Transport system for a suction device

Abstract

The present disclosure describes a transport system of a suction injector, which includes a placement device for placing the suction injector, a pickup device for picking up the suction injector from a conveying mechanism to a target position, a calibration device having a calibration area and used for calibrating the position of the suction injector, and a driving device, the placement device including a track having an inlet and an outlet for movement of the suction injector, a feeding mechanism adjacent to the outlet, and a cap removal mechanism, the feeding mechanism being configured to receive the suction injector sent out by the outlet and transport the suction injector to a feeding position, the cap removal mechanism being adjacent to the feeding position, the pickup device including a movable carrying mechanism, a clamping mechanism for clamping the suction injector, and a pushing mechanism for pushing a core rod. According to the transport system of the suction injector of the present disclosure, the suction injector can be automatically transported, capped and injected, and the precision during automatic injection can be improved.

Description

Technical Field

[0001] This disclosure generally relates to the field of medical device technology, and more specifically to a transport system for an aspirator. Background Technology

[0002] In clinical medicine, intravenous infusion is a commonly used medical method, frequently employed as a treatment to deliver medications, nutritional solutions, and other fluids into the patient's body to aid recovery. When patients require intravenous infusions, it is often necessary to mix different intravenous medications according to their condition. By using a syringe to draw and inject different intravenous drugs, a more effective therapeutic solution can be prepared.

[0003] Currently, medical staff typically use manual methods to prepare and administer intravenous medications to patients. For example, when transferring fluids between the vial and the infusion bag, the necessary aspirator is retrieved manually from the reservoir.

[0004] However, due to the current shortage of medical personnel in healthcare institutions, manual operation is insufficient for efficiently preparing intravenous solutions when faced with large-scale infusion demands. Therefore, there is a need for a device that can assist medical personnel in preparing infusions, particularly a transport system for infusion devices that automates the transport, cap removal, and aspiration of the infusion set. Summary of the Invention

[0005] This disclosure is made in view of the above-mentioned state of the prior art, and its purpose is to provide a suction device transport system capable of automating the transport, decapping, and suction of the suction device, and capable of improving the accuracy of automated suction.

[0006] Therefore, this disclosure provides a transport system for an aspirator, the aspirator comprising an injection tube having a receiving chamber, a core rod movably disposed within the cavity of the injection tube, a needle tube communicating with the receiving chamber, and a needle cap sleeved on the needle tube. The core rod has a rod body, a piston disposed at one end of the rod body and located within the injection tube, and a gripping portion located at the other end of the rod body. The transport system includes a mounting device for placing the aspirator, a pickup device for picking up the aspirator from the mounting device to a target position, and a calibration area for calibrating the aspirator. The document describes a calibration device for calibrating the position of a suction device, and a driving device. The mounting device includes a feed channel with an inlet and an outlet for moving the suction device, a feeding mechanism adjacent to the outlet, and a cap removal mechanism. The feeding mechanism is configured to receive the suction device delivered from the outlet and transport it to the feeding position. The cap removal mechanism is adjacent to the feeding position. The picking device includes a movable carrying mechanism, a clamping mechanism for holding the suction device, and a pushing mechanism for pushing the mandrel. The clamping mechanism and the pushing mechanism are disposed within the mounting device. The aforementioned carrying mechanism includes a receiving portion having a first groove that matches the outer contour of the gripping portion, and an elastic member disposed within the first groove. When the gripping portion is located within the first groove, the lower surface of the elastic member abuts against the upper surface of the gripping portion located within the first groove. When the transport system transports the suction device, the suction device moves along the feed channel from the inlet to the outlet. The driving device drives the feeding mechanism to transport the suction device to the feeding position, and the driving device drives the picking mechanism... The pick-up device moves toward the feeding position until the gripping part of the aspirator engages with the receiving part. Then, the clamping mechanism is driven to clamp the aspirator. Next, the pick-up device is driven to move the aspirator to the cap removal mechanism to remove the needle cap. Then, the pick-up device is driven to move the aspirator to the calibration area. The calibration device calibrates the needle tip position of the aspirator to obtain the calibration coordinate value of the needle tip. The drive device plans a movement route based on the calibration coordinate value to drive the pick-up device to move the aspirator to a predetermined position.

[0007] In the aspirator transport system disclosed herein, a loading device can load the aspirator, and a pickup device can automate the transport and injection of the aspirator. The cap removal mechanism of the loading device, in conjunction with the pickup device, allows for convenient and automated cap removal of the aspirator. A calibration device can calibrate the needle tip position, enabling the aspirator to be precisely moved to a predetermined position for drug injection into containers such as medicine bottles or infusion bags. Furthermore, by providing a gripping part with an elastic component on the pickup device, with the lower surface of the elastic component abutting against the upper surface of the gripping part, the injection accuracy is improved during automated injection, particularly when the pushing mechanism moves along the length of the mandrel and cooperates with the gripping part to control the movement of the mandrel as it injects the drug, especially during the movement of the mandrel towards the needle tube. Thus, a aspirator transport system capable of automated transport, cap removal, and injection of the aspirator, and improving injection accuracy during automated injection, is obtained.

[0008] Alternatively, in the transport system disclosed herein, the feeding mechanism may include a rotatable turntable and a guide section. The turntable includes a disc-shaped main body and a feeding notch formed on the outer periphery of the main body for mounting the suction device. With the feeding notch facing the outlet as the initial position, the driving device drives the turntable to rotate, causing the suction device mounted on the feeding notch to move from the initial position along a predetermined movement path to the feeding position. The guide section is configured to allow the suction device mounted on the feeding notch to move along the predetermined movement path as the turntable rotates. In this case, the suction device can be moved to the feeding position by the feeding mechanism, thereby facilitating its pickup with a picking device for pickup.

