 is located on the same side of the two feeding rotating assemblies 120 along a second direction Y, which is perpendicular to both the first direction Z and the vertical direction X. The tray gripper 2 includes a first transverse guide rail 1213 and a first longitudinal guide rail 1212. The first longitudinal guide rail 1212 extends along the vertical direction X, and the tray gripper mechanism body 1211 is movably mounted on the first longitudinal guide rail 1212. The mechanism body 1211 can drive the tray gripper 2 to move relative to the feeding rotating assemblies 120 along the vertical direction X. The first transverse guide rail 1213 extends along the first direction Z. The first longitudinal guide rail 1212 is movably mounted on the first transverse guide rail 1213, and the first longitudinal guide rail 1212 can drive the tray gripper 2 mechanism body 1211 and the tray gripper 2 to move along the first direction Z.

[0323] The number of feeding rotary components 120 is not specifically limited in this application embodiment. For example, the number of feeding rotary components 120 can be three, four, or more. Multiple feeding rotary components 120 are arranged at intervals along the first direction Z, and the tray gripper mechanism 121 is located on the same side of multiple feeding rotary components 120 along the second direction Y, so that the tray gripper mechanism 121 can grip the vial tray 104 from the rotating feed plate 1041 and place it on the feeding station 1220.

[0324] The following is in conjunction with the appendix Figures 25 to 32 The structure of the pallet gripper 2 is described in detail.

[0325] The pallet gripper 2 includes a gripper base 21, a pallet gripper drive unit 22, a transmission assembly 23, a pallet gripper linkage assembly 24, and a gripper seat 25.

[0326] The gripper base 21 is the frame of the pallet gripper 2 in this embodiment of the application, and is used to support the pallet gripper drive unit 22, transmission assembly 23, pallet gripper connecting rod assembly 24 and clamping seat 25.

[0327] For example, the gripper base 21 in this embodiment is T-shaped, including a first part 210 and a second part 2100. The first part 210 extends along the second direction Y, and the pallet gripper drive unit 22 and the transmission assembly 23 are disposed in the first part 210. The second part 2100 extends along the first direction Z, and the gripper seat 25 is disposed in the second part 2100. The pallet gripper connecting rod assembly 24 is located between the first part 210 and the second part 2100. However, this embodiment does not limit the shape of the gripper base 21. For example, the gripper base 21 can also be L-shaped.

[0328] Furthermore, exemplarily, on the right side of the first portion 210 along the second direction Y (i.e. Figure 25 An assembly hole 26 is provided on the side indicated by the Y2 direction shown in the figure. The assembly hole 26 is used to assemble the pallet gripper 2 of this application embodiment to the accessory to be assembled (such as a lifting platform, lifting module, etc.). However, this application embodiment does not limit this, and the gripper base 21 of this application embodiment can also be assembled to the external accessory to be assembled in other ways. As long as the pallet gripper 2 can play a clamping role, it is within the protection scope of this application embodiment.

[0329] The aforementioned pallet gripper drive unit 22 is connected to the first part 210 of the gripper base 21. The transmission component 23 is also located in the first part 210. The transmission component 23 extends along the second direction Y and is connected to the pallet gripper drive unit 22. The transmission component 23 can be slidably connected to the gripper base 21 along the second direction Y so as to cooperate with the pallet gripper drive unit 22 to drive the transmission component 23 to move forward or backward along the second direction Y.

[0330] Continue reading Figure 1 The aforementioned pallet gripper linkage assembly 24 includes a first pallet gripper linkage 241 and a second pallet gripper linkage 242.

[0331] The first pallet gripper link 241 is along the eighth direction (e.g.) Figure 26 Extending in the F direction, the first pallet gripper link 241 includes a first end 241a and a second end 241b, as shown in the figure. Figure 25 As shown, the first end 241a is rotatably connected to the end of the transmission assembly 23 that is furthest from the pallet gripper drive section 22 (i.e., Figure 26 The first end (pointed to in the Y1 direction) and the second end (241b) are rotatably connected to the clamp 25.

[0332] The second pallet gripper link 242 is along the ninth direction (e.g.) Figure 26 Extending in the G direction, the second pallet gripper link 242 includes a third end 242a and a fourth end 242b, as shown in the figure. Figure 25 As shown, the third end 242a is rotatably connected to the transmission assembly 23 along the edge. Figure 25 The fourth end 242b, which is pointed to in the Y1 direction, is rotatably connected to the clamp 25. That is, the transmission assembly 23 and the clamp 25 are rotatably connected through the first pallet gripper link 241 and the second pallet gripper link 242.

[0333] Continue reading Figure 26 The aforementioned clamp 25 includes a first bearing portion 251, a second bearing portion 252, a third clamping portion 253, and a fourth clamping portion 254.

[0334] The third clamping part 253 is connected to the first bearing part 251 along the vertical direction X, and the fourth clamping part 254 is connected to the second bearing part 252 along the vertical direction X.

[0335] For example, the connected first support portion 251 and third clamping portion 253, as well as the connected fourth clamping portion 254 and second support portion 252, form an L-shaped clamp. Figure 25 The example shows a third clamping part 253 vertically connected to a first bearing part 251, and a fourth clamping part 254 vertically connected to a second bearing part 252.

[0336] However, the third clamping part 253 and the first bearing part 251, and the fourth clamping part 254 and the second bearing part 252 can also be connected at other angles, such as 45°, 83°, or 102.5°. This application embodiment does not limit the connection angle between the first bearing part 251 and the third clamping part 253, or between the fourth clamping part 254 and the second bearing part 252. As long as the pallet can be supported and clamped, it falls within the protection scope of this application embodiment.

[0337] For example, the first support portion 251 and the third clamping portion 253 are integrally formed, and the second support portion 252 and the fourth clamping portion 254 are integrally formed. However, the embodiments of this application do not limit this. As long as the first support portion 251 and the third clamping portion 253 and the second support portion 252 and the fourth clamping portion 254 can be connected along the first vertical direction X, they all fall within the protection scope of the embodiments of this application.

[0338] The first bearing portion 251 and the second bearing portion 252 are slidably connected to the gripper base 21 along the first direction Z. The first bearing portion 251 and the second bearing portion 252 are used to jointly support the disc-shaped object to be clamped (e.g., a tray). The third clamping portion 253 and the fourth clamping portion 254 are used to clamp the object to be clamped. As can be seen from the above, the second end 241b of the first tray gripper link 241 and the fourth end 242b of the second tray gripper link 242 are respectively rotatably connected to the clamping base 25. That is, the second end 241b is rotatably connected to the first bearing portion 251, and the fourth end 242b is rotatably connected to the second bearing portion 252.

[0339] Therefore, please continue reading Figure 1 The pallet gripper drive unit 22 can drive the transmission assembly 23 to move forward along the second direction Y (e.g., Figure 25 (as shown in the Y1 direction) or backward (e.g.) Figure 25 The pallet gripper 2 moves in the first direction Z (as shown in the Y2 direction) and then, through the first pallet gripper link 241 and the second pallet gripper link 242 connected to the transmission assembly 23, further drives the third gripper 253 and the fourth gripper 254 to move towards or away from each other in the first direction Z, so that the pallet gripper 2 is in the first state or the second state.

[0340] The first state refers to the formation of a clamping space (not shown in the figure) between the third clamping part 253 and the fourth clamping part 254 along the first direction Z. This clamping space is used to clamp the disc-shaped clamping member. In other words, in the first state, the third clamping part 253 and the fourth clamping part 254 jointly clamp the tray.

[0341] The second state refers to the situation where, along the first direction Z, no clamping space capable of accommodating the pallet is formed between the third clamping part 253 and the fourth clamping part 254. In other words, in the second state, the third clamping part 253 and the fourth clamping part 254 are separated from the pallet. That is, the pallet is not clamped by the third clamping part 253 and the fourth clamping part 254 in the second state. In other words, in this state, there is a space for movement between the third clamping part 253 and the fourth clamping part 254 of the pallet.

[0342] See Figure 26 and Figure 27 , Figure 27A perspective view of the pallet gripper drive unit 22 and the transmission assembly 23 is shown (transmission block omitted).

[0343] In one possible implementation, the pallet gripper drive unit 22 includes a third motor 221, and the transmission assembly 23 includes a lead screw 231, a nut 232, and a transmission block 233.

[0344] Lead screw 231 extends along the second direction Y, and the surface of lead screw 231 is provided with threads; such as Figure 26 and Figure 27 As shown, one end of the lead screw 231 (i.e. Figure 26 and Figure 27 The end (pointed to in the Y2 direction) is connected to the third motor 221, and the nut 232 is sleeved on the outside of the lead screw 231 and fixed inside the transmission block 233.

[0345] For example, see Figure 27 The nut 232 includes a nut body 2321 and a second fixing seat 2322. The second fixing seat 2322 is connected to the side of the nut body 2321 facing the third motor 221 (i.e., Figure 27 (The side indicated by the Y2 direction), the nut body 2321 is sleeved on the outside of the lead screw 231, see reference. Figure 26 and Figure 27 Nut body 2321 and such Figure 27 The lead screw 231, which is part of the Y1 direction, passes through the transmission block 233. The second fixed seat 2322 is fixed to the transmission block 233. The nut body 2321 can be threaded with the lead screw 231 to convert the rotational motion of the lead screw 231 into linear motion.

[0346] In other words, when the third motor 221 starts, it can drive the lead screw 231 to rotate, thereby driving the transmission block 233 connected to the second fixed seat 2322 of the nut 232 forward in the second direction Y (e.g. Figure 25 (as shown in the Y1 direction) or backward (e.g.) Figure 25 (The movement is shown in the Y2 direction). The second fixed seat 2322 and the transmission block 233 can be fixed by screwing, but other connection methods can also be used. For example, the second fixed seat 2322 and the transmission block 233 can be welded together. This application embodiment does not limit this.

[0347] See Figure 26 and Figure 28In one possible implementation, along the first direction Z, the two ends of the transmission block 233 are respectively provided with a first hinge groove 2331 and a second hinge groove 2332. Exemplarily, the first hinge groove 2331 and the second hinge groove 2332 are L-shaped grooves, that is, a part of the first hinge groove 2331 extends along the second direction Y and another part extends along the first direction X, and a part of the second hinge groove 2332 also extends along the second direction Y and another part extends along the first direction Z (the first direction Z is perpendicular to the vertical direction X). However, the embodiments of this application do not limit this, that is, the first hinge groove 2331 and the second hinge groove 2332 can also be in other shapes, such as rectangular grooves, as long as the rotational connection described below (the first end is rotatably connected to the first hinge groove 2331 and the second end is rotatably connected to the second hinge groove 2332) can be realized, all of which are within the protection scope of the embodiments of this application.

[0348] Continue reading Figure 26 and Figure 28 The first hinge slot 2331 is provided with a first hinge post 23311, and the second hinge slot 2332 is provided with a second hinge post 23321. The first hinge post 23311 and the second hinge post 23321 are rotatably connected to the first end 241a of the first pallet gripper connecting rod 241 and the third end 242a of the second pallet gripper connecting rod 242, respectively. Exemplarily, the first hinge post 23311 and the second hinge post 23321 are cylindrical and are screws. However, the first hinge post 23311 and the second hinge post 23321 can also be other shapes or parts, as long as they can be rotatably connected to the first end 241a and the third end 242a, respectively, and fall within the protection scope of this application embodiment.

[0349] See Figure 26 and Figure 29 , Figure 29 A perspective view of the first support portion 251 and the third clamping portion 253 is shown. It should be noted that the first support portion 251 and the second support portion 252, as well as the third clamping portion 253 and the fourth clamping portion 254, have the same structure and arrangement. Therefore, the specific structures of the second support portion 252 and the fourth clamping portion 254 can be referred to... Figure 29 The structure is shown as an example.

[0350] The first bearing portion 251 and the second bearing portion 252 are respectively provided with a first hinge ear 2511 and a second hinge ear 2521 on opposite sides along the first direction Z, such as Figure 29As shown, a third hinge post 25111 is provided in the first hinge ear 2511, and a fourth hinge post is provided in the second hinge ear 2521. The second end 241b of the first pallet gripper connecting rod 241 is rotatably connected to the third hinge post 25111 in the first hinge ear 2511, and the fourth end 242b of the second pallet gripper connecting rod 242 is rotatably connected to the fourth hinge post in the second hinge ear 2521.

[0351] For example, the third hinge post 25111 and the fourth hinge post are also cylindrical and are screws. However, the third hinge post 25111 and the fourth hinge post can also be other shapes or parts, as long as they can be rotatably connected to the second end 241b and the fourth end 242b respectively, they are all within the protection scope of the embodiments of this application.

[0352] Therefore, see Figures 26 to 29 In other words, the third motor 221 can drive the lead screw 231 to rotate, thereby driving the nut 232 and the transmission block 233 to move forward or backward along the second direction Y, so that the clamp can switch between the first state and the second state.

[0353] See Figure 26 In one possible implementation, the eighth direction F and the second direction are set at a first angle γ, and the ninth direction G and the second direction Y are set at a second angle θ.

[0354] In one possible implementation, the first angle γ and the second angle θ are equal, so the third clamping part 253 and the fourth clamping part 254 can clamp the tray with equal clamping force so that the clamping seat 25 is in the first state described above.

[0355] See Figure 26 and Figure 29 In one possible implementation, the third clamping part 253 includes two first protrusions 2531, and the fourth clamping part 254 includes two second protrusions 2541.

[0356] Furthermore, two first protrusions 2531 are spaced apart along the second direction Y, and two second protrusions 2541 are spaced apart along the second direction (Y) and along the first direction Z. Each first protrusion 2531 corresponds to a second protrusion 2541. That is, the first protrusion 2531 and the corresponding second protrusion 2541 cooperate to facilitate the third clamping part 253 and the fourth clamping part 254 to clamp the tray together.

[0357] For example, the number of the first protrusion 2531 and the second protrusion 2541 can be two, three, five, six, etc., and in addition, as Figure 26 and Figure 29As shown, the first protrusion 2531 and the second protrusion 2541 are frustum-shaped. They can be made of rubber or metal. This application does not limit the number, shape, or material of the first protrusion 2531 and the second protrusion 2541. As long as they can correspond one-to-one along the first direction Z and facilitate the third clamping part 253 and the fourth clamping part 254 to clamp the tray, they are all within the protection scope of this application.

[0358] See Figure 26 and Figure 29 In one possible implementation, the third clamping portion 253 is provided with three first through holes 2532, and the fourth clamping portion 254 is provided with three second through holes 2542. Exemplarily, the first through holes 2532 and the second through holes 2542 are rectangular through holes, and are respectively spaced apart along the second direction Y, and correspond one-to-one along the first direction Z. This application embodiment does not limit the number or shape of the first through holes 2532 and the second through holes 2542.

[0359] Continue reading Figure 26 and Figure 29 In one possible implementation, the first support portion 251 is provided with two first connecting holes 2512, and similarly, the second support portion 252 is provided with two second connecting holes 2522. Exemplarily, the first connecting holes 2512 and the second connecting holes 2522 are similar rectangular through holes, and are spaced apart along the second direction Y, and correspond one-to-one along the first direction Z. Exemplarily, the first connecting holes 2512 and the second connecting holes 2522 can also be circular through holes, triangular through holes, etc., and for example, one, four, or five first connecting holes 2512 and second connecting holes 2522 can be provided respectively. This application embodiment does not limit the number or shape of the first connecting holes 2512 and the second connecting holes 2522.

[0360] See Figure 26 As can be seen from the preceding description, the transmission component 23 can be slidably connected to the gripper base 21 in the second direction Y; at the same time, the first bearing part 251 and the second bearing part 252 can also be slidably connected to the gripper base 21 in the first direction Z.

[0361] Further reading Figure 27 and Figure 31 In one possible implementation, a first guide rail 211 is provided on the gripper base 21, the first guide rail 211 extends along the second direction Y, and a first slider 2333 is provided at the bottom end of the transmission block 233 along the vertical direction X, the first slider 2333 is slidably connected to the first guide rail 211, so that the transmission block 233 can move forward or backward along the second direction Y on the first guide rail 211.

[0362] Further reading Figure 30 In one possible implementation, a second guide rail 212 is provided on the gripper base 21, the second guide rail 212 extending along the first direction Z, for example, as shown in... Figure 6 As shown, there can be two second guide rails 212, which are spaced apart along the second direction. However, there can also be only one or more second guide rails 212. The number of second guide rails 212 is not limited in this embodiment.

[0363] Meanwhile, a second slider 2513 is provided at the bottom end of the first support part 251 along the vertical direction X, and a third slider 2523 is provided at the bottom end of the second support part 252 along the vertical direction X. The second slider 2513 and the third slider 2523 are slidably connected to the second guide rail 212, so that the first support part 251 and the second support part 252 can move towards or away from each other along the first direction Z on the second guide rail 212.

[0364] For example, such as Figure 30 As shown, the second slider 2513 and the third slider 2523 can each be set to two, and are slidably connected to the two second guide rails 212 respectively. However, the second slider 2513 and the third slider 2523 can also each be set to one or more. This application embodiment does not limit the number of the second slider 2513 and the third slider 2523. As long as they correspond to the second guide rails 212, they are all within the protection scope of this application embodiment.

[0365] See Figure 30 and Figure 31 In one possible implementation, the pallet gripper 2 of this application embodiment further includes a first sensor 234.

[0366] The first sensor 234 is disposed on both sides of the transmission block 233 along the first direction Z and along the second direction Y. The first sensor 234 is located at the front end and rear end of the transmission block 233 respectively. In addition, the transmission block 233 is provided with connecting pieces 2334 on both sides along the first direction Z.

[0367] like Figure 30 and Figure 31 As shown, exemplarily, when the transmission block 233 moves forward along the second direction Y (e.g.) Figure 6 and Figure 7 When moving in the Y1 direction (as shown in the diagram), Figure 30 and Figure 31 The connecting piece 2334, which is pointed to in the Z1 direction shown in the figure, will contact the first sensor 234 located at the front end. The first sensor 234 located at the front end can detect the forward movement of the transmission block 233 and stop its movement.

[0368] Correspondingly, when the transmission block 233 moves backward along the second direction Y (along...) Figure 25 When moving in the Y2 direction (as shown in the diagram), Figure 30 and Figure 31 The connecting piece 2334 indicated by the Z2 direction shown in the figure will contact the first sensor 234 located at the rear end. The first sensor 234 located at the rear end can detect the rearward movement of the transmission block 233 and stop its movement.

[0369] For example, the first sensor 234 is a photoelectric sensor, but this application embodiment does not limit it. As long as it can identify the end position of the transmission component moving forward or backward along the second direction Y, it is within the protection scope of this application embodiment.

[0370] See Figure 30 and Figure 31 In one possible implementation, the tray gripper 2 of this application embodiment further includes a second sensor 235. Along the second direction Y, the second sensor 235 is disposed at both ends of the first part 210 of the gripper base 21. The second sensor 235 is along the vertical direction X and can identify the vial tray 104.

[0371] Specifically, refer to Figure 32 and combined Figures 1 to 4 The pallet gripper mechanism body 1211 is slidably connected to the first longitudinal guide rail 1212 in a vertical direction X.

[0372] In one possible implementation, see [reference] Figure 32 and combined Figure 25 The pallet gripper 2 has a gripper base 21 with the aforementioned mounting hole 26. The first transverse guide rail 1213 extends along the first direction Z, and the first longitudinal guide rail 1212 is slidably connected to the first transverse guide rail 1213 along the second direction.

[0373] For example, see Figure 32 The first longitudinal guide rail 1212 extends along the vertical direction X. The first longitudinal guide rail 1212 also includes a pallet gripper mechanism body 1211 and a second motor 203. For example, the first longitudinal guide rail 1212 can be a slide rail 201 extending along the vertical direction X, or it can be a slide groove, chain lift, or other device. As long as the pallet gripper 2 can be slidably connected to it along the vertical direction X, it falls within the protection scope of the embodiments of this application.

[0374] For example, the pallet gripper mechanism body 1211 along a third direction (such as...) Figure 10 A second motor 203 is mounted on the top surface (in the Z direction shown in the figure), and an assembly shaft 2022 is provided on the bottom surface of the main body 1211 of the pallet gripper mechanism along the vertical direction X. The assembly shaft 2022 is connected to the assembly hole 26 of the pallet gripper 2.

[0375] See Figure 32 The second motor 203 can drive the pallet gripper 2 to move upward or downward along the vertical direction X on the first longitudinal guide rail 1212, and move along the first direction Z on the first transverse guide rail 1213.

[0376] Continue to refer to Figures 1 to 4 The dispensing robot 1 also includes a vial capping mechanism 3, and the vial feeding module 12 also includes a feeding gripper mechanism 123. The feeding gripper mechanism 123 includes a feeding gripper mechanism body 1231 and a feeding gripper 1232. Along the second direction Y, the feeding gripper mechanism body 1231 is located between the feeding turntable 122 and the vial capping mechanism 3. The feeding gripper 1232 is rotatably mounted on the feeding gripper mechanism body 1231 and is used to grip the vial 101 on the feeding turntable 122 and place it onto the vial capping mechanism 3 for capping the vial 101.

[0377] For example, the feeding gripper mechanism 123 further includes a second transverse guide rail 1235 and a second longitudinal guide rail 1234. The feeding gripper mechanism body 1231 is movably mounted on the second longitudinal guide rail 1234, which extends in the vertical direction X. The feeding gripper mechanism body 1231 can drive the feeding gripper 1232 to move relative to the second longitudinal guide rail 1234 in the vertical direction X.

[0378] The second transverse guide rail 1235 extends along the first direction Z, and the second longitudinal guide rail 1234 extends along the vertical direction X and is movably mounted on the second transverse guide rail 1235. The second longitudinal guide rail 1234 can drive the main body 1231 of the feeding gripper mechanism and the feeding gripper 1232 to move relative to the second transverse guide rail 1235 along the first direction Z.

[0379] The specific structure of the feeding gripper 1232 is not specifically limited in this application embodiment. It can adopt the same structure as the aforementioned vial gripper 7, or it can adopt other grippers that can hold vials 101.

[0380] In one possible implementation, the feed gripper 1232 is equipped with a camera 1233. The camera 1233 is used to photograph and confirm the vials 101 on the vial tray 104 to prevent incorrect medication dispensing. For example, each size of vial 101 contains different medications. The camera 1233 can take a picture, and the height of the vial 101 can be used to confirm whether the wrong medication has been dispensed. However, this is not a limitation; other factors can also be used for judgment, such as the label on the vial 101.

[0381] The structure of the vial cap-removing mechanism 3 will be described in detail below with reference to the accompanying drawings.

[0382] See Figure 33This application provides a vial cap-removing mechanism 3 for removing the cap from a vial 101.

[0383] See Figure 33 and Figure 35 The vial capping mechanism 3 in this application embodiment includes a vial capping platform 31 and a vial capping clamp 32.

[0384] The main body of the vial capping platform 31 extends along the vertical direction X. A vial capping component 311 is provided on one side of the vial capping platform 31 along the first direction Z; the vial capping component 311 includes a clamping groove 31121, which is used to clamp the cap 1014 of the vial 101.

[0385] See Figure 33 and Figure 36 The vial capping clamp 32 is spaced apart from the vial capping table 31 along the first direction Z, and is also spaced apart from the clamping groove 31121 along the first direction. The vial capping clamp 32 can move along the first direction toward the clamping groove 31121, that is, along... Figure 33 and Figure 36 The movement is shown in the X1 direction. The vial cap-removing clamp 32 is used to hold the vial body 1012 of the vial 101.

[0386] See Figure 33 and Figure 36 and combined Figure 37 The vial cap remover 311 can be used circumferentially (e.g., Figure 33 Rotation in the W direction shown in the diagram, as... Figure 33 As shown, the circumferential (W direction) arrangement surrounds the first direction Z, so that the bottle cap 1014 clamped in the clamping groove 31121 can be separated from the bottle body 1012 clamped in the vial capping clamp 32. That is, the bottle body 1012 clamped by the vial capping clamp 32 is fixed relative to the vial capping member 311 that clamps the bottle cap 1014, and the separation of the bottle body 1012 and the bottle cap 1014 can be achieved when the vial capping member 311 rotates in the circumferential direction.

[0387] For example, the vial cap remover 311 can be along... Figure 33 The rotation in the W1 direction shown can be counterclockwise along the circumference, but this application embodiment does not limit this. It can also be rotated in the opposite direction to W1 (i.e. clockwise along the circumference). As long as it can achieve peeling, it is within the protection scope of this application embodiment.

[0388] In one possible implementation, see [reference] Figure 34 and Figure 35 , Figure 34A perspective view of the vial capping stage 31 of this application is shown (the outer shell of the vial capping stage 31 is omitted). Figure 35 This is a partially enlarged view of the vial cap removal component 311 according to an embodiment of this application. (See attached image.) Figure 35 As shown, the vial cap remover 311 includes a rotating part 3111 and a cap clamping part 3112. The clamping groove 31121 for clamping the cap 1014 is formed at the bottom end of the cap clamping part 3112 along the vertical direction X (i.e., Figure 34 and Figure 35 (The end indicated by the X2 direction shown in the figure), that is, the clamping groove 31121 is formed on the end face of the bottle cap clamping part 3112 facing the bottle cap 1014 in the vertical direction X.

[0389] For example, along the first direction Z, one end of the rotating part 3111 away from the bottle cap clamping part 3112 is connected to a first driving part 3113 (e.g., a motor). The first driving part 3113 is used to provide driving force for the rotation of the rotating part 3111, so as to drive the rotating part 3111 along the circumferential direction (e.g., ...). Figure 33 The rotating part 3111 rotates in the W direction shown in the figure; the other end of the rotating part 3111 is connected to the bottle cap clamping part 3112.

[0390] For example, the rotating part 3111 is cylindrical, but this application embodiment does not limit it. The rotating part 3111 can also be in other shapes, such as rectangular, trapezoidal, etc. As long as it can ensure circumferential rotation, it is within the protection scope of this application embodiment.

[0391] The aforementioned rotating part 3111 and bottle cap clamping part 3112 are connected. Exemplarily, the rotating part 3111 and the bottle cap clamping part 3112 are connected by a first connector 3114. A portion of the first connector 3114 is rectangular and another portion is circular. One side of the first connector 3114 is connected to the bottle cap clamping part 3112 along the first direction Z. The circular portion is used for rotatable connection with the rotating part 3111.

[0392] For example, the rectangular portion of the first connector 3114 can be connected to the bottle cap clamping portion 3112 along the second direction Y using a welding process, or it can be connected by opening holes and bolts; similarly, the circular portion and the rotating portion 3111 can be connected by a snap-fit ​​bolt, or other processes such as welding can be used. This application embodiment does not limit this, as long as the rectangular portion of the first connector 3114 and the bottle cap clamping portion 3112, and the circular portion of the first connector 3114 and the rotating portion 3111 can be rotatably connected, they all fall within the protection scope of this application embodiment.

[0393] In one possible implementation, see [reference] Figure 36 and Figure 39The vial capping clamp 32 includes a first gripper 321, a second gripper 322, a second drive unit 323 (e.g., a lead screw motor), a platform 324, and a second transmission assembly 325.

[0394] The platform 324 is used to be slidably connected to an external lifting device (such as a support unit described later) in a vertical direction X. The second drive unit 323 is connected to the platform 324, and the end of the second drive unit 323 that is slidably connected in the vertical direction X (i.e., Figure 36 and Figure 39 The end (pointed to in the X1 direction) is connected to a second transmission component 325, which extends in the vertical direction X.

[0395] For example, the second transmission assembly 325 includes a lead screw 3251, a nut 3252, and a transmission block 3253.

[0396] Lead screw 3251 extends in the vertical direction X, and the surface of lead screw 3251 is provided with threads. One end of lead screw 3251 (i.e. Figure 36 and Figure 39 The screw 3251 (pointed to in the X2 direction) is connected to the second drive unit 323. A nut 3252 is fitted onto the outside of the lead screw 3251 and fixed inside the transmission block 3253. In other words, when the second drive unit 323 is activated, it can drive the lead screw 3251 to rotate, thereby driving the transmission block 3253 connected to the nut 3252 to move vertically upwards (as indicated by the X2 direction). Figure 36 and Figure 39 (as shown in the X1 direction) or downward (e.g.) Figure 36 and Figure 39 (Movement in the X2 direction shown in the figure).

[0397] The first gripper 321 and the second gripper 322 are rotatably connected to the transmission block 3253, and the first gripper 321 and the second gripper 322 are slidably connected to the platform 324 in the first direction Z. The second drive unit 323 can drive the transmission block 3253 to move upward or downward in the vertical direction X, so as to drive the first gripper 321 and the second gripper 322 to move towards or away from each other in the first direction Z, so that the vial capping clamp 32 is in the first state or the second state of the vial capping clamp 32. When the vial capping clamp 32 is in the first state, the first gripper 321 and the second gripper 322 together clamp the vial body 1012. When the vial capping clamp 32 is in the second state, the first gripper 321 and the second gripper 322 are separated from the vial body 1012.

[0398] For example, the first gripper 321 and the second gripper 322 are rotatably connected to the transmission block 3253 via the third link 3211 and the fourth link 3221, respectively. Figure 36 and Figure 39 As shown, the third link 3211 forms an angle δ with the normal (as shown by the dashed line in the figure), and the fourth link 3221 forms an angle ε with the normal.

[0399] For example, refer to Figure 36 and Figure 39 When the second drive unit 323 moves upward in the vertical direction X, the third link 3211 deflects in the direction c and the fourth link 3221 deflects in the direction b, and the angles δ and ε increase respectively. At this time, the first gripper 321 and the second gripper 322 open to separate the first gripper 321 and the second gripper 322 from the bottle body 1012, so that the vial capping clamp 32 is in the second state of the vial capping clamp 32.

[0400] For example, when the second drive unit 323 moves downward in the vertical direction X, the third link 3211 deflects in the direction b and the fourth link 3221 deflects in the direction c, and the angles δ and ε decrease respectively. At this time, the first gripper 321 and the second gripper 322 close, so that the first gripper 321 and the second gripper 322 together clamp the bottle body 1012, so that the vial capping clamp 32 is in the first state of the vial capping clamp 32.

[0401] In one possible implementation, the angles δ and ε are equal, at which point the clamping force of the first gripper 321 and the second gripper 322 is most uniform.

[0402] For example, see Figure 38 and Figure 39 A third guide rail 3241 is provided on the top surface of the platform 324 along the vertical direction X. The third guide rail 3241 extends along the first direction Z. A fifth slider 3242 is provided on the bottom surface of the first gripper 321 and the second gripper 322 along the vertical direction X. The first gripper 321 and the second gripper 322 are slidably connected to the third guide rail 3241 through the fifth slider 3242.

[0403] However, this application embodiment does not limit this sliding connection method. As long as the first gripper 321 and the second gripper 322 can be opened and closed respectively through the third link 3211 and the fourth link 3221, they are all within the protection scope of this application embodiment.

[0404] In one possible implementation, see [reference] Figure 37 and Figure 40 The clamping groove 31121 includes a clamping pad 31122, which is capable of Z-deformation along a first direction to compress the bottle cap 1014, thereby clamping the bottle cap 1014. Exemplarily, the bottle cap clamping portion 3112 has a rectangular block structure, and both the clamping groove 31121 and the clamping pad 31122 have a U-shaped structure.

[0405] In one possible implementation, a deformation space SS is included between the inner wall of the clamping pad 31122 and the bottle cap clamping portion 3112 along the first direction Z, and the deformation space SS extends along the second direction Y. A second elastic member 31123 is connected within the deformation space SS, and the second elastic member 31123 extends along the first direction Z, with its two ends respectively connected to the inner wall of the bottle cap clamping portion 31122 and the outer wall of the clamping pad 31122. For example, two second elastic members 31123 are respectively spaced apart in the deformation space SS along the second direction Y, and the second elastic members 31123 extend along the first direction Z. When the clamping pad 31122 clamps the bottle cap 1014 and is compressed, the second elastic member 31123 will deform toward the bottle cap clamping part 3112, thereby generating an elastic force that acts in the opposite direction on the clamping pad 31122, so that the clamping pad 31122 clamps the bottle cap 1014 more firmly, and further enhances the clamping effect of the clamping groove 31121 on the bottle cap 1014.

[0406] Although Figure 41 Four second elastic elements 31123 are shown as an example, but the number of second elastic elements 31123 is not limited in this application embodiment. As long as they can enhance the clamping effect of the clamping groove 31121 on the bottle cap 1014, they are all within the protection scope of this application embodiment.

[0407] See Figures 41 to 44 The liquid preparation robot 1 also includes a workbench 310, a detection mechanism 330, and the aforementioned vial capping mechanism 3, with the detection mechanism 330 and vial capping mechanism 3 installed on the workbench 310.

[0408] In one possible implementation, see [reference] Figure 41 The workbench 310 is similar to a table structure, including a work surface (similar to a tabletop) and support legs (similar to table legs). However, the workbench 310 in this embodiment is not limited to this. The workbench 310 can also be other types, such as trapezoidal, square, hexagonal, octagonal, etc.

[0409] In one possible implementation, see [reference] Figure 41 Along the second direction Y, the detection mechanism 330 and the vial peeling mechanism 3 are arranged at intervals. The vial peeling mechanism 3 is used to peel the caps off the vials, and then send the peeled vials to the detection mechanism 330. The detection mechanism 330 is used to further confirm the peeled status of the vials 101 and the contents to be peeled (e.g., reagents in the vials). Finally, the vials are disinfected at the last station of the detection mechanism 330 (i.e., the fourth detection station, which will be described later) and then sent to the next station (not shown in the figure).

[0410] See Figure 44Along the second direction Y, the aforementioned detection mechanism 330 is capable of rotating along the circumferential direction R4. Along the circumferential direction R4, the detection mechanism 330 is provided with rotating grippers at intervals. Each of the four self-locking grippers is used to hold the bottle body 1012 of the vial 101 after the cap has been removed. However, this embodiment does not limit the number of self-locking grippers; three, five, eight, etc., can be used, and the choice can be made according to the actual application. Regarding the specific structure of the self-locking grippers, this embodiment does not impose specific limitations; they can be the aforementioned vial gripper 7 (i.e., self-locking gripper), or other grippers capable of holding the vial 101.

[0411] In one possible implementation, see further. Figure 44 The testing mechanism 330 includes a first testing station 3301, a second testing station 3302, a third testing station 3303 and a fourth testing station 3304, each of which is equipped with a self-locking gripper.

[0412] For example, the first detection station 3301 is used to detect the capped state of the vial 101 (i.e., the first photo-taking station), the second detection station 3302 is used to confirm the drug in the vial 101 (i.e., the second photo-taking station), the third detection station 3303 is used to disinfect the vial mouth after the cap has been removed, and the fourth detection station 3304 is used to take over the next station (not shown in the figure).

[0413] In one possible implementation, see [reference] Figure 44 Along the vertical direction X, the top surface of the detection mechanism 330 is provided with a first camera 33010. The first camera 33010 is spaced apart from the vial capping mechanism 3 along the second direction Y. Along the vertical direction X, the first camera 33010 faces the self-locking gripper (e.g., the first self-locking gripper 33011) in the first detection station 3301. The first camera 33010 can detect the capping status of the vial 101 located in the first detection station 3301.

[0414] A second camera 33020 and a third camera 33120 are respectively installed on both sides of the second inspection station 3302, further combining... Figure 41 The second camera 33020 and the third camera 33120 are located on the top surface of the worktable 310 along the vertical direction X. The second camera 33020 and the third camera 33120 are spaced apart relative to the second detection station 3302 along the tenth direction H, and are respectively facing the self-locking gripper (e.g., the second self-locking gripper 33021) in the second detection station 3302, and can capture the reagent composition of the vial 101 located in the second detection station 3302 (e.g., the vial has labels for different medicines affixed to its body).

[0415] The simultaneous use of a second camera 33020 and a third camera 33120 in this embodiment can improve the accuracy of photography. However, it is also possible to use only the second camera 33020 without the third camera 33120. As long as the drug components of the vial held by the second self-locking gripper 33021 can be photographed in the second detection station 3302, it falls within the protection scope of this embodiment.

[0416] Disinfection mechanisms 33030 are also provided at intervals on the top surface of the detection mechanism 330 along the vertical direction X. The disinfection mechanisms 33030 can disinfect the vials 101 located at the third detection station 3303. The disinfection mechanisms 33030 are located on the side of the detection mechanism 330 opposite to the first camera 33010 along the second direction Y. The disinfection mechanism 33030 includes a nozzle that faces the self-locking gripper (e.g., the third self-locking gripper 33031) in the third detection station 3303.

[0417] For example, see [link to relevant documentation] Figure 44 The aforementioned fourth inspection station 3304 is also equipped with self-locking grippers (e.g., the fourth self-locking gripper 33041). The aforementioned first self-locking gripper 33011, second self-locking gripper 33021, third self-locking gripper 33031 and fourth self-locking gripper 33041 are spaced apart on the inspection mechanism 330, and the inspection mechanism 330 is capable of rotating in the circumferential direction R4.

[0418] Furthermore, the structure of the self-locking jaws (such as the first self-locking jaw 33011, the second self-locking jaw 33021, the third self-locking jaw 33031 and the fourth self-locking jaw 33041 mentioned above) is the same as that of the vial jaw 7 mentioned above, and will not be described again here.

[0419] See Figure 9 In one possible implementation, the dispensing robot 1 further includes a feeder 320 disposed on the workbench 310. Exemplarily, the feeder 320 is capable of conveying the capped vials from the vial capping mechanism 3 to the detection mechanism 330 along the second direction Y. Afterward, the feeder 320 can move along the second direction Y to return to the vial capping mechanism 3, ready to convey the next capped vial 101.

[0420] See Figure 33 and combined Figure 41The feeder 320 includes a sliding part (e.g., a feed slide rail 3201) and a third support part 3202. The third support part 3202 extends along the vertical direction X, and the feed slide rail 3201 extends along the second direction Y. The third support part 3202 can move back and forth along the second direction Y on the feed slide rail 3201 to switch between the detection mechanism 330 and the vial capping mechanism 3. The platform 324 of the vial capping fixture 32 is slidably connected to the third support part 3202 along the vertical direction X, that is, the third support part 3202 enables the vial capping fixture 32 to move along the vertical direction X and the second direction Y.

[0421] See Figure 33 and Figure 41 For example, the feeding slide rail 3201 and the third support part 3202 are provided on the worktable 310. The third support part 3202 is vertically slidably connected to the feeding slide rail 3201. That is, the third support part 3202 can slide forward or backward along the second direction Y on the feeding slide rail 3201. Since the third support part 3202 is provided with the above-mentioned vial capping clamp 32, the third support part 3202 can realize the conveying of vial 101 through the detection mechanism 330 and the vial capping mechanism 3.

[0422] See Figure 43 and Figure 44 , Figure 44 Show Figure 42 A partial enlarged view of region f. Exemplarily, the feeding slide rail 3201 extends along the second direction Y. A sixth slider 32021 is provided at the bottom end of the third support portion 3202 along the vertical direction X. The sixth slider 32021 has a through hole 320211, which passes through the through hole 320211 onto the feeding slide rail 3201, allowing the third support portion 3202 to be slidably connected to the feeding slide rail 3201 and thus slide along the second direction Y on the feeding slide rail 3201. However, this application embodiment does not limit the sliding connection method between the third support portion 3202 and the feeding slide rail 3201. Any method that allows the third support portion 3202 to slide along the second direction Y on the feeding slide rail 3201 falls within the protection scope of this application embodiment.

[0423] See Figure 36 As can be seen from the preceding text, the vial cap-removing clamp 32 can move up and down in the vertical direction X. In one possible implementation, see [reference needed]. Figure 33 and Figure 36 and combined Figure 41 The vial capping clamp 32 can move up and down in the vertical direction X on the third support part 3202 via the second connector 326. (See reference) Figure 33 and Figure 38A third slider 3261 is provided at the bottom end of the second connector 326 along the second direction Y, and a fourth guide rail 32022 extending along the vertical direction X is provided in the third bearing part 3202. The third slider 3261 can move up and down along the vertical direction X on the fourth guide rail 32022 to realize the up and down movement of the vial capping clamp 32 on the third bearing part 3202.

[0424] In one possible implementation, the liquid dispensing robot 1 of this application embodiment further includes a third sensor, a fourth sensor, and a fifth sensor.

[0425] For example, see Figure 33 and Figure 34 The third sensor 340 is located on the top surface of the cap clamping part 3112 along the vertical direction X. The third sensor 340 is used to detect the positioning of the vial 101 in the cap clamping part 3112.

[0426] For example, see Figure 41 and combined Figure 36 A fourth sensor 350 is provided on the other side of the stage 324 of the vial capping fixture 32, away from the second drive unit 323. Figure 9 Two fourth sensors 350 are shown as an example, and the two fourth sensors 350 are arranged at a distance along the first direction Z, but the embodiments of this application do not limit the number of them.

[0427] For example, along the second direction Y, connecting pieces (not shown in the figure) are provided on the side of the first gripper 321 and the second gripper 322 away from the second drive unit 323. When the first gripper 321 and the second gripper 322 are opened, the connecting pieces can contact the side of the first gripper 321 and the second gripper 322 away from the second drive unit 323. Figure 41 The fourth sensor 350, located on the side indicated by the Z1 direction, detects the open state of the vial capping clamp 32 and stops its movement; when the first gripper 321 and the second gripper 322 are closed, the connecting piece can contact the vial located along the Z1 direction. Figure 41 The fourth sensor 350, located on the side indicated by the Z2 direction shown in the figure, detects the closed state of the vial capping clamp 32 and stops its movement.

[0428] See Figure 33 and combined Figure 41 For example, two fifth sensors 360 are provided in the third support portion 3202, and the fifth sensors 360 are spaced apart along the vertical direction X. Figure 33 Only one fifth sensor 360 is shown as an example, but the arrangement of the fifth sensor 360 can be anticipated based on the arrangement of the fourth sensor 350 described above.

[0429] As described above, the vial capping clamp 32 can move up and down along the vertical direction X on the third support portion 3202 via the second connector 326. When the second connector 326 moves upward along the vertical direction X and contacts the fifth sensor 360 located above, the second connector 326 can be detected and stop moving; when the second connector 326 moves downward along the vertical direction X and contacts the fifth sensor 360 located below, the second connector 326 can be detected and stop moving.

[0430] Based on this, see Figures 33 to 41 In one possible implementation, the above-mentioned peeling process includes:

[0431] For example, the vial 101 is first fed to the cap holding part 3112 of the vial capping part 311 by the feeding gripper 1232, so that the cap 1014 of the vial 101 is aligned with 31121, and the aforementioned third sensor 340 detects that the cap 1014 of the vial 101 is held by the cap holding part 3112.