[0009] Additionally, in the transport system disclosed herein, optionally, the guide portion is located between the initial position and the predetermined position and arranged along the rotation trajectory of the suction device. When the material feeding notch accommodates the suction device and rotates to between the initial position and the feeding position, it is projected along a direction orthogonal to the upper surface of the turntable. The inner wall of the guide portion is located outside the injection tube of the suction device and inside the outer periphery of the turntable. In this case, the guide portion can prevent the suction device from undesirably slipping out of the material feeding notch, allowing the suction device to move along a predetermined movement path to the feeding position as the turntable rotates.

[0010] Additionally, in the transport system disclosed herein, optionally, the decapping mechanism has a second groove communicating with the area of ​​the feeding position. The width of the second groove is greater than the outer diameter of the needle tube and smaller than the outer diameter of the needle cap, and the height of the second groove is not greater than the distance between the needle cap and the injection tube. The pickup device clamps the aspirator and moves it from the feeding position until the needle tube is located within the second groove and the needle cap and the injection tube are located on opposite sides of the decapping mechanism. Then, the aspirator is moved away from the needle cap to remove it. In this case, by providing a decapping mechanism communicating with the area of ​​the feeding position, the distance traveled from the aspirator after it is picked up by the pickup device to the decapping mechanism can be reduced. After picking up the aspirator, the pickup device moves it outward into the second groove and then moves it away from the decapping mechanism to remove the needle cap. Thus, the aspirator can be easily decapped, simplifying the decapping process and improving the overall transport efficiency of the transport system.

[0011] Additionally, in the transportation system disclosed herein, optionally, the clamping mechanism includes a first clamping part and a second clamping part movable toward or away from the first clamping part. The first clamping part and the second clamping part cooperate to form a clamping space that matches the injection tube. When the aspirator is picked up, the driving device drives the carrying mechanism to move toward the aspirator so that the aspirator enters the clamping space and the gripping part engages with the first groove of the pushing mechanism. Furthermore, the first clamping part and the second clamping part move toward each other and clamp the injection tube by abutting the injection tube from two directions respectively. This can help improve the stability of the picking device in picking up the aspirator.

[0012] Additionally, in the transport system disclosed herein, optionally, the injection tube of the aspirator has a flange at the end opposite to the needle tube, and the pickup device further includes a clamping portion disposed on the carrying mechanism. The clamping portion has a third groove that matches the outer contour of the flange, and when the aspirator is clamped in the clamping mechanism, the flange is at least partially located within the third groove. This improves the stability of the pickup device in picking up the aspirator.

[0013] Additionally, in the transportation system disclosed herein, optionally, the pickup device further includes a limiting portion disposed on the carrying mechanism and located below the clamping mechanism. The limiting portion has a limiting surface relatively close to the aspirator, and the limiting surface is at least not located within the clamping space. Projected along a direction perpendicular to the upper surface of the limiting portion, the limiting surface is concave in a direction relatively away from the clamping space and is V-shaped. In this case, during the engagement of the gripping portion with the pushing mechanism, the limiting surface abuts against the lower part of the injection tube, suppressing undesirable tilting of the aspirator and keeping it as vertical as possible, thus facilitating subsequent clamping by the clamping mechanism. Furthermore, configuring the limiting surface in a V-shape not only restricts the posture of the injection tube from the front-to-back direction but also abuts against the lower part of the injection tube from both directions of the V-shape, suppressing tilting of the injection tube in the left-to-right direction, thereby further improving the stability of the injection tube and the limiting portion during contact.

[0014] Additionally, the transportation system disclosed herein may optionally include a recycling device. This recycling device includes a barrier and a shearing mechanism with a shearing area. When the aspirator needs to be removed from the pickup device, the driving device drives the carrying mechanism to move until the barrier is positioned between the injection tube and the carrying mechanism, placing the connection between the needle and the injection tube within the shearing area. The shearing mechanism then shears the connection to separate the needle from the injection tube. The carrying mechanism is then driven to move away from the barrier to remove the aspirator from the pickup device. Since the injection tube and needle of the aspirator are typically made of different materials (e.g., the injection tube is usually plastic, and the needle is metal), by using a recycling device with a shearing mechanism to separate the needle and injection tube, the needle and injection tube can be recycled separately, thereby improving the environmental friendliness of the transportation system.

[0015] Alternatively, in the transportation system disclosed herein, the calibration device may include a first camera and a second camera with mutually perpendicular optical axes, the first camera and the second camera cooperating to form the calibration area. In this case, the first camera and the second camera can acquire image position information of the needle tip, thereby converting it into calibration coordinate values.

[0016] Additionally, in the transport system disclosed herein, optionally, the elastic component is an elastic pad, and when the gripping portion is located within the first groove, the direction of the elastic force exerted by the elastic pad against the gripping portion is consistent with the length direction of the mandrel. In this case, by generating an elastic force on the gripping portion along the length of the mandrel towards the needle extension direction through the elastic pad, the gap between the gripping portion and the pushing mechanism can be reduced, thereby further improving the injection accuracy during automated liquid dispensing.

[0017] The transport system for the suction device disclosed herein enables automated transport, decapping, and suction of the suction device, and improves the accuracy of automated suction. Attached Figure Description

[0018] This disclosure will now be explained in further detail by way of example only with reference to the accompanying drawings, in which:

[0019] Figure 1 This is a schematic diagram illustrating the suction device involved in the example of this disclosure.

[0020] Figure 2 This is a schematic diagram of the overall transportation system involved in the example of this disclosure.

[0021] Figure 3 This is a schematic diagram illustrating the mounting device involved in the example of this disclosure.

[0022] Figure 4 This is a schematic diagram illustrating the feed channel involved in the example of this disclosure.

[0023] Figure 5 This is a schematic diagram illustrating the feeding mechanism involved in the example of this disclosure.

[0024] Figure 6 This is a schematic diagram showing the positional relationship between the turntable and the guide unit involved in the example of this disclosure.

[0025] Figure 7 This is a schematic diagram showing the positional relationship between the feeding mechanism and the cap removal mechanism involved in the example of this disclosure.