[0432] Secondly, the vial capping fixture 32 moves upward in the vertical direction X via the second connector 326. The fifth sensor 360 detects this upward movement and stops it. At the same time, the vial capping fixture 32 can move back and forth in the first direction Y via the feeding slide rail 3201 until it is adjusted so that the vial capping fixture 32 can be aligned with the bottle body 1012 of the vial 101.

[0433] Then, the second drive unit 323 is activated, and the third link 3211 is moved along the second transmission assembly 325. Figure 36 The fourth link 3221 deflects in the direction of b as shown in the diagram. Figure 36 The direction shown in c deflects, thereby closing the vial capping clamp 32. At this time, the fourth sensor 350 detects the clamping state of the vial capping clamp 32 and stops moving, so that the vial body 1012 is clamped.

[0434] Finally, at this point, the cap 1014 of the vial 101 is clamped in the clamping groove 31121, and the vial body 1012 is clamped in the vial cap-removing clamp 32. When the rotating part 3111 moves circumferentially (e.g., Figure 33 When rotated in the W direction (as shown in the diagram), the bottle cap 1014 can be peeled off.

[0435] In one possible implementation, see [reference] Figure 33 and Figure 41 For example, the vial capping mechanism 3 of this application embodiment further includes a waste channel 35, which extends along the eleventh direction I. The waste channel 35 includes a second inlet 351 and an outlet 352.

[0436] Along the vertical direction X, the second inlet 351 is located at the bottom of the cap clamping part 3112 and is spaced apart from the cap clamping part 3112 along the vertical direction X. The second inlet 351 is used to collect the cap 1014 of the peeled vial 101. Exemplarily, the second inlet 351 is rectangular funnel-shaped and is mounted on the workbench 310. A recycling mechanism (e.g., a trash can or bin, not shown in the figure) is provided at the outlet 352.

[0437] Continue to refer to Figures 1 to 4 A first robotic arm 161 is provided between the vial capping mechanism 3 and the liquid dispensing device 11. The first robotic arm 161 is used to send the vial 101 with the cap removed into the vial clamping mechanism 8 so that the vial gripper 7 clamps the vial 101.

[0438] Continue to refer to Figures 1 to 4 In one possible implementation, the infusion bag feeding module 14 includes an infusion bag storage mechanism 5 for storing infusion bags 103.

[0439] See Figure 45 and Figure 46 Specifically, the infusion bag storage mechanism 5 includes a suspension mechanism 50, which is used to suspend and store the infusion bag 103. The infusion bag 103 includes a bag body 1031 and a liquid tube 1032. It should be noted that the suspension mechanism 50 of this application embodiment can also be used to suspend and store other bag-shaped objects such as infusion pressurization bags, as long as they have a tube opening (e.g., liquid tube 1032) that can be suspended by the suspension mechanism 50, they all fall within the protection scope of this application embodiment.

[0440] See Figure 45 and Figure 46 The suspension mechanism 50 of this application embodiment can be arranged at an angle in an external device (e.g., in a storage cabinet, or, for example, inside the infusion bag storage mechanism 5, which will be described in detail later), and several suspension mechanisms 50 can be provided in the external device. Figure 45 Six sets of suspension mechanisms 50 are shown as an example, but the number of suspension mechanisms 50 is not limited in this application embodiment. Seven, nine, or ten sets of suspension mechanisms 50 can also be set. As long as they can realize the suspension and storage functions and can adapt to the size of external devices, they are all within the protection scope of this application embodiment.

[0441] See Figure 47 and Figure 48 The suspension mechanism 50 in this embodiment includes a support base 51 and a stop portion 52.

[0442] like Figure 47As shown, the support base 51 is an overall elongated block structure. For example, the support base 51 includes a top plate 511 and multiple support plates 512. The top plate 511 covers the top of the multiple support plates 512 along the thirteenth direction K. The top plate 511 and the multiple support plates 512 extend along the twelfth direction J. Each support plate 512 is spaced apart along the second direction Y. Figure 47 Three support plates 512 are shown as an example, but the number of support plates 512 is not limited in the embodiments of this application.

[0443] Continue reading Figure 47 and Figure 48 ,in, Figure 48 The top plate of the support base 51 is omitted. The bottom of the support plate 512 along the thirteenth direction K includes a storage channel 513. Figure 47 and Figure 48 The example shows two storage channels 513, but the suspension mechanism 50 of this application embodiment can also be provided with three, five or seven storage channels 513. This application embodiment does not limit the number of storage channels 513.

[0444] like Figure 47 and Figure 48 As shown, the storage channel 513 is used to store multiple infusion bags 103, and the tubing 1032 of the multiple infusion bags 103 is snapped into the storage channel 513. Along the thirteenth direction K, the top end of the tubing 1032 protrudes from the storage channel 513. As described above, the suspension mechanism 50 of this embodiment is used to be angled and installed on an external device. At this time, the tubing 1032 can move downwards along the twelfth direction J in the storage channel 513 (e.g., ...). Figure 47 and Figure 48 Slide in the J2 direction (as shown in the diagram).

[0445] Figure 47 and Figure 48 The infusion bag 103 shown in the example is a double-tube infusion bag, with two storage channels 513 respectively used to secure the two tubing 1032 of the same infusion bag 103. However, the storage channels 513 in this embodiment can also be used to suspend and store single-tube infusion bags. That is, each storage channel 513 is used to secure one single-tube infusion bag 103, and this embodiment does not limit this. Correspondingly, this embodiment does not limit the number of infusion bags 103 suspended by one suspension mechanism 50, and can select according to the length of the storage channel 513 and the actual application.

[0446] Continue reading Figure 47 and Figure 48 Along the twelfth direction J), the stop portion 52 in this embodiment is provided on the downward side of the support base 51 (i.e. Figure 47 and Figure 48 (As shown in the diagram, the side indicated by direction J2). Along the thirteenth direction K, the stop 52 is located at the top of all storage channels 513. That is, the suspension mechanism 50 of this embodiment is used to suspend and store the infusion bag 103, but when the infusion bag 103 is subsequently used in the suspension mechanism 50, the infusion bag 103 must be able to pass through the stop 52 and downward along the aforementioned twelfth direction J (as shown in the diagram). Figure 47 and Figure 48 Slide in the J2 direction shown (for example, slide down along the twelfth direction J to the limiting part 53, which will be described in detail later).

[0447] See Figure 50 and Figure 51 and combined Figure 48 The stop portion 52 includes a first sliding channel 521 and a second sliding channel 522. The first sliding channel 521 is located on the side of the stop portion 52 closest to the storage channel 513 (i.e., Figure 48 (The side indicated by J1), the second sliding channel 522 is located on the side of the stop 52 away from the storage channel 513 (i.e. Figure 48 (On the side indicated by the J2 direction), the first sliding channel 521 and the second sliding channel 522 are staggered along the second direction Y.

[0448] See Figure 49 and Figure 50 The stop portion 52 can move along the second direction Y to switch between a first position and a second position.

[0449] In the first position, the first sliding channel 521 and the storage channel 513 are connected, and the second sliding channel 522 is offset from the storage channel 513. The liquid tube in the storage channel 513 above the first sliding channel 521 is blocked by the stop wall of the second sliding channel 522.

[0450] In the second position, such as Figure 49 As shown, the first sliding channel 521 and the storage channel 513 are offset. The liquid tube in the storage channel 513 above the first sliding channel 521 is blocked by the stop wall of the first sliding channel 521. The second sliding channel 522 is connected to the storage channel 513. The infusion bag in the storage channel 513 above the second sliding channel 522 can slide out of the stop part 52 through the second sliding channel 522.

[0451] Figure 49 , Figure 50 and Figure 51The first sliding channel 521 is shown to include two channels (i.e., the first channel 5211 and the second channel 5212, which will be described later), and the second sliding channel 522 also includes two channels (i.e., the third channel 5221 and the fourth channel 5222, which will be described later). However, the first sliding channel 521 and the second sliding channel 522 may also be each set as only one channel. The embodiments of this application do not limit the number of the first sliding channel 521 and the second sliding channel 522. As long as the two are staggered along the second direction Y, they are all within the protection scope of the embodiments of this application.

[0452] See Figures 48 to 53 and combined Figure 45 Using the above technical solution, the storage channel 513 of the support 51 is used to engage the liquid tube 1032 of the infusion bag 103, so as to suspend and store a number of infusion bags 103. The infusion bag 103 can slide downward in the storage channel 513 along the twelfth direction J (i.e. the extension direction of the support 51). At the same time, a stop part 52 for stopping the infusion bag 103 is provided at the downward end of the support 51. The stop part 52 can move back and forth along the second direction Y (i.e. the width direction of the support 51), so that it switches between the first position and the second position, thereby further switching the movement state of the infusion bag 103.

[0453] Specifically, when the stop part 52 is in the first position, the first sliding channel 521 is connected to the storage channel 513, while the second sliding channel 522 is offset from the storage channel 513. At this time, the tubing 1032 of the first infusion bag 103 (e.g., the infusion bag 103a, which will be described later) that is in the storage channel 513 and can slide downward along the twelfth direction J can pass through the first sliding channel 521 and be stopped by the second sliding channel 522. That is to say, in the first position, the infusion bag 103 that was originally stuck in the storage channel 513 can enter the stop part 52 through the first sliding channel 521 and be blocked by the second sliding channel 522 of the stop part 52.

[0454] Furthermore, when the stop part 52 moves along the second direction Y (for example, by driving the stop part 52 forward via a lead screw motor) to switch to the second position, the first sliding channel 521 and the storage channel 513 are misaligned, and the second sliding channel 522 and the storage channel 513 are connected. The infusion bag 103 that enters the stop part 52 and is blocked by the second sliding channel 522 can slide out of the stop part 52 at this time.

[0455] Furthermore, if the stop portion 52 moves along the second direction Y (e.g., driven backward by a lead screw motor) to switch back to the first position, another infusion bag 103 (e.g., infusion bag 103b, which will be described later) can pass through the first sliding channel 521 and then be stopped by the second sliding channel 522. Then, exemplarily, if the stop portion 52 is driven forward again to switch to the second position, the other infusion bag 103 can slide out of the stop portion 52 through the second sliding channel 522.

[0456] Therefore, the suspension mechanism 50 of this application embodiment can be used as an external device to store infusion bags 103 in batches. For example, taking the use of the suspension mechanism 50 in a storage cabinet as an example, multiple sets of suspension mechanisms 50 can be arranged at an angle inside the storage cabinet. Each suspension mechanism 50 can store a number of infusion bags 103. Different forms of installation can be carried out according to the internal volume of the storage cabinet. For example, multiple sets of suspension mechanisms 50 can be arranged side by side at the same height, or multiple sets of suspension mechanisms 50 can be arranged vertically, or a combination of side by side and other forms can be used for installation. Therefore, the application and installation of the suspension mechanism 50 of this application embodiment has high flexibility. At the same time, each suspension mechanism 50 can hang a large number of infusion bags 103, and applying multiple sets of suspension mechanisms 50 to a storage cabinet can further improve the storage capacity of infusion bags 103.

[0457] Furthermore, by switching the stop portion 52, the infusion bag 103 in the storage channel can be switched from the storage state to the delivery state. That is, when the infusion bag 103 needs to be provided, it is only necessary to switch the position state of the stop portion 52 so that the infusion bag 103 in the storage channel can slide out of the stop portion 52 in sequence for subsequent use. For example, the infusion bag 103 will fall into the transfer box and then be transferred to the next station. Or, for example, the infusion bag 103 will slide into the limiting portion in the following embodiment so that it can be placed in the limiting portion to wait for further operation (for example, the infusion bag 103 in the limiting portion can be picked up by the second robot arm 162 and placed in the subsequent liquid preparation station).

[0458] In summary, the suspension mechanism 50 of this application embodiment can realize the storage and transportation of a large number of infusion bags 103, and has high application flexibility, adaptability and automation, thereby effectively improving the efficiency of infusion preparation.

[0459] For ease of explanation, the following describes the suspension mechanism 50 of this application embodiment in detail, taking as an example that the support base includes two storage channels 513 and the first sliding channel 521 and the second sliding channel 522 of the stop part 52 each include two channels.

[0460] In one possible implementation, see [reference] Figure 50 and Figure 51The aforementioned storage channel 513 includes a first storage channel 5131 and a second storage channel 5132 (e.g., ...). Figure 51 As shown), the first sliding channel 521 includes a first channel 5211 and a second channel 5212, and the second sliding channel 522 includes a third channel 5221 and a fourth channel 5222 (as shown). Figure 50 (As shown).

[0461] The stop section 52 is equipped with a stop section driver 523 (e.g., a lead screw motor), which can drive the stop section 52 forward in the second direction Y (e.g., ...). Figure 50 and Figure 51 (as shown in the Y1 direction) or backward (e.g.) Figure 50 and Figure 51 (Move in the Y2 direction shown in the diagram).

[0462] For example, the lead screw motor includes a motor body 5231, a lead screw 5232, and a nut (not shown in the figure). The motor body 5231 is used to provide a driving force for circumferential rotation, and the lead screw 5232 extends along a second direction Y (e.g., Figure 50 and Figure 51 (As shown in the X direction), the nut is sleeved on the outside of the lead screw 5232 and fixed inside the stop part 52. The surface of the lead screw 5232 is threaded so that it can be threadedly engaged with the nut. When the motor body 5231 drives the lead screw 5232 to rotate, it can drive the nut and the stop part 52 forward in the second direction Y (e.g., as shown in the X direction). Figure 50 and Figure 51 (as shown in the Y1 direction) or backward (e.g.) Figure 50 and Figure 51 The stop portion 52 moves in the Y2 direction shown in the diagram. However, this application embodiment does not limit this; as long as the stop portion 52 can move in the second direction Y, it falls within the protection scope of this application embodiment.

[0463] In addition, see Figure 51 and Figure 54 and combined Figure 47 To facilitate the back-and-forth movement of the stop portion 52 along the second direction Y, a first sliding portion 524 (e.g., a slider) is connected to one end face of the stop portion 52 along the twelfth direction J. A second sliding portion 525 (e.g., a slide rail) is provided on the top of the top plate 511 of the support base 51. The first sliding portion 524 and the second sliding portion 525 are arranged opposite to each other along the twelfth direction J, and both extend along the second direction Y. The first sliding portion 524 (e.g., a slider) is slidably connected to the second sliding portion 525 (e.g., a slide rail) so that the stop portion 52 can move back and forth along the second direction Y by the stop portion driver 523 (e.g., a lead screw motor). This application embodiment does not limit this.

[0464] See Figure 51The first storage channel 5131 and the second storage channel 5132 extend along the twelfth direction J and along the second direction Y, and are spaced apart. For example, Figure 51 The infusion bag 103 shown as an example is a dual-tube infusion bag. Therefore, the first storage channel 5131 is used to hold one of the tubes of the infusion bag 103, and the second storage channel 5132 is used to hold the other tube of the infusion bag 103.

[0465] For example, if the infusion bag is the single-tube infusion bag mentioned above (not shown in the figure), the first storage channel 5131 is used to clamp one tube of one infusion bag, and the second storage channel 5132 is used to clamp one tube of another infusion bag. This application embodiment does not limit this. As long as the storage channel 513 (e.g., the first storage channel 5131 and the second storage channel 5132) can clamp and store bag-shaped objects (e.g., infusion bags, or double-tube or single-tube infusion bags), it is within the protection scope of this application embodiment.

[0466] See Figure 50 Along the second direction Y, the first channel 5211 and the second channel 5212 are spaced apart, see reference. Figure 50 and combined Figure 51 The first channel 5211 and the second channel 5212 are located on the side of the stop portion 52 near the storage channel 513 (the first storage channel 5131 and the second storage channel 5132) (i.e. Figure 50 and Figure 51 (The side indicated by the direction of J1).

[0467] Along the second direction Y, the third channel 5221 and the fourth channel 5222 are arranged at intervals, see reference. Figure 50 and combined Figure 51 The third channel 5221 and the fourth channel 5222 are located on the side of the stop portion 52 away from the first storage channel 5131 and the second storage channel 5132 (i.e. Figure 50 and Figure 51 (The side indicated by the J2 direction).

[0468] See Figure 52 and Figure 53 Along the second direction Y, the first channel 5211 and the third channel 5221 are staggered, and the second channel 5212 and the fourth channel 5222 are staggered.

[0469] The first channel 5211 includes a first stop wall and a second stop wall; the second channel 5212 includes a second stop wall and a first limiting wall 52122; the third channel 5221 includes a third stop wall and a second limiting wall 52212; and the fourth channel 5222 includes a third stop wall and a fourth stop wall. It should be noted that this application does not limit the shape or structure of the aforementioned first, second, third, and fourth stop walls. For example, the first stop wall may include a first stop block 52111 (described later), the second stop wall may include a second stop block 52121 (described later), the third stop wall may include a third stop block 52211 (described later), and the fourth stop wall may include a fourth stop block 52221 (described later).

[0470] As described above, the stop driver 523 can move along the second direction Y to switch between the first position and the second position.

[0471] See Figure 52 and combined Figure 51 , Figure 52 An enlarged cross-sectional view of the stop portion 52 in the first position described above is shown as an example. Figure 51 An exemplary diagram shows a first infusion bag 103a near the stop portion 52 and a second infusion bag 103b located above the infusion bag 103a along the twelfth direction J, wherein the infusion bag 103a and the infusion bag 103b respectively include a first liquid tube 10321 and a second liquid tube 10322.

[0472] In the first position, along the twelfth direction J, the first channel 5211 connects to the first storage channel 5131. At this time, the first stop wall and the second stop wall are located on both sides of the first storage channel 5131, respectively. The second channel 5212 connects to the second storage channel 5132, and the second stop wall and the first limiting wall are located on both sides of the second storage channel 5132. At this time, the first liquid tube 10321 of the infusion bag 103a located in the first storage channel 5131 can pass through the first channel 5211, and the second liquid tube 10322 of the infusion bag 103a located in the second storage channel 5132 can pass through the second channel 5212.

[0473] That is to say, at the first position, along the twelfth direction J, above the first channel 5211 (as shown in the image) Figure 52 The first liquid tube 10321 within the first storage channel 5131 (shown in the J1 direction) can pass through the first channel 5211 and continue downward along the twelfth direction J (i.e., Figure 52 The second liquid tube 10322 in the second storage channel 5132 above the second channel 5212 can also slide through the second channel 5212 and continue to slide downward along the twelfth direction J.

[0474] Meanwhile, in the first position, the third channel 5221 and the first storage channel 5131 are offset along the twelfth direction J, the third stop wall blocks the first storage channel 5131, and the first liquid pipe 10321 abuts against the third stop wall; the fourth channel 5222 and the second storage channel 5132 are offset along the twelfth direction J, the fourth stop wall blocks the second storage channel 5132, and the second liquid pipe 10322 abuts against the fourth stop wall.

[0475] Therefore, after the first liquid tube 10321 and the second liquid tube 10322 of the infusion bag 103a pass through the first channel 5211 and the second channel 5212, they will be blocked by the third stop wall of the third channel 5221 and the fourth stop wall of the fourth channel 5222, respectively. That is to say, at this time, the third channel 5221 and the fourth channel 5222 can restrict the infusion bag 103a from moving downward along the twelfth direction J (e.g., Figure 51 and Figure 52 The endpoint of the movement in the J2 direction (as shown in the figure).

[0476] See Figure 53 and combined Figure 51 , Figure 53 An enlarged cross-sectional view of the stop portion 52 in the second position described above is shown as an example.

[0477] In the second position, along the twelfth direction J, the third channel 5221 connects to the first storage channel 5131, and the second limiting wall and the third stop wall are located on both sides of the first storage channel 5131; the fourth channel 5222 connects to the second storage channel 5132, and the third stop wall and the fourth stop wall are located on both sides of the second storage channel 5132. As described above, in the first position, the first liquid tube 10321 and the second liquid tube 10322 of the infusion bag 103a are blocked by the third stop wall and the fourth stop wall, respectively. Therefore, in the second position, the first liquid tube 10321 of the infusion bag 103a can pass through the third channel 5221, and the second liquid tube 10322 can pass through the fourth channel 5222. That is to say, in the second position, the first liquid tube 10321 and the second liquid tube 10322 of the infusion bag 103a can slide out of the stop part 52 simultaneously through the third channel 5221 and the fourth channel 5222, respectively.

[0478] Simultaneously, in the second position, along the twelfth direction J, the first channel 5211 and the first storage channel 5131 are offset. Along the twelfth direction J, the first stop wall blocks the first storage channel, and the first liquid tube 10321 abuts against the first stop wall. The second channel 5212 and the second storage channel 5132 are offset, the second stop wall blocks the second storage channel 5132, and the second liquid tube 10322 abuts against the second stop wall. At this time, the first liquid tube 10321 of the infusion bag 103b is blocked by the first stop wall of the first channel 5211, and the second liquid tube 10322 of the infusion bag 103b is blocked by the second stop wall of the second channel 5212.

[0479] In one possible implementation, see [reference] Figure 47 and Figure 48 The aforementioned support base 51 includes multiple limiting guide rails 514, which extend along the twelfth direction J and are spaced apart along the second direction Y.

[0480] As described above, the support base 51 includes the aforementioned top plate 511 and the aforementioned multiple support plates 512, such as... Figure 47 As shown, along the thirteenth direction K, the bottom of each support plate 512 is connected to a limit guide rail 514.

[0481] Figure 47 and Figure 48 Three limiting guide rails 514 are shown as an example, which are equal in number to the support plates 512 described above. However, the number of limiting guide rails 514 may be less than the number of support plates 512, and this embodiment of the application does not impose any limitation on this. Exemplarily, the limiting guide rails 514 and the support plates 512 can be fixed by bolts, but they can also be fixed by welding.

[0482] See Figure 48 and combined Figure 51 Along the twelfth direction J, each of the multiple limiting guide rails 514 includes a first part 5141 and a second part 5142 connected together. Along the twelfth direction J, the first part 5141 is located in the upper part of the second sliding channel 522 (i.e., Figure 51 The portion of the second sliding channel 522 along the J1 direction, that is... Figure 48 The dashed portion 5141 shown in the figure), and the second portion 5142 are located in the lower part of the second sliding channel 522 along the twelfth direction J (i.e. Figure 51 The portion of the second sliding channel 522 along the J2 direction, that is... Figure 48 (The dotted portion 5142 shown in the figure). Exemplarily, the first portion 5141 and the second portion 5142 described above are integrally formed.

[0483] See Figure 48Along the second direction Y, a storage channel 513 is formed by the first part 5141 of any one limiting guide rail 514 and the first part 5141 of another limiting guide rail 514 that is adjacent to it and spaced apart.

[0484] In one possible implementation, see [reference] Figure 51 The aforementioned limiting guide rail 514 includes a first limiting guide rail 5143, a second limiting guide rail 5144, and a third limiting guide rail 5145. The first limiting guide rail 5143, the second limiting guide rail 5144, and the third limiting guide rail 5145 extend along the twelfth direction J, and are arranged at intervals along the second direction Y.

[0485] Along the second direction Y, the first portion 5141 of the first limiting guide rail 5143 and the first portion 5141 of the second limiting guide rail 5144 form the first storage channel 5131, and the first portion 5141 of the second limiting guide rail 5144 and the first portion 5141 of the third limiting guide rail 5145 form the second storage channel 5132.

[0486] Based on the preceding description and further reading Figure 50 The first stop wall includes a first stop block 52111, the second stop wall includes a second stop block 52121, the third stop wall includes a third stop block 52211, and the fourth stop wall includes a fourth stop block 52221.

[0487] See Figure 50 Along the second direction Y, the first stop block 52111, the second stop block 52121, and the aforementioned first limiting wall 52122 are spaced apart. For example... Figure 50 As shown, along the second direction Y, the first channel 5211 includes a first stop block 52111 and a second stop block 52121, and the second channel 5212 includes a second stop block 52121 and a first limiting wall 52122.

[0488] Accordingly, please continue to refer to Figure 50 Along the second direction Y, the third stop block 52211, the fourth stop block 52221, and the aforementioned second limiting wall 52212 are spaced apart. For example... Figure 50 As shown, the third channel 5221 includes a second limiting wall 52212 and a third stop block 52211, and the fourth channel 5222 includes a third stop block 52211 and a fourth stop block 52221.

[0489] Furthermore, along the second direction Y, the first stop block 52111, the third stop block 52211, the second stop block 52121 and the fourth stop block 52221 are staggered in sequence.

[0490] See Figure 50 and Figure 52 and combined Figure 51 In one possible implementation, when the stop part driver 523 (e.g., a lead screw motor) drives the stop part 52 to move forward along the second direction Y, the stop part 52 is located in the first position.

[0491] In this first position, along the thirteenth direction K, the first stop block 52111 is located at the top of the aforementioned first limiting guide rail 5143 (i.e. Figure 51 (as shown in the diagram, the side indicated by direction K1), such as Figure 52 As shown, that is, along the thirteenth direction K, the first stop block 52111 covers the first limiting guide rail 5143, but does not cover the top of the first storage channel 5131. At this time, the first channel 5211 and the first storage channel 5131 are connected.

[0492] Similarly, along the thirteenth direction K, the second stop block 52121 is located at the top of the second limit guide rail 5144 (i.e. Figure 51 (as shown in the diagram, the side indicated by direction K1), such as Figure 52 As shown, along the thirteenth direction K, the second stop block 52121 also covers the second limiting guide rail 5144 as a whole, but does not cover the top of the second storage channel 5132, so that the second channel 5212 and the second storage channel 5132 are connected.

[0493] Therefore, at this time, the first liquid tube 10321 of the infusion bag 103a can pass through the first channel 5211, and the second liquid tube 10322 of the infusion bag 103a can pass through the second channel 5212.

[0494] At the same time, along the thirteenth direction K, the third stop block 52211 is located at the top of the first storage channel 5131, as... Figure 52 As shown, the third stop block 52211 is completely located at the top of the first storage channel 5131, but it is also possible that a part of the third stop block 52211 is located at the top of the first storage channel 5131. As long as it can block the first storage channel 5131, it falls within the protection scope of the embodiments of this application.

[0495] Similarly, along the thirteenth direction K, the fourth stop block 52221 is located at the top of the second storage channel 5132, as... Figure 52 As shown, a portion of the fourth stop block 52221 is located in the second storage channel 5132, but the entire fourth stop block 52221 may be located at the top of the second storage channel 5132. As long as it can block the second storage channel 5132, it falls within the protection scope of this application embodiment.

[0496] Therefore, the third channel 5221 and the first storage channel 5131 are not connected, the fourth channel 5222 and the second storage channel 5132 are not connected, the first liquid tube 10321 of the infusion bag 103a passing through the first channel 5211 is blocked by the third stop block 52211, and the second liquid tube 10322 of the infusion bag 103a passing through the second channel 5212 is blocked by the fourth stop block 52221.

[0497] Continue reading Figure 50 and Figure 53 and combined Figure 51 When the stop part driver 523 drives the stop part 52 to move backward along the second direction Y, the stop part 52 is located in the second position.

[0498] In the aforementioned second position, along the thirteenth direction K, at least a portion of the first stop block 52111 is located at the top of the first storage channel 5131. However, the entire first stop block 52111 may be located at the top of the first storage channel 5131. As long as it can block the first storage channel 5131, it falls within the protection scope of this application embodiment.

[0499] Similarly, at least a portion of the second stop block is located at the top of the second storage channel 5132, but the entire first stop block 52111 may be located at the top of the second storage channel 5132. As long as it can block the second storage channel 5132, it falls within the protection scope of this application embodiment.

[0500] Therefore, the first channel 5211 and the first storage channel 5131 are not connected, the second channel 5212 and the second storage channel 5132 are not connected, the first liquid tube 10321 of the infusion bag 103b is blocked by the first stop block 52111, and the second liquid tube 10322 of the infusion bag 103b is blocked by the second stop block 52121.

[0501] At the same time, along the thirteenth direction K, the third stop block 52211 is located at the top of the second limit guide rail 5144 (i.e. Figure 51 (as shown in the diagram, the side indicated by direction K1), such as Figure 53 As shown, along the thirteenth direction K, the third stop block 52211 also covers the second limiting guide rail 5144 as a whole, but does not cover the top of the first storage channel 5131, so that the third channel 5221 and the first storage channel 5131 are connected.

[0502] Along the thirteenth direction K, the fourth stop block 52221 is located at the top of the third limit guide rail 5145, as follows. Figure 53As shown, along the thirteenth direction K, the fourth stop block 52221 also covers the third limiting guide rail 5145 as a whole, but does not cover the top of the first storage channel 5131. At this time, the fourth channel 5222 and the second storage channel 5132 are connected.

[0503] Therefore, the first liquid tube 10321 of the infusion bag 103a can slide out of the stop part 52 through the third channel 5221, and at the same time, the second liquid tube 10322 of the infusion bag 103a can also slide out of the stop part 52 through the fourth channel 5222.

[0504] Based on the preceding description and in conjunction with Figure 47 It can be seen that along the thirteenth direction K, the bottom of each support plate 512 is connected to a limit guide rail 514.

[0505] In one possible implementation, see [reference] Figure 61a and Figure 61b The first portions of the first limiting guide rail 5143, the second limiting guide rail 5144, and the third limiting guide rail 5145 are respectively connected to the corresponding support plates 512. For example... Figure 61b As shown, a plurality of first screw holes 51431 are formed on the first limiting guide rail 5143 for screwing onto the support plate 512 corresponding to the first limiting guide rail 5143. A plurality of second screw holes 51441 are formed on the second limiting guide rail 5144 for screwing onto the support plate 512 corresponding to the second limiting guide rail 5144. A plurality of third screw holes 51451 are formed on the third limiting guide rail 5145 for screwing onto the support plate 512 corresponding to the third limiting guide rail 5145.

[0506] For example, such as Figure 61b As shown, the first screw hole 51431 of the first limiting guide rail 5143 is a U-shaped hole. Therefore, along the second direction Y, the first limiting guide rail 5143 can move to the left relative to the second limiting guide rail 5144 (e.g., Figure 61b (as shown in the Y1 direction) or to the right (e.g.) Figure 61b The distance between the first limiting guide rail 5143 and the second limiting guide rail 5144 can be adjusted by moving the guide rail in the Y2 direction shown in the figure.

[0507] For example, such as Figure 61b As shown, the second screw hole 51441 of the third limiting guide rail 5145 is a U-shaped hole. Therefore, along the second direction Y, the third limiting guide rail 5145 can move to the left relative to the second limiting guide rail 5144 along the second direction Y (e.g., Figure 61b (as shown in the Y1 direction) or to the right (e.g.) Figure 61b The guide rail 5145 moves in the Y2 direction (as shown in the diagram) to adjust the distance between the third guide rail 5145 and the second guide rail 5144.

[0508] In another possible implementation, only the distance between the first limiting guide rail 5143 and the second limiting guide rail 5144 can be adjusted, or only the distance between the third limiting guide rail 5145 and the second limiting guide rail 5144 can be adjusted. That is, only the first screw hole 51431 can be set as a U-shaped hole, or only the third screw hole can be set as a U-shaped hole.

[0509] In one possible implementation, see [reference] Figure 47 and Figure 48 and combined Figure 51 The suspension mechanism 50 in this embodiment further includes a limiting part 53, which is located on the side of the stop part 52 that is downward along the twelfth direction J (e.g., Figure 47 and Figure 48 (As shown in the diagram, the side indicated by the J2 direction) The limiting part 53 is used to clamp the infusion bag 103 (e.g., the infusion bag 103a) that slides out of the stop part 52 through the second sliding channel 522 (i.e., the third channel 5221 and the fourth channel 5222) so that the infusion bag 103a cannot continue to move downward along the twelfth direction J.

[0510] When the infusion bag 103a is restricted to the limiting part 53, for example, the infusion bag 103a can be gripped by an external robotic arm for use in a subsequent work station (e.g., gripping the infusion bag 103a to the solution preparation station).

[0511] See Figure 54 and Figure 55 The limiting part 53 includes a limiting channel 531 and a limiting element 532.

[0512] Figure 54 and Figure 55 Two limiting channels 531 are shown as an example (i.e., the first limiting channel 5311 and the second limiting channel 5312, which will be described in detail below), but only one limiting channel 531 may be provided. The number of limiting channels 531 is the same as the number of storage channels mentioned above. The embodiments of this application do not limit the number and length of the limiting channels 531.

[0513] at the same time, Figure 54 and Figure 55 The example shows three limiting members 532. In this embodiment, at least two limiting members 532 need to be provided. In addition, there are no other restrictions on the number of limiting members 532. For example, four, five or other numbers of limiting members 532 can be provided. As long as at least two limiting members 532 can jointly restrict the liquid tube from moving downward along the twelfth direction J, they are all within the protection scope of this embodiment.

[0514] For example, see Figure 54The suspension mechanism 50 in this embodiment includes the first limiting guide rail 5143, the second limiting guide rail 5144, and the third limiting guide rail 5145.

[0515] like Figure 54 As shown, Figure 54 The dashed line t is shown as an example, and the portion of the dashed line t extending upwards along the twelfth direction J (as shown in the image) Figure 54 The portion indicated by the J1 direction shown in the diagram is the first portion 5141 of the limiting guide rail 514, and the portion of the dashed line t pointing downwards along the twelfth direction J (as shown in the diagram). Figure 54 The portion indicated by the J1 direction shown in the diagram is the second portion 5142 of the limiting guide rail 514. The first portion 5141 and the corresponding second portion 5142 are connected along the twelfth direction J, and exemplarily, the first portion 5141 and the corresponding second portion 5142 are integrally formed.

[0516] Continue reading Figure 54 Referring to the first portion 5141 of the dotted line t along the twelfth direction J upward, along the second direction Y, the first storage channel 5131 is formed between the first limiting guide rail 5143 and the second limiting guide rail 5144, and the second storage channel 5132 is formed between the second limiting guide rail 5144 and the third limiting guide rail 5145.

[0517] For example, the limiting channel 531 includes a first limiting channel 5311 and a second limiting channel 5312, see below. Figure 54 Referring to the second part 5142 of the dotted line t downward along the twelfth direction J, a first limiting channel 5311 is formed between the first limiting guide rail 5143 and the second limiting guide rail 5144, and a second limiting channel 5312 is formed between the second limiting guide rail 5144 and the third limiting guide rail 5145.

[0518] See Figure 53 and combined Figure 54 In the second position described above, the limiting channel 531 is connected to the second sliding channel 522. That is to say, after the infusion bag 103 passes through the second sliding channel and slides out of the stop part 52 (for example, the first liquid tube 10321 of the infusion bag 103a slides out of the third channel 5221 and the second liquid tube 10322 slides out of the fourth channel 5222 as described above), it can continue to move downward along the twelfth direction J in the limiting channel 531 until it moves to the limiting member 532.

[0519] For example, see Figure 53 and combined Figure 54That is, the first limiting channel 5311 is connected to the first storage channel 5131, and the second limiting channel 5312 is connected to the second storage channel 5132. Therefore, after the first liquid tube 10321 of the infusion bag 103a slides out of the third channel 5221 and the second liquid tube 10322 slides out of the fourth channel 5222, the first liquid tube 10321 can continue to move downward along the twelfth direction J in the first limiting channel 5311 (e.g., Figure 54 (as shown in the J2 direction), while the second liquid tube 10322 can continue to slide downward along the twelfth direction J in the second limiting channel 5312.

[0520] See Figure 54 and Figure 55 , Figure 55 Exemplary Figure 54 A magnified view of a portion of region g (where the infusion bag is omitted). Exemplarily, the aforementioned limiting member 532 includes a first limiting member 5321, a second limiting member 5322, and a third limiting member 5323.

[0521] like Figure 54 As shown, the reference dashed line t points downwards along the twelfth direction J (e.g., ...). Figure 54 The second part 5142 (shown in the J2 direction) along the twelfth direction J, the first limiting member 5321 is located at the end of the first limiting guide rail 5143, that is, along the first limiting guide rail 5143. Figure 54 The end of the side indicated by the J2 direction; the second limiting member 5322 is located at the end of the second limiting guide rail 5144, that is, along the edge of the second limiting guide rail 5144. Figure 54 The end of the side indicated by the J2 direction; the third limiting member 5323 is located at the end of the third limiting guide rail 5145, that is, along the edge of the third limiting guide rail 5145. Figure 54 The end of the side indicated by the J2 direction.

[0522] At the same time, along the thirteenth direction K, the first limiting member 5321 is located at the top of the first limiting guide rail 5143 (i.e. Figure 54 (As shown in the diagram, the side indicated by direction K1) The second limiting member 5322 is located at the top of the second limiting guide rail 5144, and the third limiting member 5323 is located at the top of the third limiting guide rail 5145.

[0523] It can also be understood that, along the second direction Y, the first limiting member 5321 and the second limiting member 5322 are located on both sides of the first limiting channel 5311, and the second limiting member 5322 and the third limiting member 5323 are located on both sides of the second limiting channel 5312.

[0524] See Figure 55 and Figure 56 and combined Figure 57 , Figure 56An exemplary perspective view of the limiting part 53 is shown (where the limiting guide rail and infusion bag are omitted). Figure 57 An exemplary perspective view of the limiting part 53 is shown (where the limiting guide rail is omitted).

[0525] like Figure 55 As shown, along the thirteenth direction K, at least a portion of the first limiting member 5321 is located at the top of the first limiting channel 5311 (i.e., Figure 55 The side indicated by K1 shown in the diagram), the left side of the second limiting member 5322 (i.e. Figure 55 At least a portion of the side indicated by the Y1 direction shown in the diagram is located at the top of the first limiting channel 5311. That is, continue reading... Figure 55 and Figure 56 and combined Figure 57 The first limiting member 5321 and the second limiting member 5322 together restrict the first liquid tube 10321, which slides out of the second sliding channel, from moving along the twelfth direction J to the end position. In other words, at this time, the first liquid tube 10321 is clamped by the first limiting member 5321 and the second limiting member 5322, and the first liquid tube 10321 cannot continue to move along the twelfth direction J.

[0526] like Figure 55 As shown, the right side of the second limiting member 5322 (i.e. Figure 55 At least a portion of the third limiting member 5323 (as shown in the Y2 direction) is located at the top of the second limiting channel 5312, and on the left side of the third limiting member 5323 (i.e., the side indicated by the Y2 direction). Figure 55 At least a portion of the side indicated by the Y1 direction shown in the diagram is located at the top of the second limiting channel 5312. That is, continue reading... Figure 55 and Figure 56 and combined Figure 57 The second limiting member 5322 and the third limiting member 5323 together restrict the second liquid tube 10322, which slides out of the second sliding channel, from the end position of the movement along the twelfth direction J. That is to say, at this time, the second liquid tube 10322 is clamped by the second limiting member 5322 and the third limiting member 5323, and the second liquid tube 10322 cannot continue to move along the twelfth direction J.

[0527] Specifically, see Figure 56 and Figure 57 and combined Figure 53 Along the second direction Y, a first tapered portion 533 can be formed between the first limiting member 5321 and the second limiting member 5322. The first tapered portion 533 is used to clamp the first liquid tube 10321 of the infusion bag 103 that slides out of the third channel 5221, thereby restricting the first liquid tube 10321 from sliding downward along the twelfth direction J (e.g., Figure 57(J2 direction shown in the figure) movement. At the same time, a second tapered portion 534 can be formed between the second limiting member 5322 and the third limiting member 5323. The second tapered portion 534 is used to clamp the second liquid tube 10322 of the infusion bag 103 that slides out of the fourth channel 5222, so as to restrict the second liquid tube 10322 from moving downward along the twelfth direction J.

[0528] In one possible implementation, see [reference] Figure 59 and Figure 60 and combined Figure 58 The first tapered portion 533 and the second tapered portion 534 respectively include a straight cavity 535 and an arc-shaped cavity 536, which are connected along the twelfth direction J. The liquid pipe 1032 (e.g., the first liquid pipe 10321 and the second liquid pipe 10322) respectively includes an annular outer edge 10323 and a pipe body 10324. Along the thirteenth direction K, the annular outer edge 10323 can abut against the top of two adjacent limiting guide rails (e.g., the annular outer edge 10323 abuts between the first limiting guide rail 5143 and the second limiting guide rail 5144, or the annular outer edge 10323 abuts between the second limiting guide rail 5144 and the third limiting guide rail 5145).

[0529] Along the second direction Y, the dimension D1 of the straight cavity 535 is smaller than the outer diameter D2 of the annular outer edge 10323, so as to abut against the annular outer edge 10323 along the twelfth direction J, thereby preventing the annular outer edge 10323 from moving downward through the straight cavity 535 along the twelfth direction J. For example, see [reference needed]. Figure 58 and Figure 59 The dimension of the straight cavity 535 along the second direction Y must also be greater than the dimension D6 of the tube body 10324 along the second direction Y (e.g. Figure 58 (As shown).

[0530] Continue reading Figure 59 and Figure 60 and combined Figure 58 Along the twelfth direction J, the arc-shaped cavity 536 and the straight cavity 535 are connected. That is to say, the liquid tube 1032 slides downward along the twelfth direction J in the limiting channel. It first passes through the arc-shaped cavity 536 and continues to slide downward along the twelfth direction J until it stops sliding when it reaches the straight cavity 535.

[0531] The size D3 of the arc cavity 536 (e.g.) Figure 59 As shown) not less than the outer diameter D2 of the annular outer edge 10323 (as shown) Figure 60As shown), the size D3 of the arc-shaped cavity 536 is larger than the size between the second parts of the adjacent limiting guide rails. For example, the size D3 of the arc-shaped cavity 536 is larger than the distance D4 between the first limiting guide rail 5143 and the second limiting guide rail 5144, so that the annular outer edge 10323 can simultaneously abut against the top of the first limiting guide rail 5143 and the second limiting guide rail 5144; as another example, the size D3 of the arc-shaped cavity 536 is larger than the distance D5 between the second limiting guide rail 5144 and the third limiting guide rail 5145, so that the annular outer edge 10323 can simultaneously abut against the top of the second limiting guide rail 5144 and the third limiting guide rail 5145.

[0532] See Figure 45 and Figure 64 This application also provides an infusion bag storage mechanism 5. Figure 45 and Figure 64 An exemplary perspective view of an infusion bag storage mechanism 5 according to an embodiment of this application is shown, wherein... Figure 45 Cabinet body omitted.

[0533] The infusion bag storage mechanism 5 of this application embodiment includes a cabinet 500, an inner frame 501, and at least one of the above-mentioned suspension mechanisms 50. Figure 45 and Figure 64 Six sets of suspension mechanisms 50 are illustrated in the example, but the number of suspension mechanisms 50 is not limited in the embodiments of this application.