[0026] Figure 8 This is a schematic diagram of the overall pickup device involved in the example of this disclosure.

[0027] Figure 9 This is a partial schematic diagram of the pickup device involved in the example of this disclosure.

[0028] Figure 10 This is a schematic diagram showing the suction device involved in the example of this disclosure located in the clamping space.

[0029] Figure 11This is a schematic diagram showing the suction device clamped in the clamping mechanism according to the example of this disclosure.

[0030] Figure 12 This is a schematic diagram illustrating the receiving portion involved in the example of this disclosure.

[0031] Figure 13 This is a schematic diagram showing the gripping part engaging with the receiving part as described in the example of this disclosure.

[0032] Figure 14 This is a schematic diagram showing the aspirator located in front of the pickup device according to the example of this disclosure.

[0033] Figure 15 This is a schematic diagram showing the suction device abutting against the limiting portion according to the example of this disclosure.

[0034] Figure 16 This is a schematic diagram showing another perspective of the suction device clamped in the clamping mechanism according to the example of this disclosure.

[0035] Figure 17 This is a schematic diagram showing another perspective of the limiting portion involved in the example of this disclosure.

[0036] Figure 18 This is a schematic diagram illustrating the calibration apparatus involved in the example of this disclosure.

[0037] Figure 19 This is a schematic diagram illustrating the recycling apparatus involved in the example of this disclosure.

[0038] Figure 20 This is a schematic diagram showing another perspective of the recycling device involved in the example of this disclosure.

[0039] Figure 21 This is a schematic diagram illustrating the shearing mechanism involved in the example of this disclosure.

[0040] Figure 22 This is a schematic diagram illustrating the drive device involved in the example of this disclosure.

[0041] Figure 23 This is a schematic diagram illustrating the process of transporting the suction device by the transport system involved in this disclosure example. Detailed Implementation

[0042] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same reference numerals are used for the same components, and repeated descriptions are omitted. Furthermore, the drawings are merely schematic diagrams, and the proportions of the components or the shapes of the components may differ from actual figures.

[0043] It should be noted that the terms "comprising" and "having" and any variations thereof in this disclosure, such as a process, method, system, product, or device that includes or has a series of steps or units, are not necessarily limited to those steps or units that are explicitly listed, but may include or have other steps or units that are not explicitly listed or that are inherent to such processes, methods, products, or devices.

[0044] Furthermore, the subheadings and similar terms used in the following description of this disclosure are not intended to limit the content or scope of this disclosure; they are merely intended to serve as reading prompts. Such subheadings should not be construed as dividing the content of the article, nor should the content under a subheading be limited to the scope of that subheading.

[0045] It should be noted that the relative position and direction terms such as "above", "facing upward", "below", "facing downward", "up and down direction", "left side", "facing left side", "left", "facing left side", "right side", "facing right side", "right side", "facing right side", "left and right direction", "front", "facing forward", "back", "facing backward", and "front and back direction" in this article are based on the usual operating posture and should not be considered restrictive.

[0046] This disclosure relates to a transport system for aspirators, which is a transport system capable of automating the transport and injection of aspirators. In this disclosure, the transport system for aspirators may be simply referred to as a transport system, or may also be called a aspirator transport system, aspirator transport device, aspirator dispensing system, aspirator injection device, aspirator dispensing machine, or aspirator processing system, etc. The aspirator transport system of this disclosure enables automated pickup and automated injection of aspirators. The aspirator transport system disclosed herein can be used in automated dispensing systems to facilitate automated dispensing of medications.

[0047] The aspirator disclosed herein may also be referred to as a drug-dispensing syringe or a syringe. The transport system of the aspirator disclosed herein may also be referred to as a syringe transport system, syringe handling system, etc.

[0048] Figure 1 This is a schematic diagram illustrating the suction device 900 involved in the example of this disclosure.

[0049] In this embodiment, the aspirator 900 can be used for mixing and preparing infusion medications. The aspirator 900 can draw and inject infusion medications. In some examples, the aspirator 900 may include an injection tube 91, a core rod 92, and a needle 93 (see [link to documentation]). Figure 1 ).

[0050] In some examples, the injection tube 91 may have a receiving chamber. In some examples, the plunger 92 may have a rod body, a piston (not shown) disposed at one end of the rod body and located within the injection tube 91, and a grip 921 located at the other end of the rod body. In some examples, the grip 921 may be located at the end of the plunger 92 opposite to the needle tube 93 (see [link to original text]). Figure 1 ).

[0051] In some examples, the core rod 92 can be movably disposed within the inner cavity of the injection tube 91, and the core rod 92 can change the air pressure in the receiving chamber as the receiving chamber moves.

[0052] In some examples, the needle 93 may be connected to one end of the injection tube 91. The needle 93 may communicate with the receiving chamber of the injection tube 91. In some examples, the aspirator 900 may include a needle cap 94, which may be fitted over the needle 93. The upper surface of the needle cap 94 may be spaced from the injection tube 91. The upper surface of the needle cap 94 may be the surface of the needle cap 94 that is closer to the injection tube 91. In some examples, the location where the needle 93 connects to the injection tube 91 may have a needle plug 95 (see...). Figure 1 ).

[0053] In some examples, the end of the injection tube 91 opposite to the needle tube 93 may have a flange 911 (see...). Figure 1 In some examples, the flange 911 may be an outward extension of the outer wall of the injection tube 91. The flange 911 of the injection tube 91 may also be referred to as a handle or finger. In some examples, the flange 911 may be circular or elliptical.

[0054] In this disclosure, the injection tube 91, core rod 92 and needle tube 93 of the aspirator 900 can be arranged coaxially, and the length direction of the aspirator 900 can be the same as the central axis of the aspirator 900.

[0055] The following describes in detail the transport system 100 of the suction device 900 involved in this disclosure, taking the suction device 900 as an example and in conjunction with the accompanying drawings.

[0056] Figure 2 This is a schematic diagram of the overall transportation system 100 involved in the example of this disclosure.