[0534] like Figure 64 As shown, the inner frame 501 is connected to the inside of the cabinet 500. The inner frame 501 is the supporting frame of the infusion bag storage mechanism 5. The cabinet 500 and the inner frame 501 form an inner cavity SS2. The aforementioned suspension mechanism 50 is located in the inner cavity SS2 and is suspended from the inner frame 510 along the twelfth direction J.

[0535] The aforementioned twelfth direction J and the depth direction of cabinet 500 (e.g.) Figure 45 and Figure 64 The direction A shown in the diagram is set at an angle, that is, as... Figure 45 As shown, the extension direction of the suspension mechanism 50 and the depth direction of the cabinet 500, i.e. the first direction Z, form an angle β, where the angle is 0° < β < 180°.

[0536] In one possible implementation, see further. Figure 65 and Figure 66 The inner cavity SS2 is provided with a first support frame 5011 and a second support frame 5012, which are part of the aforementioned inner frame 501. Figure 65 and Figure 66As shown, the first support frame 5011 and the second support frame 5012 extend along the width direction (i.e., the second direction Y) of the cabinet 500.

[0537] For example, see [link to relevant documentation] Figure 65 and Figure 66 and combined Figure 45 The aforementioned inner frame 501 also includes a vertical frame 5013, which extends along the height direction (i.e., the vertical direction X) of the cabinet 500. Figure 45 Exemplary examples show four longer first upright frames 50131, two medium-length second upright frames 50132, and two shorter third upright frames 50133. Figure 65 An exemplary illustration shows four first uprights 50131 and two second uprights 50132.

[0538] See Figure 45 The first upright frame 50131, the second upright frame 50132, and the third upright frame 50133 extend along the height of the cabinet 500, see reference. Figure 65 The first frame 50131 is the supporting frame for the storage structure 5. Figure 65 The two first upright frames 50131 on the side indicated by the Z1 direction are used to connect with the first support frame 5011 mentioned above, and the second upright frame 50132 is used to connect with the second support frame 5012.

[0539] See Figure 65 and Figure 66 The first support frame 5011 and the second support frame 5012 are located on both sides of the inner cavity SS2 along the depth direction of the cabinet 500. Along the height direction of the cabinet 500, the first support frame 5011 is higher than the second support frame 5012.

[0540] Along the aforementioned twelfth direction J, the top of the support 51 of the aforementioned suspension mechanism 50 (i.e. Figure 65 and Figure 66 The end indicated by J1 shown in the diagram) and the first support frame 5011 are fixed, and the bottom end of the support base 51 (i.e. Figure 65 and Figure 66 The end indicated by J2 shown in the figure) is fixed to the second support frame 5012.

[0541] For example, the top end of the aforementioned top plate 511 along the twelfth direction J (e.g. Figure 62 The end indicated by J1 shown in the diagram is fixed to the bottom of the first support frame 5011 along the thirteenth direction K (as shown in the diagram). Figure 62 (The side indicated by the K2 direction shown in the diagram). For example, see [link to documentation]. Figure 62 The end of the top plate 511 near the stop portion 52 is fixed to the bottom of the second support frame 5012 along the thirteenth direction K (e.g. Figure 62(The side indicated by the direction of K2 shown in the diagram).

[0542] In one possible implementation, the top end of the support base 51 and the first support frame 5011, as well as the bottom end of the support base 51 and the second support frame 5012, can be fixed with bolts. In another possible implementation, welding can also be used for fixing. This application embodiment does not limit the fixing method between the two ends of the support base 51 along the twelfth direction J and the first support frame 5011 and the second support frame 5012, respectively.

[0543] See Figure 66 and Figure 67 In one possible implementation, along the width direction of the cabinet, angle adjustment blocks 54 can be provided between the two ends of the first support frame 5011 and the corresponding two first upright frames 50131. The angle adjustment blocks 54 are used to adjust the included angle between the first support frame 5011 and the first upright frames 50131.

[0544] For example, the angle adjustment block 54 is provided with a U-shaped adjustment hole 541, and the first support frame 5011 is located along the width direction of the cabinet 500 (e.g., Figure 66 The two ends of the first support frame 5011 (shown in the Y direction) pass through the U-shaped adjustment holes 541 and are screwed to the corresponding first upright frame 50131. When it is necessary to adjust the angle of the first support frame 5011, the bolts can be loosened and the first support frame 5011 can be moved up and down. At this time, the first support frame 5011 can move along the contour of the U-shaped adjustment holes 541, so the angle between the extension direction of the first support frame 5011 (i.e., the twelfth direction J mentioned above) and the depth direction of the cabinet 500 can be finely adjusted.

[0545] In another possible implementation, the angle adjustment block 54 may also be provided between the two ends of the second support frame 5012 and its corresponding second upright frame 50132. Alternatively, the angle adjustment block 54 may be provided simultaneously between the first support frame 5011 and the first upright frame 50131, and between the second support frame 5012 and the second upright frame 50132. This application embodiment does not limit this.

[0546] In one possible implementation, see [reference] Figure 62 and Figure 63 The inner frame 501 also includes a third support frame 5014, which extends along the width of the cabinet (e.g., ...). Figure 62 and Figure 63 Extending in the Y direction shown in the diagram, the two ends of the third support frame 5014 are respectively connected to the aforementioned third upright frame 50133. Along the height direction of the cabinet (e.g., along the Y direction shown in the diagram), Figure 62 and Figure 63 (As shown in the X direction), the third support frame 5014 is lower than the second support frame 5012 mentioned above.

[0547] As can be seen from the preceding text, along the twelfth direction J, the limiting part 53 is located on the side of the stop part 52 facing downwards (e.g., Figure 62 and Figure 63 (The side indicated by the J2 direction shown in the diagram).

[0548] For example, see Figure 56 and Figure 62 The limiting part 53 also includes a connecting plate 537, which has multiple screw holes. The connecting plate 537 is used to connect the limiting part 53 as a whole to the third support frame 5014 along the height direction of the cabinet 500 (e.g., Figure 62 The bottom (shown in the X direction).

[0549] For example, continue to refer to Figures 1 to 4 The infusion bag feeding module 14 also includes an infusion bag cap removal mechanism 6. The liquid tube 1032 is provided with a tube cap 1033. The infusion bag cap removal mechanism 6 is located between the infusion bag storage mechanism 5 and the liquid dispensing device 11 to remove the tube cap 1033 of the infusion bag 103 so that the liquid dispensing device 11 can dispense the liquid.

[0550] For example, a second robotic arm 162 is provided between the infusion bag storage mechanism 5 and the liquid dispensing device 11. The second robotic arm 162 is used to clamp the infusion bag 103 from the infusion bag storage mechanism 5 to the infusion bag capping mechanism 6, so as to peel off the cap of the infusion bag capping mechanism 6 for subsequent liquid dispensing.

[0551] See Figure 68 and Figure 69 This application provides an infusion bag peeling mechanism 6 for peeling the cap off an infusion bag 103. The infusion bag includes a bag body 1031, a tube cap 1033 and a liquid tube 1032. One end of the liquid tube 1032 is connected to the bag body 1031 and the other end is connected to the tube cap 1033.

[0552] The infusion bag peeling mechanism 6 of this application embodiment includes a peeling base 61, an infusion bag clamping part 62, and an infusion bag peeling part 63.

[0553] The cap-peeling base 61 extends vertically in the X direction and is used to support the infusion bag clamping part 62 and the infusion bag cap-peeling part 63. Exemplarily, the cap-peeling base 61 can be installed at an angle to an external frame (not shown in the figure), and this embodiment of the application does not limit the angle.

[0554] Along the fifteenth direction M, the infusion bag clamping part 62 and the infusion bag cap peeling part 63 are provided on the top surface of the cap peeling base 61, and the bottom surface of the cap peeling base 61 is used to install it in the aforementioned outer frame.

[0555] Along the vertical direction X, the infusion bag clamping part 62 is located in the lower part of the cap-removing base 61 (e.g. Figure 68 (As shown in the X1 direction), the infusion bag peeling part 63 is provided on the upper part of the peeling base 61; the infusion bag clamping part 62 and the infusion bag peeling part 63 are spaced apart along the vertical direction X.

[0556] See Figure 71 and Figure 72 and combined Figure 69 For example, the infusion bag clamping part 62 includes a clamping member 621.

[0557] The clamping member 621 is used to clamp the liquid tube 1032 of the infusion bag 103 to restrict the movement of the liquid tube 1032 in the vertical direction X and in the fourteenth direction L.

[0558] In one possible implementation, the infusion bag clamping part 62 further includes a second support platform 624, which is fixed to the cap-removing base 61. Exemplarily, the second support platform 624 has a similar cuboid plate structure and extends along the fifteenth direction M. One end of the second support platform 624 along the fifteenth direction M is connected to the cap-removing base 61. A clamping member 621 is disposed at the end of the second support platform 624 along the fifteenth direction M away from the cap-removing base 61, and the clamping member 621 extends along the fifteenth direction M.

[0559] See Figure 72 and Figure 73 and combined Figure 69 In one possible implementation, the clamping member 621 includes a clamping groove 6211 and a clamping recess 6212.

[0560] Along the fourteenth direction L, the minimum dimension D7 of the clamping recess 6212 is not less than the maximum dimension D8 of the annular outer edge 10323 of the liquid tube 1032, so that the clamping recess 6212 can support the annular outer edge 10323 of the liquid tube 1032. That is, exemplarily, the clamping recess 6212 has a U-shaped structure, and the minimum dimension D7 refers to the minimum width of the clamping recess 6212 along the fourteenth direction L. Exemplarily, the annular outer edge 10323 has a standard circular shape, and its maximum dimension D8 is the outer diameter of the annulus.

[0561] Along the fourteenth direction L, the minimum dimension D9 of the clamping groove 6211 is not greater than the maximum dimension D10 of the tube body 10324 of the liquid tube 1032, so that the clamping groove 6211 can clamp the tube body 10324 of the liquid tube 1032, so that the entire liquid tube 1032 is clamped in the clamping member 621. Exemplarily, the clamping groove 6211 has a U-shaped structure, and the minimum dimension D9 of the clamping groove 6211 refers to the minimum width of the clamping groove 6211 along the fourteenth direction L. Exemplarily, the maximum dimension D9 of the tube body 10324 refers to the maximum width of the tube body 10324 along the fourteenth direction L. Exemplarily, when D9 is less than D10, the tube body 10324 can be interference-fitted with the clamping groove 6211.

[0562] At this time, the infusion bag 103 cannot move along the vertical direction X and the fourteenth direction L, that is, the infusion bag 103 is stationary relative to the clamping groove 6211.

[0563] Exemplarily, the clamping groove 6211 and the clamping recess 6212 have a U-shaped structure. Exemplarily, the clamping member 621 can be welded to the end face of the second support platform 624 away from the peeling base 61 along the fifteenth direction M by a welding process, or the clamping member 621 and the second support platform 624 can be integrally formed. This application embodiment does not limit this.

[0564] See Figure 68 The second support platform 624 is connected to the peeling base 61. Exemplarily, a plurality of fourth screw holes (not shown in the figure) are formed on one end face of the second support platform 624 downward along the fifteenth direction M. Further reference is provided. Figure 75 and combined Figure 68 , Figure 75 A front view of the peel-off base 61 is shown.

[0565] like Figure 75 As shown, along the vertical direction X, peel off the lower part of the base 61 (such as...). Figure 75 A first connecting groove 612 is provided at the connection point between the part indicated by the X2 direction shown in the figure and the second support platform 624. A connecting plate 6121 is provided in the first connecting groove 612. The connecting plate 6121 extends along the fourteenth direction L, and a plurality of fifth screw holes 61211 are provided on the connecting plate 6121. The number of fourth screw holes (not shown in the figure) and fifth screw holes 61211 is the same, but this embodiment of the application does not limit this.

[0566] See Figure 75 and combined Figure 68 In other words, for example, one end of the second support platform 624 downward along the fifteenth direction M is connected to the peeling base 61 by bolts. For example, the second support platform 624 can also be connected to the peeling base 61 by welding or other means. This application embodiment does not limit this. As long as the connection between the second support platform 624 and the peeling base 61 can be achieved, it is within the protection scope of this application embodiment.

[0567] See Figure 68 and Figure 69 The bottom end of the infusion bag cap-removing portion 63 along the vertical direction X includes a cap receiving groove 63111. The infusion bag cap-removing portion 63 can move towards or away from the clamping member 621 along the vertical direction X, and the infusion bag cap-removing portion 63 can move circumferentially (e.g., Figure 69As shown in the figure, the U direction (which is arranged around the X direction) rotates, and at the same time, the infusion bag peeling part 63 can move along the vertical X direction toward the clamping member 621 to the tube cap 1033 of the infusion bag 103, so that the tube cap 1033 is engaged in the cap receiving groove 63111, so that the infusion bag peeling mechanism 6 is in the peeling state. The peeling state means that the infusion bag peeling part 63 can rotate circumferentially to separate the tube cap 1033 from the liquid tube 1032.

[0568] Using the above technical solution, please refer to Figures 68 to 70 First, the infusion bag 103's tubing 1032 is clamped by the clamping member 621. Simultaneously, the infusion bag cap-removing portion 63 moves vertically (X) towards the clamping member 621, and simultaneously, the cap-removing portion 63 itself can move circumferentially (e.g., ...). Figure 69 When the infusion bag peeling part 63 (shown in the U direction) rotates and contacts the tube cap 1033 of the infusion bag 103 held in the clamping member 621, the tube cap 1033 can be accommodated in the cap receiving groove 63111 at the bottom of the infusion bag peeling part 63 by circumferential rotation, so as to accommodate and limit the tube cap 1033. At this time, the infusion bag peeling part 63 continues to rotate circumferentially, and the tube cap 1033 can be directly separated from the liquid tube 1032.

[0569] In other words, the liquid tube 1032 held by the clamping member 621 remains fixed relative to the cap receiving groove 63111 containing the tube cap 1033. When the cap-removing part 63 of the infusion bag (i.e., the cap receiving groove 63111) rotates further circumferentially, the liquid tube 1032 and the tube cap 1033 can be separated. The infusion bag cap-removing mechanism 6 of this embodiment has a simple structure and low cost. It can automatically remove the cap throughout the entire process without manual operation, which can effectively improve the cap-removing efficiency of the infusion bag 103 and also improve the efficiency of the entire liquid preparation process.

[0570] See Figure 70 and combined Figure 69 In one possible implementation, the cap-peeling base 61 is further provided with a lifting assembly 613 and a third drive unit 614 (e.g., a motor). The lifting assembly 613 extends in the vertical direction X, and the third drive unit 614 is mounted on top of the lifting assembly 613. The infusion bag cap-peeling part 63 and the lifting assembly 613 are fixed together. The third drive unit 614 can drive the lifting assembly 613 to move up and down in the vertical direction X, so as to drive the infusion bag cap-peeling part 63 to move in the vertical direction X toward or away from the infusion bag clamping part 62.

[0571] In one possible implementation, the lifting assembly 613 includes a lead screw 6131, a nut 6132, and a transmission block 6133, and the infusion bag capping part 63 is fixedly connected to a first support platform 635.

[0572] A lead screw 6131 extends vertically in the X direction. One end of the lead screw 6131 is connected to a third drive unit 614. A nut 6132 is fitted onto the outside of the lead screw 6131. ​​The nut 6132 is fixed to a transmission block 6133, which is fixedly connected to a first support platform 635. Thus, the third drive unit 614 can drive the lead screw 6131 to rotate circumferentially, thereby driving the nut 6132 and the transmission block 6133 to move up and down vertically in the X direction, so that the first support platform 635 and the infusion bag capping part 63 move toward or away from the infusion bag clamping part 62.

[0573] See Figure 76 and Figure 78 , Figure 78 A bottom view of the cap-removing rotating member 631 is shown as an example. In one possible embodiment, the cap-removing part 63 of the infusion bag includes a cap-removing rotating member 631 and a fourth drive part 632, with a cap receiving groove 63111 formed at the bottom end of the cap-removing rotating member 631 in the vertical direction X. See also Figure 70 For example, the aforementioned peeling rotating member 631 and the fourth driving part 632 are connected to the aforementioned first support platform 635 in the vertical direction X.

[0574] See Figure 76 and Figure 78 and combined Figure 69 The cap-peeling rotating component 631 is located at the lower end of the cap-peeling part 63 of the infusion bag along the vertical direction X (i.e., Figure 76 (At the end indicated by X2 in the middle), the cap-peeling rotating member 631 extends in the vertical direction X and is spaced apart from the infusion bag clamping part 62.

[0575] For example, firstly, the fourth drive unit 632 is capable of driving the cap-peeling rotating member 631 circumferentially (e.g., Figure 76 The first rotation (in the U direction shown in the diagram) is performed. At the same time, the cap-removing rotating member 631 and the fourth driving unit 632 can move in the vertical direction X toward the clamping member 621 to the tube cap 1033 of the infusion bag 103. Through the first rotation, the tube cap 1033 can be engaged in the cap receiving groove 63111. Secondly, when the tube cap 1033 is engaged in the cap receiving groove 63111, the fourth driving unit 632 can drive the cap-removing rotating member 631 to rotate a second time in the circumferential direction, so that the tube cap 1033 is separated from the liquid tube 1032.

[0576] See Figure 77 In one possible implementation, the cap-peeling rotating member 631 includes a cap-peeling member 6311, a connecting shaft 6312, and a bushing 6313, and the fourth driving part 632 includes a driving shaft 6321. Along the vertical direction X, the top end of the connecting shaft 6312 (i.e....) Figure 77 The end indicated by X1 shown in the diagram) and the bottom surface connected to the bearing disk 633, the bottom end of the drive shaft 6321 (i.e. Figure 77The end (indicated by the X2 direction shown in the figure) is connected to the top surface of the bearing disk 633.

[0577] Furthermore, a bushing 6313 is fitted onto the outer side of the connecting shaft 6312, and the bushing 6313 and the connecting shaft 6312 are circumferentially (e.g., Figure 77 Synchronous rotation (as shown in the U direction) means that when the connecting shaft 6312 rotates synchronously along the circumferential direction via the fourth drive unit 632 (e.g., in the U direction), Figure 77 When the bushing 6313 rotates in the U direction shown in the diagram, it also rotates synchronously; simultaneously, the bushing 6313 and the connecting shaft 6312 can rotate axially (e.g., in the U direction). Figure 77 Relative motion (in the X direction shown in the figure), such as Figure 77 As shown, the bottom surfaces of the bushing 6313 and the bearing disc 633 are spaced apart, and the bottom end of the bushing 6313 along the vertical direction X (i.e., Figure 77 The end (in the X2 direction shown in the figure) is fixed with a peeling piece 6311.

[0578] See Figure 77 and Figure 78 and combined Figure 69 The cap-removing component 6311 is used for cap removal. The bottom of the cap-removing component 6311 has the aforementioned cap-receiving groove 63111, and the tube cap 1033 of the infusion bag 103 can be snapped into the cap-receiving groove 63111. Exemplarily, this application embodiment does not limit the size of the cap-receiving groove 63111 and the tube cap 1033 of the infusion bag 103; as long as the tube cap 1033 can be snapped into the cap-receiving groove 63111, it falls within the protection scope of this application embodiment.

[0579] In one possible implementation, the infusion bag peeling part 63 further includes an elastic element (e.g., a spring) that extends in the vertical direction X. When the peeling part 6311 moves toward the infusion bag clamping part 62 and rotates circumferentially until it contacts the tube cap 1033, the spring generates elastic deformation to buffer the impact force of the peeling part 6311 on the tube cap 1033, so as not to squeeze the tube cap 1033 in the vertical direction X and damage the tube cap 1033. At the same time, it also makes it easy for the tube cap 1033 to be snapped into the cap receiving groove 63111.

[0580] For example, see Figure 76 and combined Figure 69 Multiple springs (not shown in the figure) are provided in the gap 634 between the aforementioned bushing 6313 and the aforementioned bearing disc 633, and the top of the spring (i.e. Figure 76 The end indicated by X1 shown in the diagram) and the bearing disc 633 elastically abut against each other, and the bottom end of the spring (i.e. Figure 76 The end (indicated by the X2 direction shown in the figure) and the bushing 6313 elastically abut against each other.

[0581] It should be noted that, as mentioned above, the bushing 6313 and the connecting shaft 6312 can move axially (e.g., Figure 76 The relative movement is shown in the X direction. This axial relative movement refers to the movement of the sleeve 6313 relative to the connecting shaft 6312 in the axial direction when the capping member 6311 abuts against the tube cap 1033, because there is an elastic abutment spring between the sleeve 6313 and the bearing disc 633. Figure 76 The sleeve 6313 and the connecting shaft 6312 move synchronously along the axial direction (as shown in the X1 direction); however, when the cap remover 6311 and the cap 1033 are not in contact, the sleeve 6313 and the connecting shaft 6312 move synchronously along the axial direction without relative movement. That is to say, the relative movement of the sleeve 6313 and the connecting shaft 6312 along the axial direction only occurs when the cap remover 6311 and the cap 1033 are in contact.

[0582] The spring extends vertically in the direction X. The initial state of the spring can be either uncompressed or partially compressed; this initial state refers to the state of the spring before the peel-off portion begins to function. Any spring that can provide a cushioning effect falls within the protection scope of this application's embodiments.

[0583] See Figure 69 and Figure 70 In one possible implementation, a sixth sensor 615 (e.g., a photoelectric sensor) is provided on one side of the lifting assembly 613, and the sixth sensor 615 is located on the cover-peeling base 61. Figure 69 and Figure 70 Two sixth sensors 615 are illustrated in the example, but this application embodiment is not limited thereto. The two sixth sensors 615 are arranged at a distance along the vertical direction X. At the same time, a first connecting piece 61331 is provided on the aforementioned transmission block 6133, and the first connecting piece 61331 is close to the sixth sensor.

[0584] Therefore, as Figure 69 As shown, when the transmission block 6133 moves upward in the vertical direction X on the lead screw 6131 (e.g.) Figure 69 When the first connecting piece 61331 moves in the X1 direction (as shown in the diagram), it can contact the sixth sensor 615 located at the top, thereby stopping the movement of the cap-peeling rotating part 631 and the fourth driving part 632; as shown in the diagram. Figure 70 As shown, when the transmission block 6133 is on the lead screw 6131, moving downwards in the vertical direction X (as shown in the image), Figure 70 When the first connecting piece 61331 moves in the X2 direction shown in the figure, it can contact the sixth sensor 615 located at the bottom, so that the peeling rotating part 631 and the fourth driving part 632 stop moving.

[0585] Using the above technical solution, please refer to Figure 69 and Figure 70A sixth sensor 615 (e.g., a photoelectric sensor) is provided on both sides of the lifting assembly 613. The two sixth sensors 615 are spaced apart along the vertical direction X. At the same time, a first connecting piece 61331 is provided on one side of the transmission block 6133 in the lifting assembly 613. For example, the first connecting piece 61331 has a T-shaped bending structure.

[0586] When the transmission block 6133 moves upward in the vertical direction X, the first connecting piece 61331 will contact the sixth sensor located at the top. The sixth sensor 615 at the top detects the position signal of the transmission block 6133 moving to the top. At this time, the transmission block 6133 will stop moving and will not move further upward.

[0587] Correspondingly, when the transmission block 6133 moves downward along the vertical direction X, the first connecting piece 61331 will contact the sixth sensor 615 located at the bottom. The sixth sensor 615 at the bottom detects the position signal of the transmission block 6133 reaching the bottom, at which point the transmission block 6133 will not move further downward. In other words, the sixth sensor 615 can detect the movement state of the lifting assembly 613, which can effectively improve the accuracy of the up-and-down movement of the cap-peeling rotating part 631 and the fourth drive part 632 along the vertical direction X.

[0588] See Figure 71 and combined Figure 69 In one possible implementation, the infusion bag clamping part 62 further includes a squeezing member 622, which includes a fifth driving part 6223 connected to the side of the squeezing member 622 away from the liquid tube 1032 along the fourteenth direction L. The fifth driving part 6223 can drive the squeezing member 622 to move forward along the outer wall of the clamping member 621 in the fourteenth direction L to squeeze the liquid tube 1032 clamped in the clamping member 621 along the fifteenth direction M, so that the liquid tube 1032 is in a clamped state. For example, the squeezing member 622 can further clamp the liquid tube 1032 held in the clamping member 621, improve the clamping effect of the infusion bag clamping part 62, and thus improve the reliability of the subsequent capping operation. However, the embodiment of this application does not limit the setting of the squeezing member 622. That is to say, the infusion bag clamping part 62 of this application embodiment can only be provided with the above-mentioned clamping member 621, or it can be provided with both the clamping member 621 and the squeezing member 622. It can be selected according to the actual application.

[0589] See Figure 71 and Figure 74 and combined Figure 69 For example, the extruder 622 further includes an extrusion portion 6221 and a third sliding portion 6222. Along the vertical direction X, the extrusion portion 6221 is located at the top of the third sliding portion 6222 (i.e., Figure 71 and Figure 74(The side indicated by the X1 direction). The third sliding part 6222 has through holes (not shown in the figure) on both sides along the fourteenth direction L. The through holes extend along the fourteenth direction L and are used to connect with the fifth driving part 6223.

[0590] Exemplarily, the extrusion portion 6221 has a T-shaped structure, and the third sliding portion 6222 has an L-shaped structure, but the shapes of the extrusion portion 6221 and the third sliding portion 6222 are not limited in this embodiment. Exemplarily, as Figure 71 As shown, the extrusion part 6221 and the third sliding part 6222 are respectively provided with screw holes (only the screw hole of the extrusion part 6221 is shown in the figure), and the extrusion part 6221 and the third sliding part 6222 are screwed together. The present application embodiment does not limit the connection relationship between the extrusion part 6221 and the third sliding part 6222. As long as the connection between the two can be achieved, it is within the protection scope of the present application embodiment.

[0591] See Figure 71 and Figure 74 and combined Figure 69 For example, the fifth drive unit 6223 is a lead screw motor 62231. The nut (not shown in the figure) and the third sliding part 6222 of the lead screw motor are fixed. The screw 62232 of the lead screw motor passes through the nut and the third sliding part 6222. The nut and the screw 62232 can be threaded together. When the screw 62232 rotates, it can cause the nut and the third sliding part 6222 connected to the nut to move forward along the fourteenth direction L (e.g., Figure 71 and Figure 74 (as shown in the L1 direction) or backward (e.g.) Figure 71 and Figure 74 The movement is shown in the L2 direction. This application does not limit the fifth drive unit 6223; any component capable of driving the extruder 622 to move back and forth along the fourteenth direction L falls within the protection scope of this application.

[0592] See Figure 71 and combined Figure 72 and Figure 73 The fifth drive unit 6223 drives the third sliding unit 6222 along... Figure 71 As shown in the diagram, the extrusion part 6221 has an arc-shaped end 62211 facing the clamping member 621. The screw motor 62231 drives the extrusion part 6221 to move forward along the outer wall of the clamping member 621. This arc-shaped part can fit against the annular outer edge 10323 of the liquid tube 1032, so that the extrusion part 6221 can extrude pressure on the liquid tube 1032, preventing the annular outer edge 10323 from being damaged by pressure. The screw motor 62231 drives the extrusion part 6221 to move backward along the outer wall of the clamping member 621, and this arc-shaped part 62211 can move away from the annular outer edge 10323 of the liquid tube 1032.

[0593] See Figure 71 and Figure 74 and combined Figure 69 In one possible implementation, the lower end face of the second support platform 624 along the vertical direction X (i.e. Figure 72 The end shown in the X2 direction is provided with a fourth sliding portion 6241 (e.g., a slide rail), which extends along the fourteenth direction L. The aforementioned third sliding portion 6222 can be slidably connected to the fourth sliding portion 6241 along the fourteenth direction L.

[0594] For example, the third sliding portion 6222 of the extruder 622 has a first slider 62221 at its bottom along the fifteenth direction M. The first slider 62221 is slidably connected to the fourth sliding portion 6241. That is, along the fourteenth direction L, when the lead screw motor 62231 is started, the third sliding portion 6222 can slide within the fourth sliding portion 6241 via the first slider 62221, so that the extruder 6221 moves along the fourteenth direction L, thereby allowing the extruder 6221 to move forward against the outer wall of the clamping groove 6211, so that the tube cap 1033 is in a clamped state. Conversely, when the extruder 6221 moves away from the liquid tube 1032 along the fourteenth direction L, the liquid tube 1032 is not extruded within the clamping groove 6211.

[0595] See Figure 69 For example, the first support platform 635 extends along the fifteenth direction M, and the aforementioned drive shaft 6321 passes through the first support platform 635 and is connected to the top surface of the bearing disk 633, so that the fourth drive part 632 and the cover-peeling rotating part 631 are fixed to the first support platform 635.

[0596] See Figure 71 and Figure 74 In one possible implementation, the infusion bag cap-removing mechanism 6 of this application embodiment further includes a seventh sensor 618 (e.g., a photoelectric sensor), which is located at the bottom end of the fourth sliding portion 6241 along the vertical direction X (i.e., Figure 71 and Figure 74 (As shown in the X2 direction, the seventh sensor 618 is spaced along the fourteenth direction L). Figure 71 and Figure 74 Two seventh sensors 618 are shown exemplarily, located at the front end along the fourteenth direction L. Figure 71 and Figure 74 The side indicated by L1 shown in the diagram) and the rear end (not shown in the diagram, but located at...). Figure 71 and Figure 74 (as shown in the L2 direction on the side), but the number of seventh sensors 618 is not limited in this embodiment. The extrusion member 622 is provided with a second connecting piece 6224.

[0597] Along the fourteenth direction L, when the fifth driving unit 6223 drives the extruder 622 to move along the fourth sliding part 6241 toward the liquid pipe, the second connecting piece 6224 can contact the seventh sensor 618 near the liquid pipe (i.e., the seventh sensor 618 located at the front end, that is, located at...). Figure 71 and Figure 74 The seventh sensor 618 (shown on the side indicated by direction L1) causes the extruder 622 to stop moving at the end position of its movement along the fourteenth direction L toward the liquid pipe.

[0598] Along the fourteenth direction L, when the fifth driving unit 6223 drives the extruder 622 to move away from the liquid pipe along the fourth sliding part 6241, the second connecting piece 6224 can contact the seventh sensor 618 (not shown in the figure, i.e., the seventh sensor 618 located at the rear end, i.e., located on the side away from the liquid pipe) on the fourteenth direction L. Figure 71 and Figure 74 The seventh sensor 618 (shown on the side indicated by the L2 direction) causes the extruder 622 to stop moving at the end position of its movement away from the liquid pipe along the fourteenth direction L.

[0599] Using the above technical solution, please refer to Figure 71 and Figure 74 A seventh sensor 618 (e.g., two) is provided at the bottom of the fourth sliding part 6241, and the two seventh sensors 618 are spaced apart along the fourteenth direction L. At the same time, a second connecting piece 6224 (e.g., two) is provided on one side of the extrusion member 622 (third sliding part 6222), and the two second connecting pieces 6224 are spaced apart along the fourteenth direction L.

[0600] When the third sliding part 6222 moves forward along the fourteenth direction L (i.e.) Figure 71 and Figure 74 When the third sliding part 6222 moves forward (as shown in the L1 direction), the second connecting piece 6224 at the front end will contact the seventh sensor 618 at the front end. The seventh sensor 618 detects the position signal of the third sliding part 6222 moving forward, at which time the third sliding part 6222 stops moving.

[0601] Accordingly, when the third sliding part 6222 moves backward along the fourteenth direction L (i.e. Figure 71 and Figure 74 As shown in the L2 direction, the second connecting piece 6224 at the rear end contacts the seventh sensor 618 at the rear end. The seventh sensor 618 detects the position signal of the third sliding part 6222 moving backward, at which point the third sliding part 6222 will not move further backward. Thus, the seventh sensor 618 can detect the movement state of the extruder 622, effectively improving the accuracy of the extruder 622's back-and-forth movement along the fourth sliding part 6241.

[0602] See Figure 68 and Figure 69 In one possible implementation, the infusion bag cap-removing mechanism 6 of this application embodiment further includes a disinfection component 64, which has a protruding nozzle 641. Along the vertical direction X, the disinfection component 64 is spaced apart on the top of the infusion bag clamping portion 62 so that the nozzle 641 is positioned toward the liquid tube 1032.

[0603] See Figure 69 and Figure 75 For example, along the vertical direction X, the peel-off base 61 is provided with a second connecting groove 616, which is used to install the above-mentioned disinfection component 64. For example, the disinfection component 64 can be installed in the second connecting groove 616 by means of bolt connection.

[0604] Using the above technical solution, please refer to Figure 68 and Figure 69 The disinfection assembly contains a disinfectant solution (such as ethanol, hydrogen peroxide, etc.). After the infusion bag cap-removing part 63 and the infusion bag clamping part 62 work together to achieve the cap-removing operation (i.e., to separate the tubing 1032 and the cap 1033), in one possible embodiment, the infusion bag cap-removing part 63 moves away from the clamping part in the vertical direction X (e.g., ...). Figure 68 and Figure 69 When the device moves in the X1 direction shown in the figure, the disinfection component 64 is activated, and the disinfectant is sprayed through the nozzle 641 onto the liquid tube 1032, thereby achieving disinfection of the outer surface of the liquid tube 1032 to ensure the sterilization of the medical device.

[0605] In another possible implementation, the disinfection component 64 is activated before the cap removal process begins. The nozzle 641 sprays disinfectant onto the liquid pipe 1032 and the cap 1033 simultaneously, ensuring that the outer surfaces of the cap 1033 and the liquid pipe 1032 are disinfected, which can effectively avoid cross-contamination during the subsequent cap removal process.

[0606] See Figure 68 and Figure 69In one possible implementation, the infusion bag cap-removing mechanism 6 of this application embodiment further includes an eighth sensor 617. The eighth sensor 617 is located at the lower end of the disinfection assembly 64 along the vertical direction X and faces the tube cap 1033 clamped in the clamping member 621. As can be seen from the foregoing, the fourth drive unit 632 can drive the cap-removing rotating member 631 to rotate circumferentially for the first time, and move downward along the vertical direction X to make the tube cap 1033 snap into the cap receiving groove. After the tube cap 1033 is snapped into the cap receiving groove, the eighth sensor 617 can identify the state of the tube cap 1033, and then trigger a second rotation signal, so that the fourth drive unit 632 drives the cap-removing rotating member 631 to rotate circumferentially for the second time, so that the tube cap 1033 is separated from the liquid tube 1032.

[0607] Using the above technical solution, the eighth sensor 617 can identify the state in which the tube cap 1033 of the infusion bag 103 is accommodated in the cap receiving groove 63111. At this time, the cap-peeling part 63 of the infusion bag further rotates circumferentially to realize the cap-peeling operation of the infusion bag 103.

[0608] See Figure 69 and Figure 71 In one possible implementation, the infusion bag peeling mechanism 6 of this application embodiment further includes a waste channel 65 and a waste bin (not shown in the figure), which can be placed at the bottom of the infusion bag peeling mechanism 6 of this application embodiment. The waste channel 65 includes a third inlet 651 and an outlet (not shown in the figure), the outlet corresponding to the waste bin, and the third inlet 651 is located at the top of the second support platform 624 along the vertical direction X, and is spaced apart from the infusion bag peeling part 63 along the vertical direction X.

[0609] For example, after the infusion bag peeling mechanism 6 completes peeling the cap off the infusion bag 103, the second robot arm 162 sends the infusion bag on the infusion bag clamping part into the infusion bag clamping mechanism 1111, so that the infusion bag claw 11111 clamps the infusion bag 103 after peeling off the cap.

[0610] In one possible implementation, the syringe feeding module includes a syringe storage mechanism 4.

[0611] See Figure 79 This application provides a syringe storage mechanism 4, which includes a storage mechanism housing 41, three syringe clamps 42, a storage section 43, and a transfer assembly 44.

[0612] See Figure 80 , Figure 80 An exemplary perspective view of the syringe storage mechanism 4 according to an embodiment of this application is shown. Figure 80As shown, the syringe storage mechanism 4 of this application embodiment includes two parts. One part extends along the vertical direction X, and this part includes the storage mechanism housing 41 and storage section 43 mentioned above. The other part extends along the first direction Z, and this other part includes the transfer component 44 mentioned above. The three syringe clamps 42 mentioned above can move between the two parts.

[0613] It should be noted that, although Figure 80 Three syringe clamps 42 are shown as an example, but this application embodiment does not limit the number of syringe clamps 42. That is, four, five or other numbers of syringe clamps 42 can also be set. As long as each syringe clamp 42 can be accommodated in the carrier component described below, it is within the protection scope of this application embodiment.

[0614] See Figure 80 and Figure 81 , Figure 81 An exemplary perspective view of the syringe storage mechanism 4 according to an embodiment of this application is shown. The storage mechanism housing 41 extends in the vertical direction X, and a working cavity is provided inside the storage mechanism housing 41. The aforementioned storage part 43 is disposed in the working cavity, and similarly, the storage part 43 also extends in the vertical direction X.

[0615] See Figure 82 , Figure 82 An exemplary perspective view of the storage unit 43 is shown. It can be seen that along the vertical direction X, the storage unit 43 is provided with three support components 430, which are spaced apart. Each support component 430 can hold a syringe holder 42, such as... Figure 82 As shown, each syringe holder 42 can accommodate multiple syringes 102.

[0616] It should be noted that, although Figure 82 Three support components 430 are illustrated, each supporting one of the aforementioned syringe holders 42 (the syringe storage mechanism 4 of this application embodiment is exemplarily described with three syringe holders 42, but...). Figure 82 To facilitate the display of the internal structure, one syringe clamp 42 is hidden. However, this application embodiment does not limit the number of syringe clamps 42. That is, four support components 430 can be set to place the above four syringe clamps 42, or five support components 430 can be set to place five syringe clamps 42.

[0617] also, Figures 79 to 82The syringe clamp 42 is shown in detail to have a rectangular structure and multiple holes for holding multiple syringes. In one possible embodiment, preferably, each syringe clamp 42 includes 61 holes to hold 61 syringes. However, the embodiments of this application do not limit the shape of the syringe clamp 42 or the number of syringes, and can be selected according to the actual application.

[0618] See Figure 79 and Figure 80 Storage unit 43 is positioned upwards in the vertical direction X (e.g., Figure 79 and Figure 80 (as shown in the X1 direction) or downward (e.g.) Figure 79 and Figure 80 The storage mechanism housing 41 is slidably connected to the inner wall of the storage mechanism housing 41 in the X2 direction shown in the figure. That is, the bottom of the storage mechanism housing 41 in the vertical X direction (i.e., Figure 79 and Figure 80 The storage unit 43 is not closed on the side indicated by the X2 direction. It can move downward in the vertical direction X relative to the storage mechanism housing 41 to slide out of the storage mechanism housing 41, or it can move upward in the vertical direction X relative to the storage mechanism housing 41 to slide into the storage mechanism housing 41.

[0619] See Figure 81 The conveying component 44 is connected to one side 410 of the storage mechanism housing 41 along the first direction Z (i.e., Figure 81 (On the side indicated by the Z2 direction), the transmission component 44 includes a fifth sliding portion 441 and a sixth sliding portion 442 extending along the first direction Z.

[0620] The fifth sliding part 441 is used to support the syringe clamp 42 mentioned above, such as Figure 81 As shown, along the first direction Z, one end of the fifth sliding part 441 (i.e. Figure 81 The end (pointed to in the Z1 direction) carries a syringe clamp 42, and the specific manner and steps of carrying the syringe clamp 42 on the fifth sliding part 441 will be described in detail later.

[0621] Continue reading Figure 81 The fifth sliding part 441 (e.g., a sliding plate) is slidably connected to the sixth sliding part 442 (e.g., a slide rail) along the first direction Z, and the fifth sliding part 441 can move forward along the sixth sliding part (e.g., ...). Figure 81 (as shown in the Z1 direction) or backward (e.g.) Figure 81The fifth sliding part 441 can move forward relative to the sixth sliding part 442 to slide into the storage mechanism housing 41, and after sliding into the storage mechanism housing 41, the fifth sliding part 441 is located at the support component at the bottom of the storage mechanism housing 41 (i.e., located along the edge of the storage mechanism housing 41). Figure 81 Below the support assembly at the bottom end (as indicated by the X2 direction), or, the fifth sliding part 441 can move rearward relative to the sixth sliding part 442 to move from the support assembly (i.e., located along the edge of the storage mechanism housing 41) below the support assembly (i.e., located along the edge of the storage mechanism housing 41). Figure 81 The storage mechanism housing 41 slides out from below the load-bearing component at the bottom end (in the X2 direction).

[0622] Using the above technical solution, please refer to Figures 79 to 82 In the syringe storage mechanism 4 of this application embodiment, a part (i.e., the storage part 43 inside the storage mechanism housing 41) is used to store a plurality of syringe clamps 42 at intervals along the vertical direction X, and another part (i.e., the transfer assembly 44 outside the storage mechanism housing 41) is used to extract or transport the syringe clamps 42 from the storage part 43 along the first direction Z.

[0623] Furthermore, the storage unit 43 can be used to store syringes in batches. Each carrying component 430 in the storage unit 43 can carry a syringe holder 42 for one syringe, effectively improving the syringe storage capability.

[0624] Furthermore, on the one hand, the fifth sliding part 441 in the conveying assembly 44 can automatically remove the syringe clamp 42 (e.g., the syringe clamp 42 in the bearing assembly 430 at the bottom of the storage mechanism housing 41) from the storage part 43 along the first direction Z, and convey the syringe clamp 42 along the sixth sliding part 442 in a direction away from the storage part 43. When it is conveyed to the other end of the sixth sliding part 442 away from the storage part 43, the fifth sliding part 441 stops sliding and then rests at the other end. For example, it can wait for an external robot (i.e., the third robot 163) to grasp the syringe 102 in the syringe clamp 42.

[0625] After the syringes 102 in the syringe holder 42 are removed, the fifth sliding part 441 slides towards the storage part 43 to slide into the storage mechanism housing 41 and position itself below the support assembly 430 at the bottom of the storage mechanism housing 41. At this time, the empty holder 42 can be switched from the fifth sliding part 441 to the support assembly 430. For example, the fifth sliding part 441 then slides a certain distance away from the storage part 43 to slide out of the storage mechanism housing 41.

[0626] On the other hand, since the storage section 43 can move downward relative to the storage mechanism housing 41 in the vertical direction X, the empty clamp 42 can slide downward out of the storage mechanism housing 41 in the vertical direction X. Then, the other support component 430, which was originally located above it, moves to the bottom of the storage mechanism housing 41 at this time. The other syringe clamp 42 in the other support component 430 contains the syringe 102. Therefore, the fifth sliding section 441, which just slid out of the storage mechanism housing 41, can continue to slide into the storage mechanism housing 41 in the first direction Z and be located below the other support component 430. At this time, the other syringe clamp 42 containing the syringe 102 can switch to the fifth sliding section 441 and continue to slide away from the storage section 43 to the other end of the sixth sliding section 442, for example, waiting again for the external robot (i.e., the third robot 163) to pick up the syringe 102.