[0057] In some examples, the transport system 100 may include a loading device 10 and a picking device 20 (see [reference]). Figure 2The placement device 10 can be used to place the infusion pump 900, and the pickup device 20 can be used to pick up the infusion pump 900 and move it to a target position. Thus, the infusion pump 900 can be automatically transported using the placement device 10 and the pickup device 20. In some examples, the pickup device 20 may include a pushing mechanism 24 for pushing the core rod 92 (described later). This enables automated infusion of the infusion pump 900. In some examples, the placement device 10 may include a decapping mechanism 15 (described later). The pickup device 20, in cooperation with the decapping mechanism 15, can decap the infusion pump 900. This enables automated decapping of the infusion pump 900.

[0058] In some examples, the transportation system 100 may include a calibration device 30 (see [reference]). Figure 2 The calibration device 30 can be used to calibrate the position of the infusion pump 900. In this case, a movement route can be planned based on the calibration coordinates of the infusion pump 900 so that the infusion pump 900 can be accurately moved to a predetermined position to cooperate with a container such as a medicine bottle or infusion bag for drug infusion.

[0059] In some examples, the transport system 100 may include a drive unit 40 (see...) Figure 2 The drive unit 40 can be used to drive the operation and movement of various devices within the transport system 100 (e.g., the loading device 10, the pickup device 20, and the calibration device 30, etc.). This facilitates automated transport of the suction device 900. In some examples, the drive unit 40 may have a built-in control program that can start or stop the drive unit 40 from driving the various devices within the transport system 100. In other examples, the drive unit 40 may also be connected to a host computer with a control program.

[0060] Figure 3 This is a schematic diagram illustrating the mounting device 10 involved in the example of this disclosure.

[0061] In some examples, as described above, the transport system 100 may include a loading device 10 for loading the suction device 900. In some examples, the loading device 10 may transport the suction device 900 along a transport path.

[0062] In some examples, the loading device 10 may include a feed channel 12 and a feeding mechanism 13 (see [reference]). Figure 3 The feed channel 12 can extend along the conveying path, and the feeding mechanism 13 can be configured to receive the suction device 900 delivered from the outlet 122 and transport the suction device 900 to the feeding position S2 (shown later).

[0063] In some examples, the mounting device 10 may include a frame 11 (see [reference]). Figure 3The frame 11 is a fixed frame for supporting the feed channel 12 and the feeding mechanism 13. In some examples, the frame 11 may have baffles around its perimeter. This allows a closed working chamber to be formed inside the frame 11. In some examples, the baffles may be transparent glass. This allows the transport of the suction device 900 inside the frame 11 to be observed from the outside.

[0064] Figure 4 This is a schematic diagram illustrating the feed channel 12 involved in the example of this disclosure.

[0065] In some examples, the feed channel 12 may have an inlet 121 and an outlet 122 for the movement of the suction device 900 (see [reference]). Figure 4 The conveying path may include the path taken by the suction device 900 from the inlet 121 to the outlet 122 of the feed channel 12. In other words, the loading device 10 can convey the suction device 900 along the conveying path from the inlet 121 to the outlet 122.

[0066] In some examples, the height of the inlet 121 of the feed channel 12 can be greater than the height of the outlet 122 to form a downwardly sloping feed channel 12. In this case, it is convenient for the suction device 900 to slide freely down the feed channel 12 to the outlet 122 under its own gravity.

[0067] In some examples, the feed channel 12 can be a straight inclined track. In other examples, the feed channel 12 can also be a smooth track with a curve. This allows the feeder 900 to slide along the feed channel 12.

[0068] In some examples, the feed channel 12 may include a first slide rail 123 and a second slide rail 124 (see [reference]). Figure 4 In some examples, the first slide rail 123 and the second slide rail 124 can be arranged in parallel. In some examples, the distance between the first slide rail 123 and the second slide rail 124 can be greater than the outer diameter of the injection tube 91 and less than the minimum width of the flange 911 of the injection tube 91. In this case, the tube body of the injection tube 91 of the suction device 900 can extend between the first slide rail 123 and the second slide rail 124, and the flange 911 of the injection tube 91 can rest on the first slide rail 123 and the second slide rail 124, thereby facilitating the suction device 900 to slide freely down the channel 12 to the outlet 122 under its own gravity.

[0069] In some examples, the feed chute 12 can simultaneously accommodate multiple suction devices 900. After a suction device 900 located at the outlet 122 is removed, the previous suction device 900 adjacent to it slides down to the outlet 122 under its own gravity. This allows for automated buffering and movement of multiple suction devices 900, thereby improving the overall processing efficiency of the transport system 100.

[0070] Figure 5 This is a schematic diagram illustrating the feeding mechanism 13 involved in the example of this disclosure.

[0071] In some examples, as described above, the loading device 10 may include a feeding mechanism 13 that can move the suction device 900 to the feeding position S2. In this case, the suction device 900 can be moved to the feeding position S2 by the feeding mechanism 13, thereby facilitating cooperation with the pickup device 20 to pick up the suction device 900. In some examples, the feeding position S2 may be a position where the pickup device 20 can pick up the material.

[0072] In some examples, the feeding mechanism 13 may be located on the side near the outlet 122 of the feed channel 12 and receive the suction device 900 delivered from the outlet 122 and transport the suction device 900 to the feeding position S2. That is, the feeding mechanism 13 may be adjacent to the outlet 122.

[0073] In some examples, the feeding mechanism 13 may include a turntable 130 (see Figure 5 The turntable 130 may be rotatably mounted on the frame 11. In some examples, the turntable 130 may have a main body 131 and a material feeding notch 132 (see [reference]). Figure 5 The material feeding notch 132 can be used to mount the suction device 900. In this case, the turntable 130, which is provided with the material feeding notch 132, can receive the suction device 900 delivered from the outlet 122. Taking the position of the material feeding notch 132 facing the outlet 122 as the initial position S1, by rotating the turntable 130, the suction device 900 mounted on the material feeding notch 132 can be moved from the initial position S1 to the feeding position S2 along with the turntable 130. Figure 5 In the example shown, the feeding position S2 can be a position relative to the initial position S1.