[0627] After the syringe 102 in the other syringe holder 42 is removed, it still slides into the storage mechanism housing 41 through the fifth sliding part 441 and is located below the other support component 430. Then the other syringe holder 42 switches to the other support component 430 and slides out of the storage mechanism housing 41 in the vertical direction X.

[0628] On the other hand, when all the supporting components 430 in the storage section 43 slide out of the storage mechanism housing 41 in the vertical direction X, that is to say, the syringe holders 42 in the supporting components 430 are all empty (i.e., no syringes are contained in the syringe holders 42). For example, the syringe holders 42 can be removed uniformly, and syringes can be replenished externally. Then, the syringe holders 42 containing the syringes 102 can be put back into the supporting components 430. Then, the storage section 43 slides upward in the vertical direction X so that all the supporting components 430 slide into the storage mechanism housing 41. At this time, the syringe storage mechanism 4 can then perform cyclical operation according to the above two aspects.

[0629] Therefore, the syringe storage mechanism 4 of this application embodiment has a high degree of automation, can store and transport syringes 102 in batches, and can cooperate with the workstations in the liquid preparation process (such as the third robotic arm 163 used to pick up syringes as described above), thereby effectively improving the efficiency of the liquid preparation process.

[0630] In one possible implementation, Figure 81 The diagram shows a storage mechanism housing 41 extending vertically in the X direction. The storage mechanism housing 41 contains a storage section 43. Further reference... Figure 79 and Figure 80As can be seen, the outer side of the storage mechanism housing 41 also includes a storage mechanism outer shell 411, which is sealed around the storage mechanism housing 41.

[0631] Although Figure 79 The arrangement of the storage unit 43 and the syringe clamp 42 inside the storage mechanism housing 41 is clearly illustrated by way of example (that is, in...). Figure 79 In the middle, along the edge of the storage structure shell 41 Figure 79 The side indicated by the Z1 direction is exposed, but it should be noted that... Figure 79 Presented only for the purpose of facilitating the display of the product's internal structure, the side of the storage mechanism housing 41 pointing along the Z1 direction is actually covered by the storage mechanism outer shell 411, making it impossible to observe the internal structure of the storage mechanism housing 41 from the outside.

[0632] In addition, the bottom surface of the storage mechanism housing 41 along the vertical direction X (i.e. Figure 79 The side (pointed to in the X2 direction) is not covered by the outer shell 411 of the storage mechanism, so that the storage part 43 inside the storage mechanism shell 41 can slide out of the storage mechanism shell 41 in the vertical direction X.

[0633] For example, see Figure 82 The storage unit 43 includes a sealed compartment 434 inside. In other words, since the outer casing 411 of the storage mechanism is sealed around the storage mechanism housing 41, the syringe clamp 42 inside the storage unit 43 can be sealed and preserved under certain conditions.

[0634] Continue reading Figure 82 The support component 430 is disposed on the inner wall of the sealed chamber 434. For example, the support component includes a first support component 4301, a second support component 4302 and a third support component 4303, which are spaced apart along the vertical direction X.

[0635] In one possible implementation, the first support component 4301, the second support component 4302 and the third support component 4303 respectively include a first support platform 4311 and a second support platform 4312, the first support platform 4311 and the second support platform 4312 extend along a first direction Z and along a second direction Y, and the first support platform 4311 and the second support platform 4312 correspond to each other.

[0636] For example, one end of the syringe clamp 42 along the second direction Y (i.e. Figure 82 The end pointed to in the Y2 direction is supported on the top surface of the first support platform 4311 (i.e. Figure 82 The side pointed to in the X1 direction), the other end of the syringe clamp 42 along the second direction Y (i.e. Figure 82The end indicated by the Y1 direction is supported on the top surface of the second support platform 4312 (i.e. Figure 82 The side pointed to in the X1 direction.

[0637] Furthermore, on one side of the second direction Y of the sealed chamber 434 (i.e. Figure 82 The outer wall of the side (pointed to in the Y1 direction) is connected to a lifting assembly 435 extending in the vertical direction X, and the sealed chamber 434 can move up and down along the lifting assembly 435.

[0638] See Figures 83a to 83c , Figure 83a An exemplary perspective view of the storage unit 43 is shown. Figure 83b Exemplary Figure 83a A magnified view of a portion of region l in the middle. Figure 83c Exemplary Figure 83a A magnified view of a portion of region m.

[0639] In one possible implementation, the lifting assembly 435 includes a sixth drive unit 4351 (e.g., a motor), a first lead screw 4352, a third transmission assembly 4353, and a third connector 4354.

[0640] The first lead screw 4352 is along the vertical direction X (e.g., ... Figure 83a , Figure 83b and Figure 83c Extending in the Z direction (as shown in the diagram), as... Figure 83a and Figure 83c As shown, a first coupling 4355 is provided between the first lead screw 4352 and the sixth drive unit 4351. The first coupling 4355 is used to realize the connection between the first lead screw 4352 and the sixth drive unit 4351.

[0641] like Figure 83a and Figure 83b As shown, the third transmission assembly 4353 includes a first nut (not shown in the figure) and a first transmission block 43531. The first nut is sleeved on the outside of the first lead screw 4352, and the first nut and the first transmission block 43531 are fixed.

[0642] Along the second direction Y, one side of the third connector 4354 (i.e. Figure 83a and Figure 83b The side indicated by the Y1 direction is fixed to the outer wall of the sealing chamber 434, and the other side of the third connector 4354 (i.e. Figure 83a and Figure 83b The side (pointed to in the Y2 direction) is fixed to the first transmission block 43531 mentioned above.

[0643] Therefore, please continue reading Figures 83a to 83cThe sixth drive unit 4351 (e.g., a motor) can drive the first lead screw 4352 to rotate, thereby driving the first nut and the first transmission block 43531 downward in the vertical direction X (e.g., Figure 83a The movement (in the X2 direction shown in the diagram) allows the first bearing assembly 431, the second bearing assembly 432, and the third bearing assembly 433 to slide out of the sealing chamber 434 in the vertical direction X, or to drive the first nut and the first transmission block 43531 upward in the vertical direction X (as shown in the diagram). Figure 83a The first support assembly 431, the second support assembly 432 and the third support assembly 433 are moved in the X direction shown in the figure so that the first support assembly 431, the second support assembly 432 and the third support assembly 433 can slide into the sealing chamber 434 in the vertical direction X.

[0644] Figure 83a and Figure 83b The example shows two first transmission blocks 43531 and two third connecting members 4354, but the embodiments of this application do not limit the number and shape of the two. As long as each bearing component in the sealed chamber 434 can move up and down relative to the lifting component in the vertical direction X, it is within the protection scope of the embodiments of this application.

[0645] See Figure 84a and Figure 84b and combined Figure 81 , Figure 84a An exemplary perspective view of the transmission component 44 is shown. Figure 84b An example is shown Figure 84a A magnified view of a portion of region n.

[0646] As can be seen from the foregoing, the conveying assembly 44 includes a fifth sliding part 441 and a sixth sliding part 442. In one possible embodiment, the conveying assembly 44 also includes a connecting platform 443.

[0647] As can be seen, the connecting platform 443 is used to support the sixth sliding part 442 and to provide the sixth sliding part 442 and the fifth sliding part 441 with a working height in the vertical direction X, so that the fifth sliding part 441 can slide into or out of the sealed chamber in the first direction Z (the sliding process of the fifth sliding part 441 will be described in detail later; this section first further explains the specific structure of the transmission assembly 44).

[0648] See Figure 81 The connecting platform 443 extends along the first direction Z, and one end of the connecting platform 443 (i.e. Figure 81 The end pointed to in the Z1 direction is fixed to one side 410 of the storage mechanism housing 41 along the first direction Z (i.e., Figure 81 (the side indicated by the Z2 direction), and the connecting platform 443 is located at the bottom end of the storage mechanism housing 41 along the vertical direction X (i.e. Figure 81(The end pointed to in the X2 direction), the aforementioned sixth sliding part 442 is connected to the top of the connecting platform 443 (i.e. Figure 81 (The side indicated by the X1 direction).

[0649] For example, see Figure 84a Along the second direction Y, support members 4431 are respectively provided on both sides of the connecting platform 443. Figure 84a Only one side of the support member 4431 is shown as an example; the other side's support member and... Figure 84a The support member 4431 shown is correspondingly arranged along the second direction Y. Since the structure of the support members 4431 is identical, only [the following is mentioned]... Figure 84a The support member 4431 shown in the figure is illustrated by way of example.

[0650] Continue reading Figure 84a The support member 4431 extends vertically in the direction X. Exemplarily, the top end of the support member 4431 is columnar, and its cylindrical surface can abut against the bottom surface of the fifth sliding portion 441. Since the fifth sliding portion 441 has a relatively long working length, it may undergo slight deformation after prolonged use. Therefore, the two support members 4431 can support the fifth sliding portion 441 to prevent deformation.

[0651] Continue reading Figure 84a and Figure 84b and combined Figure 81 The sixth sliding part 442 includes a seventh driving part 4421, a second lead screw 4422, a fourth transmission assembly 4423, and a fourth connecting member 4424.

[0652] The second lead screw 4422 extends along the first direction Z, such as Figure 84a and Figure 84b As shown, a second coupling 4425 is provided between the second lead screw 4422 and the seventh drive unit 4421. The second coupling 4425 is used to connect the second lead screw 4422 and the seventh drive unit 4421.

[0653] like Figure 84b As shown, the fourth transmission assembly 4423 includes a second nut (not shown) and a second transmission block 44231. The second nut is sleeved on the outside of the second lead screw 4422, and the second nut and the second transmission block 44231 are fixed together.

[0654] Along the second direction Y, one side of the fourth connector 4424 (i.e. Figure 84b The fourth connector 4424 is fixed to one side (as indicated by the Y2 direction) and the second transmission block 44231. Figure 84b The fifth sliding part 441 is fixed to the side indicated by the X1 direction.

[0655] Based on this, please refer to... Figure 84a and Figure 84b The sixth sliding part 442 (e.g., a motor) can drive the second lead screw 4422 to rotate, thereby driving the second nut and the second transmission block 44231 forward along the first direction Z (e.g., Figure 84a and Figure 84b The fifth sliding part 441 can slide into the storage part 43 along the first direction Z (as shown in the diagram) to move, so that the second nut and the second transmission block 44231 can move backward along the first direction Z (as shown in the diagram). Figure 84a and Figure 84b The fifth sliding part 441 moves in the Z2 direction shown in the figure, so that it can slide out of the storage part 43 along the first direction Z.

[0656] Figure 84a and Figure 84b The example shows two second transmission blocks 44231 and two third connectors 4354, but the embodiments of this application do not limit the number and shape of the two. As long as the fifth sliding part 441 can slide into or out of the storage part 43 along the first direction Z, it is within the protection scope of the embodiments of this application.

[0657] In one possible implementation, see [reference] Figure 81 The aforementioned storage mechanism housing 41 also includes a sealed door 412, a connecting plate assembly, and a motor 413. The connecting plate assembly and the motor 413 are used to drive the sealed door 412 to move up and down in the vertical direction X, so that the sealed compartment 434 can be in an open or sealed state. Specifically, the connecting plate assembly includes a first connecting plate 414 and a second connecting plate 415.

[0658] The aforementioned sealed door 412 is located on the side of the storage mechanism housing 41 facing the conveying assembly 44 along the first direction Z (i.e., Figure 81 (The side pointed to in the Z2 direction), for example, the sealed door 412 is rectangular, but this application embodiment does not limit it.

[0659] The first connecting plate 414 includes a first end 414a and a second end 414b, and the second connecting plate 415 includes a third end 415a and a fourth end 415b. For example... Figure 81 As shown, the top of the sealed compartment door 412 along the vertical direction X (i.e. Figure 81 The first end 414b is rotatably connected to the second end 414a (e.g., by bolt hinge) in the first direction Z1, and the second end 414b is rotatably connected to the third end 415a of the second connecting plate 415. Along the first direction Z, the third end 415a is located on top of the second end 414b (i.e., at the top of the second end 414b). Figure 81 (The side indicated by the Z2 direction); while the fourth end 415b of the second connecting plate 415 is connected to the aforementioned motor 413 to form a double-link structure.

[0660] Therefore, motor 413 can drive the second connecting plate 415 along the fourth direction (e.g., Figure 81 The first connecting plate 414, which is rotatably connected to the second connecting plate 415, can move up and down relative to the vertical direction X, so that the sealing door 412 connected to the first connecting plate 414 can move upward along the vertical direction X, thereby putting the sealing door 412 in the open state, or driving the sealing door 412 downward to put the sealing door 412 in the closed state.

[0661] In one possible implementation, see [reference] Figures 79 to 81 The syringe storage mechanism 4 in this embodiment of the application also includes a camera 45, located along the vertical direction X, at the top of the storage mechanism housing 41 (i.e., Figure 81 The aforementioned camera 45 is provided on the side indicated by the X1 direction. The camera 45 extends in the vertical direction X, and the lens of the camera 45 faces the end of the sixth sliding part 442 near the sealing chamber 434 (i.e., Figure 81 The end pointed to in the Z1 direction of the sixth sliding part 442), the imaging range of the camera 45 is as follows Figure 80 As shown in the Q region.

[0662] In one possible implementation, see [reference] Figure 84a Along the vertical direction X, the top of the fifth sliding part 441 (i.e. Figure 84a Five positioning pins 4411 are protruding on the side indicated by X1. Correspondingly, five positioning holes (not shown in the figure) are opened at corresponding positions on the bottom of the syringe clamp. Each positioning pin 4411 corresponds to one positioning hole, and each positioning pin can be detachably connected to the corresponding positioning hole. This application embodiment does not limit the number of positioning pins 4411 and positioning holes. As long as a detachable connection between the two can be achieved, it falls within the protection scope of this application embodiment.

[0663] Based on this, when the fifth sliding part 441 can move forward along the sixth sliding part 442 to slide into the storage mechanism housing 41, the positioning pin 4411 can pass through the positioning hole of the syringe clamp in the vertical direction X. At this time, the fifth sliding part 441 can hook the syringe clamp, so that the syringe clamp is connected to the fifth sliding part 441.

[0664] Furthermore, when the syringe clamp connected to the fifth sliding part 441 moves upward along the vertical direction X, and the fifth sliding part 441 is fixed relative to the vertical direction X, that is, the positioning pin 4411 of the fifth sliding part 441 is fixed relative to the vertical direction X, the positioning pin 4411 can disengage from the positioning hole, so that the fifth sliding part 441 and the syringe clamp can be disengaged.

[0665] Based on the preceding description of the structure of the syringe storage mechanism in the embodiments of this application, the working process of the syringe storage mechanism will be described in detail below.

[0666] Based on the preceding description and further reference Figure 87 In one possible implementation, the support assembly includes a first support assembly 4301, a second support assembly 4302, and a third support assembly 4303, wherein, as Figure 87 As shown, the first support component 4301 is used to support the first syringe clamp 421, the second support component 4302 is used to support the second syringe clamp 422, and the third support component 4303 is used to support the third syringe clamp 423.

[0667] The syringe storage mechanism 4 of this application embodiment can switch between a first state, a second state and a third state of the syringe storage mechanism 4, and is used to store and transport syringes back and forth.

[0668] First, the static positions of each component in the first state, the second state, and the third state of the syringe storage mechanism 4 will be explained.

[0669] See Figure 85 and Figure 92 In the first state of the syringe storage mechanism 4, the support component 430 at the bottom of the storage mechanism housing 41 carries the syringe clamp 42.

[0670] Figure 85 An illustrative perspective view of the syringe storage mechanism 4 of the present application embodiment is shown in the first case of the first state of the syringe storage mechanism 4 (i.e., the syringe clamp 42 accommodates a plurality of syringes 102).

[0671] Figure 92 The left view of the syringe storage mechanism 4 of the present application embodiment is shown as an example in the second case of the first state of the syringe storage mechanism 4 (i.e., the syringe clamp 42 is an empty clamp).

[0672] For example, such as Figure 85 As shown, the third supporting component 4303 is located at the bottom of the storage mechanism housing 41 along the vertical direction X (i.e., Figure 85 (On the side indicated by the X2 direction), the third support component 4303 supports the aforementioned third syringe holder 423, at which time the third syringe holder 423 accommodates a plurality of syringes 102. That is to say, the third syringe holder 423, which accommodates a plurality of syringes 102, is supported on the third support component 4303 in the first state of the syringe storage mechanism 4.

[0673] The first scenario described above represents the initial state of the entire syringe storage mechanism 4. At this time, the first support component 4301, the second support component 4302, and the third support component 4303 within the storage section 43 each carry a first syringe clamp, a second syringe clamp, and a third syringe clamp 423 that accommodate syringes, while the fifth sliding section 441 and the sixth sliding section 442 have not yet started working.

[0674] For example, such as Figure 92 As shown, the third support component 4303 is located at the bottom of the storage mechanism housing 41 along the vertical direction X (i.e., Figure 92 (On the side indicated by X2 in the middle), the third support component 4303 still supports the aforementioned third syringe holder 423, but at this time the third syringe holder 423 does not contain a syringe. That is to say, the third syringe holder 423 is still supported in the third support component 4303, but at this time the third syringe holder 423 is an empty syringe holder.

[0675] In summary, the first state includes two scenarios (i.e., the first and second scenarios mentioned above). In both scenarios, the third syringe holder 423 is located within the third support assembly 4303, only the arrangement of the syringes within the third syringe holder 423 differs. The transition between these two scenarios is achieved by switching the syringe storage mechanism 4 between its first state and its second and third states, which will be described later.

[0676] See Figure 89 , Figure 90 and combined Figure 92 , Figure 89 An exemplary perspective view of the syringe storage mechanism 4 according to an embodiment of this application is shown in the initial state of the second state of the syringe storage mechanism 4. Figure 90 An illustrative perspective view of the syringe storage mechanism 4 of this application embodiment is shown in an intermediate state of the second state of the syringe storage mechanism 4 (which will be described in detail below). Figure 92 An illustrative perspective view is shown of a syringe storage mechanism 4 according to an embodiment of this application when it switches from the final state of the second state of the syringe storage mechanism 4 to the second state of the syringe storage mechanism 4 in a second case (which will be described in detail below).

[0677] like Figure 89 As shown, in the initial state of the second state of the syringe storage mechanism 4, the support component 430 at the bottom of the storage mechanism housing 41 does not support the syringe clamp 42, while the syringe clamp 42 is supported on the fifth sliding part 441. At this time, the syringe clamp 42 does not contain the syringe 102.

[0678] For example, such as Figure 89 As shown, the third syringe clamp 423 is an empty syringe clamp 42 at this time and is supported on the fifth sliding part 441, while the third support assembly 4303 does not support the third syringe clamp 423.

[0679] See Figure 81 , Figure 87 , Figure 88 and combined Figure 85 , Figure 85 An illustrative perspective view is shown of the syringe storage mechanism 4 of this application embodiment when it switches from the first state of the syringe storage mechanism 4 to the initial state of the third state of the syringe storage mechanism 4 (which will be described in detail below). Figure 81 An illustrative perspective view of the syringe storage mechanism 4 of this application embodiment is shown in an intermediate state of the third state of the syringe storage mechanism 4 (which will be described in detail below). Figure 87 An illustrative perspective view of the syringe storage mechanism 4 of this application embodiment is shown in an intermediate state of the third state of the syringe storage mechanism 4 (which will be described in detail below). Figure 88 An exemplary perspective view of the syringe storage mechanism 4 of this application embodiment is shown in the final state of the third state of the syringe storage mechanism 4 (which will be described in detail below).

[0680] like Figure 85 As shown, in the initial state of the third state of the syringe storage mechanism 4, the support component 430 at the bottom of the storage mechanism housing 41 carries the syringe clamp 42, but the syringe clamp 42 is not carried on the fifth sliding part 441. At this time, the syringe clamp 42 contains the syringe 102.

[0681] For example, such as Figure 85 As shown, the third syringe holder 423 at this time contains multiple syringes and is supported on the third support assembly 4303, while the fifth sliding part 441 does not support the third syringe holder 423.

[0682] The following is a detailed explanation of the switching process between the first state, the second state, and the third state of the syringe storage mechanism 4:

[0683] Step S1, as follows Figure 85 As shown, the syringe storage mechanism 4 is in the initial state (i.e., the first case of the first state of the syringe storage mechanism 4 described above). The first syringe clamp is supported by the first support component, the second syringe clamp is supported by the second support component, and the third syringe clamp 423 is supported by the third support component 4303. The first syringe clamp, the second syringe clamp, and the third syringe clamp 423 respectively contain syringes 102. The syringe storage mechanism 4 is started.

[0684] Step S2, based on step S1, such as Figure 85 As shown, the syringe storage mechanism 4 switches from the first state of the syringe storage mechanism 4 to the initial state of the third state of the syringe storage mechanism 4, that is, the fifth sliding part 441 does not carry the third syringe clamp 423, and the third carrying component 4303 carries the third syringe clamp 423.

[0685] Step S3, based on step S2, such as Figure 87 As shown, the syringe storage mechanism 4 transitions to an intermediate state in its third state, that is, the fifth sliding part 441 begins to move forward along the first direction Z (i.e., Figure 87 The movement is directed to the side indicated by the Z1 direction; at this time, as... Figure 86 As shown, the fifth sliding part 441 slides into the storage mechanism housing 41 and is located below the third support assembly 4303 (i.e., Figure 86 (on the side indicated by the X2 direction), the bottom of the third syringe clamp 423 is supported on the top surface of the third support assembly 4303.