[0074] In some examples, the main body 131 may be disc-shaped (see...). Figure 5 In some examples, the material conveying notch 132 may be formed on the outer periphery of the main body 131 (see [reference]). Figure 5 This facilitates the transport of the suction device 900.

[0075] In some examples, the turntable 130 may be adjacent to the outlet 122 of the feed channel 12. In some examples, the height of the upper surface of the turntable 130 may not be higher than the height of the outlet 122. In this case, when the feed gap 132 faces the outlet 122, the suction device 900 located on the feed channel 12 can slide from the outlet 122 into the feed gap 132. During the rotation of the turntable 130, the outer periphery of the main body 131 can act as a barrier, thereby preventing the suction device 900 buffered on the feed channel 12 from continuing to slide outward.

[0076] In some examples, the distance between the edge of the turntable 130 and the outlet 122 of the feed channel 12 can be less than the diameter of the injection tube 91. For example, in some examples, the distance between the edge of the turntable 130 and the outlet 122 of the feed channel 12 can be 0–10 mm. This facilitates the reception of the suction device 900. In some examples, the height of the upper surface of the turntable 130 can be equal to the height of the outlet 122. This allows the suction device 900 buffered on the feed channel 12 to slide more smoothly into the feed notch 132 of the turntable 130.

[0077] In some examples, the material conveying notch 132 can be U-shaped. This facilitates the mounting of the suction device 900. In some examples, the width of the material conveying notch 132 can be equal to the width of the material channel 12 (i.e., the width of the material conveying notch 132 can be equal to the distance between the first slide rail 123 and the second slide rail 124). This allows the suction device 900 to be stably mounted on the material conveying notch 132.

[0078] In some examples, the depth of the conveying notch 132 may be no less than the outer diameter of the injection tube 91 of the suction device 900. This facilitates improved stability of the conveying notch 132 carrying the suction device 900. In some examples, the conveying notch 132 transports only one suction device 900 at a time.

[0079] In some examples, the number of material handling gaps 132 can be multiple. For example, in Figure 5 In the example shown, the number of material conveying gaps 132 can be 2, that is... Figure 5 The conveying notches 132a and 132b are shown. In this configuration, it is advantageous to improve the efficiency of transferring multiple suction devices 900 to the feeding mechanism 13. In some examples, the multiple conveying notches 132 can be arranged symmetrically on the turntable 130. In other examples, the multiple conveying notches 132 can be evenly distributed around the outer periphery of the turntable 130.

[0080] In some examples, turntable 130 may also include a support portion 133 (see Figure 5 In some examples, the support portion 133 may be located below the feed notch 132. In some examples, preferably, the support portion 133 may be located directly below the feed notch 132. When the aspirator 900 is mounted on the feed notch 132, the support portion 133 can support the outer wall of the injection tube 91 to keep the aspirator 900 in a generally vertical position. In this case, when the pickup device 20 picks up the material from the feeding position S2, the cooperation between the support portion 133 and the feed notch 132 can prevent the aspirator 900 from tilting undesirably during the pickup device 20's pickup of the aspirator 900, thereby facilitating the alignment of the aspirator 900 with containers such as medicine bottles or liquid bags during subsequent liquid preparation.

[0081] In some examples, the support portion 133 may be U-shaped. In some examples, preferably, the shape of the inner wall of the U-shaped support portion 133 may conform to the outer contour of the injection tube 91. This further improves the stability of the suction device 900 mounted on the material feeding notch 132 and helps maintain the posture of the suction device 900.

[0082] In some examples, where there are multiple material conveying gaps 132, the number of support parts 133 may be the same as the number of material conveying gaps 132, and each support part 133 may be located below each material conveying gap 132. For example, in... Figure 5 In the example shown, there are two material conveying gaps 132, and there can also be two support parts 133 (i.e., support part 133a and support part 133b).

[0083] In some examples, the turntable 130 may also have a groove 134 (see Figure 5 In some examples, the trough 134 may be formed on the outer periphery of the main body 131 and spaced a certain distance from the material conveying gap 132. In some examples, the feeding mechanism 13 may include a first detection mechanism. The first detection mechanism can sense the rotational position of the turntable 130 by cooperating with the trough 134. In this case, by sensing the rotational position of the turntable 130, it is possible to determine whether the material conveying gap 132 is in a predetermined position. By establishing a position feedback mechanism, it is possible to facilitate the self-checking of the transportation system 100, which is beneficial to the smooth operation of the overall transportation system 100.

[0084] In some examples, the first detection mechanism may be a reflective photoelectric sensor located above or below the turntable 130. When the turntable 130 rotates to a position where the slot 134 corresponds to the position of the sensor, the light emitted by the reflective photoelectric sensor may be reflected back from a greater distance through the slot 134 or may not be reflected at all (in the case of no obstruction), thus changing the distance it senses. Therefore, the rotational position of the turntable 130 (i.e., whether the material feeding notch 132 is at a predetermined position) can be determined by sensing whether the slot 134 is located at the position corresponding to the sensor.

[0085] In other examples, the first detection mechanism can be a laser sensor with a transmitter and a receiver. The transmitter and receiver are located on the upper and lower sides of the turntable 130, respectively. In this case, when the turntable 130 rotates to a position where the slot 134 corresponds to the position of the laser sensor, the laser emitted towards the receiver can pass through the slot 134 and be received by the receiver. In this case, by determining whether the laser emitted by the transmitter towards the receiver can be received by the receiver, the rotational position of the turntable 130 (i.e., whether the material feeding notch 132 is at a predetermined position) can be determined.

[0086] In some examples, the groove 134 can be an elongated slit formed on the body portion 131 along the radial direction of the body portion 131. In other examples, the groove 134 can also be a through hole formed on the turntable 130. The only requirement is that it can cooperate with the first detection mechanism to position the rotation of the turntable 130.