[0686] For example, the aforementioned lifting assembly 435 then drives the aforementioned sealing chamber 434 downward in the vertical direction X (e.g. Figure 86 The movement (in the X2 direction shown in the figure) causes the third syringe holder 423, which is supported on the third support assembly 4303, to move downward in the vertical direction X in sync. At the same time, the fifth sliding part 441 can also be finely adjusted by moving back and forth in the first direction Z so that the positioning pin 4411 of the fifth sliding part 441 can be aligned and inserted into the corresponding positioning hole O of the third syringe holder 423.

[0687] For example, the upper end of the lifting assembly 435 along the vertical direction X (i.e. Figure 86 The middle X1 direction refers to one end) and the lower end (i.e. Figure 86 A ninth sensor (not shown in the figure) is respectively installed at one end (pointed to in the X2 direction). When the third support component 4303 moves downward along the vertical direction X, the ninth sensor at the lower end can detect the endpoint of its downward movement along the vertical direction X; when the third support component 4303 moves upward along the vertical direction X, the ninth sensor at the upper end can detect the endpoint of the first support component's upward movement along the vertical direction X. This application does not limit the scope of this application; any method that can detect the movement state of the lifting component 435 along the vertical direction X falls within the protection scope of this application.

[0688] For example, it can be at the front end of the sixth sliding part 442 along the first direction Z (i.e. Figure 87 The end pointed to in the Z1 direction) and the rear end (i.e. Figure 87A tenth sensor (not shown in the figure) is respectively provided at one end (pointed to in the Z2 direction). When the fifth sliding part 441 moves forward along the first direction Z, the tenth sensor at the front end can detect the end position of its forward movement along the first direction Z; when the fifth sliding part 441 moves backward along the first direction Z, the tenth sensor at the rear end can detect the end position of the sixth sliding part moving backward along the first direction Z. This application embodiment does not limit this, as long as the movement state of the fifth sliding part 441 moving back and forth along the first direction Z can be detected, it falls within the protection scope of this application embodiment.

[0689] Step S4, based on step S3, such as Figure 87 As shown, the positioning pin 4411 is inserted into the positioning hole O, and the fifth sliding part 441 is connected to the third syringe clamp 423; that is, the third syringe clamp 423, which was originally located on the third support component 4303 and contained a syringe, is switched to the fifth sliding part 441 (i.e., the third state of the syringe storage mechanism 4).

[0690] Step S5, based on step S4, such as Figure 81 As shown, the fifth sliding part 441 moves backward along the first direction Z (as shown). Figure 81 As shown in the Z2 direction, the fifth sliding part 441 slides out of the storage mechanism housing 41 (sealed compartment 434) from below the third bearing assembly 4303. Figure 88 As shown, after the fifth sliding part 441 slides out of the storage mechanism housing 41, it continues to move backward along the first direction Z, as... Figure 88 As shown, until the third syringe holder 423 containing the syringe is located at the end of the sixth sliding portion 442 away from the sealing chamber 434 (i.e. Figure 88 The right end of the sixth sliding part 442, that is Figure 88 The third syringe holder 423, which contains the syringe, is stationary at the right end (the end pointed to in the Z2 direction).

[0691] Step S6: Based on step S5, at this time, the external robotic arm (not shown in the figure) begins to grasp the syringe 102 in the third syringe holder 423.

[0692] Step S7, based on step S6, such as Figure 89 As shown, the syringe 102 in the third syringe holder 423 is completely removed by the third robotic arm 163, and the third syringe holder 423 no longer contains the syringe 102. At this time, the third syringe holder 423, which does not contain the syringe 102, is supported on the fifth sliding part 441 (i.e., the initial state of the second state of the syringe storage mechanism 4 described above).

[0693] Step S8: Based on step S5, continue reading. Figure 89The fifth sliding part 441 begins to move forward along the first direction Z (as shown in the image). Figure 89 The movement (in the Z1 direction shown in the figure) causes the third syringe clamp 423, which does not contain a syringe, to gradually approach the sealed chamber 434.

[0694] Step S9, based on step S8, such as Figure 90 As shown, the syringe storage mechanism 4 transitions to an intermediate state in its second state, i.e., the fifth sliding part 441 continues to move forward (as shown). Figure 90 (as shown in the Z1 direction) moves until it slides into the storage mechanism housing 41 and is located below the third support assembly 4303 (i.e. Figure 90 The side indicated by the X2 direction.

[0695] Step S10, based on step S9, such as Figure 91 As shown, the fifth sliding part 441 is located below the third bearing assembly 4303 (i.e. Figure 91 (On the side indicated by the X2 direction), the bottom of the third syringe clamp 423 is supported on the top surface of the third support assembly 4303 (i.e., the side indicated by the X2 direction). Figure 91 (The side indicated by the X1 direction).

[0696] For example, then via lifting assembly 435 ( Figure 91 The lifting assembly 435 (only a portion is shown in the image) moves vertically upwards in the X direction (e.g., Figure 91 The movement (in the X1 direction shown in the figure) causes the third syringe holder 423, which is supported on the third support assembly 4303, to move synchronously upward in the vertical direction X (as shown in the figure). Figure 91 The fifth sliding part 441 moves in the X1 direction shown in the figure, so that the positioning pin 4411 of the fifth sliding part 441 and the corresponding positioning hole of the third syringe clamp 423 disengage in the vertical direction X.

[0697] Step S11, based on step S10, such as Figure 92 As shown, the syringe storage mechanism 4 is in the final state of the second state of the syringe storage mechanism 4, and switches to the second state of the first state, that is, the third syringe clamp 423, which was originally located in the fifth sliding part 441 and did not contain the syringe 102, is switched to the third support assembly 4303.

[0698] Step S12, based on step S11, such as Figure 93 As shown, the third bearing component 4303 moves downward in the vertical direction X via the aforementioned lifting component 435 (e.g., Figure 93 The third support assembly 4303 slides out of the storage mechanism housing 41 in the vertical direction X, as shown in the X2 direction, while the second support assembly 4302 switches to the bottom of the storage mechanism housing 41 in the vertical direction X (i.e., the bottom of the storage mechanism housing 41 in the vertical direction X). Figure 93(on the side indicated by the X2 direction), at this time, the second syringe clamp 422 in the second carrier assembly 4302 contains the syringe 102 (i.e., the first case of switching back to the first state of the syringe storage mechanism 4).

[0699] Step S13: Repeat steps S1 to S12 for the second support assembly 4302 so that the second support assembly 4302 slides out of the storage mechanism housing 41 in the vertical direction X, and the first support assembly is then switched to the bottom of the housing in the vertical direction X. The first syringe clamp in the first support assembly accommodates the syringe 102.

[0700] Step S14: Repeat steps S1 to S12 for the first support component to make the first support component slide out of the housing in the vertical direction X.

[0701] Step S15: Based on step S14, at this time, the first support component, the second support component, and the third support component all slide out of the housing in the vertical direction X. The first syringe clamp in the first support component, the second syringe clamp in the second support component, and the third syringe clamp in the third support component do not contain syringes. The three syringe clamps are in a state of waiting for replenishment. The first syringe clamp, the second syringe clamp, and the third syringe clamp can be taken out, and after replenishing syringes outside the syringe storage mechanism, they can be put into the first support component, the second support component, and the third support component in sequence.

[0702] Step S16: Based on step S15, the sealing chamber moves upward along the vertical direction X with the lifting assembly, so that the first bearing assembly, the second bearing assembly, and the third bearing assembly slide into the housing, so that the syringe storage mechanism is once again in the initial state in step S1 (i.e., the first case of the first state of the syringe storage mechanism 4).

[0703] For example, continue to refer to Figures 1 to 4 A third robotic arm 163 is provided between the syringe storage mechanism 4 and the liquid dispensing device 11 to clamp the syringe 102 to the syringe clamping mechanism 9.

[0704] In one possible implementation, the injection needle 1021 of the syringe 102 is arranged downward along the vertical direction X in the syringe storage mechanism. However, in the embodiment of this application, the injection needle 1021 is arranged upward along the vertical direction X when preparing the solution. Therefore, the syringe 102 needs to be flipped before it is clamped to the syringe clamping mechanism 9.

[0705] refer to Figure 3 A syringe flipping mechanism 19 is provided between the syringe storage mechanism 4 and the third robotic arm 163.

[0706] For example, the syringe flipping mechanism 19 includes a flipping mechanism body, a flipping gripper (not shown), and a flipping shaft (not shown).

[0707] Specifically, the flipping gripper is rotatably connected to the main body of the flipping mechanism via a flipping shaft. The flipping gripper can hold the syringe 102 and drive the syringe 102 to rotate to the injection posture (i.e., the injection needle is in the vertical X direction upward), so that the third robot arm 163 can hold the flipped syringe 102 to the syringe 102 holding mechanism, so that the liquid preparation device 11 can prepare the liquid.

[0708] In one possible implementation, continue to refer to Figure 3 and Figure 4 The solution preparation device 11 also includes a vial feeding mechanism. The vial feeding mechanism and... Figure 3 The position of the intermediate solution preparation station 111d on the solution preparation turntable 110 (in this embodiment, solution preparation station 111d and solution preparation station 111a are arranged adjacent to each other in a clockwise direction along the circumferential direction R1 of the solution preparation turntable 110) is such that after the solution preparation station 111d finishes dispensing the material, the solution preparation turntable 110 rotates, causing the solution preparation station 111d to rotate to the desired position. Figure 3 The position of the intermediate solution preparation station 111a is such that it can feed the solution preparation station 111d, thereby improving the solution preparation efficiency.

[0709] Specifically, the vial unloading mechanism includes a first robotic arm 17 and a vial unloading gripper 171, with the gripper 171 fixed to the first robotic arm 17. The vial unloading gripper 171 is used to hold the vial 101, and the first robotic arm 17 is used to drive the vial unloading gripper 171 to move, so as to remove the vial 101 from the vial holding mechanism 8.

[0710] For example, along the vertical direction X, Figure 3 Below the intermediate solution preparation station 111d is a vial recycling bin 1054. The vial feeding mechanism throws the removed vials 101 into the vial recycling bin 1054 for centralized processing of the vials 101 after solution preparation.

[0711] In one possible implementation, continue to refer to Figure 3 and Figure 4 The solution preparation device 11 also includes an infusion bag feeding mechanism, exemplarily, the infusion bag feeding mechanism and... Figure 3 The position of the intermediate solution preparation station 111d on the solution prepa...

Claims

1. A liquid dispensing robot, characterized in that, Includes a support frame and a liquid dispensing device; The solution preparation device includes: A liquid dispensing turntable, which is rotatably mounted on the support frame; Along the circumference of the liquid dispensing turntable, the liquid dispensing turntable is provided with multiple liquid dispensing stations; Each of the aforementioned solution preparation stations includes a vial clamping mechanism, a syringe clamping mechanism, and an infusion bag clamping mechanism; The vial holding mechanism includes vial grippers, each vial gripper being used to hold one vial; The syringe clamping mechanism is rotatably disposed on the liquid dispensing turntable. The syringe clamping mechanism includes a first clamping component and a second clamping component. The first clamping component is used to clamp the syringe barrel, and the second clamping component is used to clamp the syringe piston rod. The first clamping assembly and the second clamping assembly are capable of moving the syringe so that the syringe can aspirate or inject into the vial and the infusion bag. Along the extension direction of the syringe, the second clamping assembly is capable of moving relative to the first clamping assembly. The infusion bag clamping mechanism includes infusion bag grippers, which are used to clamp the infusion bag; The relative positions of the vial clamping mechanism, the infusion bag clamping mechanism, and the dispensing turntable remain unchanged, while the syringe clamping mechanism is able to rotate relative to the dispensing turntable.

2. The liquid preparation robot as described in claim 1, characterized in that, Each of the aforementioned solution preparation stations also includes a needle cap clamping mechanism; The needle cap clamping mechanism includes a needle cap gripper, which is used to clamp the needle cap of the syringe; The syringe clamping mechanism can rotate to the needle cap clamping mechanism so that the needle cap jaws clamp the needle cap and drive the syringe to move away from the needle cap jaws through the first clamping assembly, so that the needle cap and the syringe are separated.

3. The liquid preparation robot as described in claim 1, characterized in that, It also includes a vial feeding module, an infusion bag feeding module, and a syringe feeding module; The vial feeding module, the infusion bag feeding module, and the syringe feeding module are respectively arranged relative to any one of the three adjacent liquid preparation stations along the circumference of the liquid preparation turntable. Each of the solution preparation stations is rotatable relative to the vial feeding module, the infusion bag feeding module, and the syringe feeding module.

4. The liquid preparation robot as described in claim 3, characterized in that, The vial feeding module includes a tray gripper mechanism and a feeding turntable; The pallet gripper mechanism is located on one side of the feed turntable along the circumference of the feed turntable; The pallet gripper mechanism includes a pallet gripper mechanism body and pallet grippers, wherein the pallet grippers are movably disposed on the pallet gripper mechanism body; The feeding turntable is provided with multiple feeding stations, each feeding station can hold a vial tray, and each vial tray can hold multiple vials. The feeding turntable is rotatably mounted on the support frame. The feed turntable can rotate any available feed station on the feed turntable to the position of the pallet gripper.

5. The liquid preparation robot as described in claim 4, characterized in that, The vial feeding module also includes a feeding shaft that extends vertically and is rotatably mounted on the support frame. Along the vertical direction, the feeding shaft is fixedly provided with a plurality of feeding turntables, and the plurality of feeding turntables can rotate synchronously with the feeding shaft; Along the vertical direction, the plurality of feed turntables form a feed rotation assembly; The pallet gripper mechanism also includes a longitudinal guide rail that extends along the vertical direction. The main body of the pallet gripper mechanism is movably disposed on the longitudinal guide rail, and the main body of the pallet gripper mechanism can drive the pallet gripper to move relative to the feeding rotary assembly along the vertical direction.

6. The liquid preparation robot as described in claim 5, characterized in that, Along the first direction, the vial feeding module is provided with multiple feeding rotating components, and the first direction is perpendicular to the vertical direction; The pallet gripper mechanism is located on the same side of the plurality of feeding rotating assemblies along a second direction, which is perpendicular to the first direction and the vertical direction; The pallet gripper mechanism includes a first transverse guide rail and a first longitudinal guide rail; The first transverse guide rail extends along the first direction; The first longitudinal guide rail is movably mounted on the first transverse guide rail, and the first longitudinal guide rail can drive the pallet gripper mechanism body and the pallet gripper to move along the first direction.

7. The liquid preparation robot as described in any one of claims 4 to 6, characterized in that, The liquid dispensing robot also includes a vial capping mechanism, and the vial feeding module also includes a feeding gripper mechanism; The feeding gripper mechanism includes a feeding gripper mechanism body and feeding grippers; The main body of the feeding gripper mechanism is located between the feeding turntable and the vial capping mechanism; The feeding gripper is rotatably mounted on the main body of the feeding gripper mechanism and is used to grip the vial on the feeding turntable and place it on the vial capping mechanism to remove the cap from the vial.

8. The liquid preparation robot as described in claim 7, characterized in that, The feeding gripper mechanism also includes a second transverse guide rail and a second longitudinal guide rail; The main body of the feeding gripper mechanism is movably mounted on the second longitudinal guide rail, which extends in the vertical direction; The second transverse guide rail extends along the first direction; The second longitudinal guide rail is movably mounted on the second transverse guide rail.

9. The liquid preparation robot as described in claim 7, characterized in that, The feed gripper is equipped with a camera, which is used to take pictures of the vials on the vial tray for confirmation.

10. The liquid preparation robot as described in claim 3, characterized in that, The vial feeding module also includes a vial cap removal mechanism; The vial capping mechanism includes: a vial capping platform, a vial capping component, and a vial capping clamp; The vial cap-removing clamp is used to hold the vial body, and the vial cap-removing component is used to hold the vial cap. The vial cap remover is movable relative to the vial cap remover clamp to separate the cap from the vial body; The vial capping device is disposed on the vial capping platform, the vial capping clamp is disposed vertically at intervals from the vial capping platform, and the vial capping clamp is movable relative to the vial capping platform.

11. The liquid preparation robot as described in claim 10, characterized in that, A first robotic arm is provided between the cap-removing clamp and the liquid dispensing device. The first robotic arm is used to send the vial with the cap removed from the cap-removing clamp into the vial holding mechanism so that the vial gripper holds the vial.

12. The liquid preparation robot as described in claim 11, characterized in that, A detection mechanism is provided between the vial capping mechanism and the first robotic arm; The detection mechanism includes a rotating gripper and at least one camera. The rotating gripper is used to hold the vial after the cap has been removed, and the camera is positioned toward the rotating gripper to detect the vial.

13. The liquid preparation robot as described in claim 3, characterized in that, The infusion bag feeding module includes an infusion bag storage mechanism, and the infusion bag includes a bag body and a liquid tube; The infusion bag storage facility includes: The support includes a storage channel for storing multiple infusion bags and for engaging with the tubing, the tubing being able to slide down along the extension direction of the storage channel to provide the infusion bags to the infusion bag clamping mechanism.

14. The liquid dispensing robot as described in claim 13, characterized in that, The infusion bag feeding module also includes an infusion bag cap removal mechanism, and the liquid tube is provided with a tube cap; The infusion bag cap-removing mechanism is located between the infusion bag storage mechanism and the liquid dispensing device; The infusion bag cap-removing mechanism includes an infusion bag clamping part and an infusion bag cap-removing part; The infusion bag clamping part is used to clamp the infusion tube. The infusion bag cap peeling part is arranged opposite to the infusion bag clamping part in the vertical direction. The infusion bag cap peeling part can move relative to the infusion bag clamping part in the vertical direction and can rotate relative to the infusion bag clamping part. The infusion bag cap-peeling part is provided with a receiving groove on the side of the infusion bag clamping part along the vertical direction. The receiving groove can engage with the tube cap and drive the tube cap to rotate relative to the infusion bag clamping part.

15. The liquid preparation robot as described in claim 14, characterized in that, A second robotic arm is provided between the infusion bag peeling mechanism and the liquid dispensing device. The second robotic arm is used to feed the infusion bag on the infusion bag clamping part into the infusion bag clamping mechanism so that the infusion bag claws can clamp the infusion bag after the cap has been peeled off.

16. The liquid preparation robot as described in claim 3, characterized in that, The syringe feeding module includes a syringe storage mechanism; The syringe storage mechanism includes: a storage mechanism housing extending in a vertical direction; Multiple syringe holders, each of which is used to accommodate multiple syringes; A storage section extends along the vertical direction and is disposed inside the housing of the storage mechanism. Along the vertical direction, the storage section is provided with a plurality of support components at intervals. Each of the plurality of support components corresponds to a plurality of syringe clamps. Each of the plurality of support components is used to support the syringe clamp. The storage section is connected to the inner wall of the housing of the storage mechanism in a manner that allows it to slide up and down along the vertical direction. A conveying assembly is connected to one side of the storage mechanism housing along a first direction, the conveying assembly being used to transport the syringe clamp to the location of the dispensing device.

17. The liquid preparation robot as described in claim 16, characterized in that, A third robotic arm is provided between the syringe storage mechanism and the liquid dispensing device. The third robotic arm is used to clamp the syringe from the syringe clamp to the syringe clamping mechanism.

18. The liquid preparation robot as described in claim 17, characterized in that, A syringe flipping mechanism is provided between the syringe storage mechanism and the third robotic arm. The syringe flipping mechanism is used to flip the syringe to the injection position so that the third robotic arm can clamp the flipped syringe to the syringe clamping mechanism.

19. The liquid preparation robot as described in claim 3, characterized in that, It also includes the vial feeding mechanism; The vial feeding mechanism includes a first robotic arm and a vial gripper, wherein the vial gripper is fixed to the first robotic arm; The vial gripper is used to hold the vial, and the first robotic arm is used to move the vial gripper to remove the vial from the vial gripping mechanism.

20. The liquid preparation robot as described in claim 3, characterized in that, It also includes an infusion bag feeding mechanism; The infusion bag feeding mechanism includes a second robotic arm and an infusion bag feeding suction cup, wherein the infusion bag feeding suction cup is fixed to the second robotic arm; The infusion bag feeding suction cup is used to fix the infusion bag, and the second robotic arm is used to drive the infusion bag feeding suction cup to move so as to remove the infusion bag from the infusion bag clamping mechanism.

21. A method for preparing a solution, characterized in that, The liquid preparation robot as described in any one of claims 1 to 20 is employed; The solution preparation method includes: The syringe clamping mechanism drives the syringe to draw liquid from the infusion bag; The syringe clamping mechanism drives the syringe to inject the liquid into the vial, and then the vial clamping mechanism drives the vial to rotate so that the powder and liquid in the vial are mixed. The syringe clamping mechanism drives the syringe to draw the mixed liquid in the vial into the syringe; The syringe clamping mechanism drives the syringe to inject the liquid inside the syringe into the infusion bag.

22. The solution preparation method as described in claim 21, characterized in that, Prior to the step of drawing liquid from the infusion bag by driving the syringe through the syringe clamping mechanism, the following is also included: The vial is supplied to the vial clamping mechanism via the vial feeding module; An infusion bag is supplied to the infusion bag clamping mechanism via an infusion bag feeding module; The syringe is supplied to the syringe clamping mechanism via the syringe feeding module.

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