[0087] In some examples, there can be multiple feed channels 12, and each feed channel 12 has a corresponding feeding mechanism 13 at its outlet 122. This allows for the simultaneous transport of suction units 900 from multiple stations, improving transport efficiency. In some examples, the multiple feed channels 12 can be arranged in parallel. In some examples, each feed channel 12 can be used to transport suction units 900 of the same or different models. Since different models of suction units 900 typically have different dimensions, the dimensions of the feed channels 12 and the feeding mechanism 13 can be adjusted to accommodate suction units 900 of different sizes.

[0088] In some examples, the feeding mechanism 13 may also include a guide section 14 (see...). Figure 5 The guide unit 14 can be configured to allow the suction device 900 mounted on the material feeding notch 132 to move along a predetermined movement path as the turntable 130 rotates. This prevents the suction device 900 from undesirably slipping off the material feeding notch 132, and allows the suction device 900 to move along the predetermined movement path to the feeding position S2 as the turntable 130 rotates.

[0089] In some examples, the guide section 14 can be fixed to the frame 11, and the position of the guide section 14 remains fixed. That is, the guide section 14 may not rotate with the rotation of the turntable 130.

[0090] Figure 6 This is a schematic diagram showing the positional relationship between the turntable 130 and the guide section 14 involved in the example of this disclosure. Figure 6 The image is a view perpendicular to the upper surface of the turntable 130 and looking upwards, and the dashed lines in the image schematically represent the movement trajectory of the suction device 900 mounted on the material feeding notch 132 as the turntable 130 rotates.

[0091] In some examples, the guide portion 14 may be positioned between the initial position S1 and the feeding position S2 and arranged along the rotational trajectory of the suction device 900. When the feeding notch 132 accommodates the suction device 900 and rotates to between the initial position S1 and the feeding position S2, the inner wall of the guide portion 14 may be located outside the injection tube 91 of the suction device 900, projected along a direction orthogonal to the upper surface of the turntable 130 (see [reference]). Figure 6 , Figure 6The dashed line with an arrow schematically represents the movement trajectory of the injection tube 91 as the suction device 900 rotates with the turntable 130. Thus, the guide part 14 enables the suction device 900 mounted on the material feeding notch 132 to move along a predetermined movement path as the turntable 130 rotates.

[0092] In some examples, the guide portion 14 may be located below the turntable 130. In some examples, projected along a direction orthogonal to the upper surface of the turntable 130, the inner wall of the guide portion 14 may be located inside the outer periphery of the turntable 130 (see [reference]). Figure 6 Furthermore, the distance between the inner wall of the guide section 14 and the innermost side of the material conveying notch 132 is greater than the width of the injection tube 91. Therefore, it can guide and limit the suction device 900 mounted on the material conveying notch 132.

[0093] In some examples, when projected along a direction orthogonal to the upper surface of the turntable 130, the inner wall of the guide portion 14 can be located at the outer periphery of the turntable 130, and the distance between the inner wall of the guide portion 14 and the outer periphery of the turntable 130 can be less than the outer diameter of the injection tube 91. This allows for guiding and limiting of the suction device 900 mounted on the material feeding notch 132.

[0094] In some examples, the inner wall of the guide portion 14 may be arc-shaped (see...). Figure 6 This facilitates the guidance of the suction device 900 mounted on the material feeding gap 132 to move along a predetermined, roughly circular arc-shaped trajectory as the turntable 130 rotates.

[0095] Figure 7 This is a schematic diagram showing the positional relationship between the feeding mechanism 13 and the cap removal mechanism 15 involved in the example of this disclosure.

[0096] In some examples, as described above, the delivery device 10 may also include a decapping mechanism 15. The decapping mechanism 15 can be used to separate the syringe 93 and the needle cap 94 of the aspirator 900. The needle cap 94 can be removed from the syringe 93 by moving the aspirator 900 to the decapping mechanism 15.

[0097] In some examples, the cap removal mechanism 15 may have a groove 151 (see...) Figure 7 In this disclosure, for clarity of description, the groove 151 of the cap removal mechanism 15 will be referred to as the second groove 151. In some examples, the cap removal mechanism 15 may include a blocking portion 152, on which the second groove 151 may be formed (see [link to documentation]). Figure 7The blocking portion 152 can be sheet-like or plate-like. In some examples, the width of the second groove 151 can be greater than the outer diameter of the needle tube 93 and less than the outer diameter of the needle cap 94, and the height of the second groove 151 can be no greater than the distance between the needle cap 94 and the injection tube 91 (i.e., the thickness of the blocking portion 152 is no greater than the distance between the needle cap 94 and the injection tube 91). In this case, by moving the aspirator 900 until the needle tube 93 is located in the second groove 151, and positioning the needle cap 94 and the injection tube 91 of the aspirator 900 on opposite sides of the decapping mechanism 15, and then moving the aspirator 900 toward the side away from the needle cap 94 (e.g., moving the aspirator 900 toward the side away from the needle cap 94), Figure 7 (As shown, the movement is in the F1 direction). During this process, the blocking part 152 can block the needle cap 94, thereby separating the needle cap 94 from the needle tube 93. In this disclosure, the position where the aspirator 900 is moved to the point where the needle tube 93 is located in the second groove 151, and the needle cap 94 of the aspirator 900 and the injection tube 91 are respectively located on both sides of the cap removal mechanism 15, is called the cap removal position.

[0098] In some examples, the second groove 151 may communicate with the area of ​​the feeding position S2 (see [reference]). Figure 7 In this case, by providing a cap removal mechanism 15 connected to the area of ​​the feeding position S2, the distance traveled by the pick-up device 20 after picking up the suction device 900 located at the feeding position S2 and moving it to the cap removal mechanism 15 can be reduced. After picking up the suction device 900, the pick-up device 20 moves it outward into the second groove 151 and then moves it away from the cap removal mechanism 15 to remove the needle cap 94. Thus, the cap of the suction device 900 can be easily removed, simplifying the cap removal process and improving the overall transportation efficiency of the transportation system 100.

[0099] In some examples, the placement device 10 may also include a needle cap collection box with a receiving space. The needle cap collection box is used to collect the needle caps 94. Specifically, the needle cap collection box may be located below the cap removal mechanism 15 (preferably, the needle cap collection box may be located below the second recess 151). In this case, after the pickup device 20 cooperates with the cap removal mechanism 15 to separate the needle cap 94 from the needle tube 93, the detached needle cap 94 can fall into the needle cap collection box under its own gravity. In other words, the needle cap 94 can be automatically collected by the needle cap collection box.

[0100] In some examples, the loading device 10 may also include a second detection mechanism. The second detection mechanism may be oriented toward the feeding position S2 and is used to detect whether the suction device 900 is present at the feeding position S2. In this case, the second detection mechanism can detect whether the suction device 900 is present at the feeding position S2 and feed this information back to the control program, which facilitates the transport system 100 to perform program self-checks (e.g., determine whether the feeding mechanism 13 is operating normally and decide whether to continue rotating the turntable 130, etc.), thus contributing to the smooth operation of the overall transport system 100.

[0101] In some examples, the second detection mechanism can be a ranging sensor. For example, the second detection mechanism can be a reflective photoelectric sensor. The working principle of a reflective photoelectric sensor has been described previously and will not be repeated here. Thus, it is possible to detect whether an object (i.e., the suction device 900) exists at the feeding position S2.

[0102] In some examples, the loading device 10 may also include an air guiding mechanism. The air guiding mechanism may be mounted on the frame 11 and located above the inlet 121. The outlet of the air guiding mechanism may be perpendicular to the inlet 121 of the feed channel 12. In this case, the airflow direction of the outlet of the air guiding mechanism is perpendicular to the inlet 121, which can reduce the inflow of external air into the loading device 10, thereby further improving the cleanliness during the dispensing process.

[0103] In some examples, the loading device 10 may also include a counter. The counter may be mounted on the frame 11 and located above the inlet 121. This allows for the counting of the suction devices 900 entering the loading device 10 from the inlet 121 of the feed channel 12. In some examples, the counter may be an optical counter.

[0104] Figure 8 This is a general schematic diagram of the pickup device 20 according to the example of this disclosure. Line CA schematically represents the axial direction of the rotation axis.

[0105] In some examples, as described above, the transport system 100 may include a pickup device 20 for picking up the suction device 900.

[0106] In some examples, the pickup device 20 may include a carrying mechanism 21 and a clamping mechanism 22 (see [reference]). Figure 8 The support mechanism 21 can be configured to be movable, and the clamping mechanism 22 can be used to clamp the suction device 900.

[0107] In some examples, the clamping mechanism 22 may be mounted on the carrying mechanism 21.

[0108] In some examples, the pickup device 20 may include a pushing mechanism 24 (see...) Figure 8When the aspirator 900 picks up the pickup device 20, the holding part 921 of the aspirator 900 can be located in the pushing mechanism 24, which can be used to push the core rod 92 to aspirate through the aspirator 900, thereby automating the liquid injection.

[0109] In some examples, the support mechanism 21 may include a movable robotic arm 211 and a base 212 disposed on the robotic arm 211 (see [reference]). Figure 8 The clamping mechanism 22 and the pushing mechanism 24 can be mounted on the base 212, and the base 212 can be moved by driving the robotic arm 211.

[0110] In some examples, the base 212 can be rotatably connected to the robotic arm 211. In this case, the orientation of the suction device 900 held in the gripping mechanism 22 can be adjusted so that the suction device 900 is oriented toward a predetermined position for operation.

[0111] In some examples, the base 212 can be rotatably connected to the robotic arm 211 via a rotation axis. The axis of the rotation axis can be orthogonal to the length direction of the suction device 900 held on the clamping mechanism 22 (see [reference]). Figure 8 (The line CA schematically represents the axial direction of the rotation axis). This allows the base 212 to rotate in the left-right direction (e.g., ...). Figure 8 (D1D2 direction in the text). In some examples, the base 212 can also be connected to the robotic arm 211 via a telescopic rod. The axis of the telescopic rod can be orthogonal to the length direction of the suction device 900 clamped on the clamping mechanism 22 and can extend and retract in a direction consistent with its axis. This allows the base 212 to rotate in the front-rear direction (e.g., in the direction of D1D2). Figure 8 (in the C1C2 direction).

[0112] In some examples, the carrier 21 may also have a housing 213 (see Figure 8 The outer casing 213 can be a hollow structure with an accommodating space. Under these conditions, by covering the interior of the support mechanism 21 with the outer casing 213, dust can be effectively prevented from entering the interior of the support mechanism 21, thereby improving the cleanliness of the interior of the support mechanism 21, which is conducive to extending the service life and reducing the failure rate.

[0113] Figure 9 This is a partial schematic diagram of the pickup device 20 involved in the example of this disclosure. Figure 10 This is a schematic diagram showing the suction device 900 involved in the example of this disclosure located in the clamping space X. Figure 11 This is a schematic diagram showing the suction device 900 clamped in the clamping mechanism 22 according to an example of this disclosure. Figure 10 and Figure 11It is a downward-looking perspective from below the clamping mechanism 22.

[0114] In some examples, as described above, the pickup device 20 may include a clamping mechanism 22 for clamping the infusion pump 900.

[0115] In some examples, the clamping mechanism 22 may include a first clamping portion 220 and a second clamping portion 225 movable toward or away from the first clamping portion 220 (see [reference]). Figure 9 In some examples, the first clamping portion 220 and the second clamping portion 225 can cooperate to form a clamping space X that matches the injection tube 91. The clamping space X refers to the area located between the first clamping portion 220 and the second clamping portion 225 (see [link to documentation]). Figure 10 When the suction device 900 is picked up, the carrying mechanism 21 can be driven to move toward the suction device 900 so that the suction device 900 enters the clamping space X (see...). Figure 10 The first clamping part 220 and the second clamping part 225 move toward each other (see...). Figure 10 The first clamping part 220 moves toward the D2 direction, and the second clamping part 225 moves toward the D1 direction, and clamps the injection tube 91 in such a way that the first clamping part 220 and the second clamping part 225 abut against the injection tube 91 from two directions respectively (see...). Figure 11 In this case, the clamping mechanism 22 is able to automatically clamp the suction device 900.

[0116] In some examples, the support mechanism 21 may have a slide rail orthogonal to the length direction of the suction device 900, and the first clamping part 220 and the second clamping part 225 may be disposed on the support mechanism 21 via a slide groove that matches the slide rail. Thus, the first clamping part 220 and the second clamping part 225 can move along the length direction orthogonal to the suction device 900 to clamp the suction device 900.

[0117] In some examples, the injection tube 91 may have a lower half relatively close to the needle tube 93 and an upper half relatively far from the needle tube 93. In some examples, the first clamping portion 220 and the second clamping portion 225 may be a double-layered structure. Specifically, the first clamping portion 220 may have a first upper arm 221 and a first lower arm 222, and the second clamping portion 225 may have a second upper arm 226 and a second lower arm 227 (see...). Figure 9 The first upper arm 221 and the second upper arm 226 cooperate to clamp the upper half of the injection tube 91, and the first lower arm 222 and the second lower arm 227 cooperate to clamp the lower half of the injection tube 91. In this case, by clamping both the upper and lower halves of the injection tube 91 simultaneously, the stability of the clamping mechanism 22 in clamping the aspirator 900 can be improved.

[0118] In some examples, the side of the first clamping portion 220 and the second clamping portion 225 adjacent to each other can be a concave arcuate surface (see...). Figure 9 In some examples, the shape of the curved surface can match the outer contour of the injection tube 91. In this case, when the first clamping part 220 and the second clamping part 225 move toward each other and clamp the injection tube 91 such that the first clamping part 220 and the second clamping part 225 abut against the injection tube 91 from two directions respectively, the stability of the clamping mechanism 22 in clamping the injection tube 91 can be improved by making the opposing curved surfaces of the clamping mechanism 22 conform to the outer contour of the injection tube 91.

[0119] In some examples, preferably, the sides of the first upper arm 221 and the first lower arm 222 adjacent to the second upper arm 226 and the second lower arm 227 can be concave arc-shaped surfaces. This further improves the stability of the clamping mechanism 22 in clamping the injection tube 91.

[0120] In some examples, the pickup device 20 may include a third detection mechanism 23 (see [reference]). Figure 10 The third detection mechanism 23 can be linked with the clamping mechanism 22 and used to detect the position of the clamping mechanism 22. Specifically, the third detection mechanism 23 may include a laser sensor with a transmitting end and a receiving end, and a positioning plate disposed on and linked with the clamping mechanism 22. The positioning plate may be a solid structure with through holes or a frame structure with barrier strips. When the clamping part of the clamping mechanism 22 is in a predetermined position, the laser emitted by the transmitting end of the laser sensor towards the receiving end is either received by the receiving end through the through holes or blocked by the barrier strips and cannot be received by the receiving end (see...). Figure 10 and Figure 11 In this case, the third detection mechanism 23 can determine whether the clamping mechanism 22 is in a predetermined position. When the predetermined position is configured such that the clamping mechanism 22 can provide a predetermined pressure to the suction device 900 to clamp it, it can be determined whether the clamping mechanism 22 stably clamps the suction device 900 by determining whether the clamping mechanism is in the predetermined position.

[0121] In some examples, the pickup device 20 may include a fourth detection mechanism. This fourth detection mechanism is oriented towards the clamping space X and is used to sense the presence of the suction device 900 within the clamping space X. Specifically, the fourth detection mechanism can be a ranging sensor. For example, the fourth detection mechanism can be a reflective photoelectric sensor. The operating principle of a reflective photoelectric sensor has been described previously and will not be repeated here. Thus, it is possible to detect the presence of an object (i.e., the suction device 900) within the clamping space X. In some examples, the fourth detection mechanism may be located inside the housing 213 of the support mechanism 21, and the housing 213 has a transparent window for the fourth detection mechanism to emit light into the clamping space X. This provides protection for the fourth detection mechanism.

[0122] In some examples, as described above, the pickup device 20 may include a pushing mechanism 24 for pushing the core rod 92. In some examples, the pushing mechanism 24 may be movable along the length direction of the core rod 92 (e.g., in...). Figure 8 The aspirator 900 is positioned in a vertical orientation (in directions F1 and F2). The length of the core rod 92 can be aligned with the length of the aspirator 900. Therefore, the aspirator 900 can be controlled by the pushing mechanism 24 to perform aspiration, thus automating the liquid injection process.

[0123] Figure 12 This is a schematic diagram illustrating the accommodating portion 240 as described in this disclosure example. Figure 13 This is a schematic diagram showing the gripping part 921 engaging with the receiving part 240 according to an example of this disclosure. Figure 12 and Figure 13 This is a cross-sectional view of the receiving part 240. To more clearly illustrate the shape of the elastic component 242, some lines and structures that may cause obstruction have been omitted.

[0124] In some examples, the pushing mechanism 24 may include a receiving portion 240 with a groove 241 (see [reference]). Figure 12 In this disclosure, for clarity, the recess 241 of the receiving portion 240 is referred to as the first recess 241. In some examples, the first recess 241 may match the outer contour of the holding portion 921. When the aspirator 900 picks up the pick-up device 20, the holding portion 921 of the aspirator 900 may be located within the first recess 241. In this case, aspiration can be performed by moving the mandrel 92 along the length direction of the injection tube 91 by driving the receiving portion 240 to move the mandrel 92 along the length direction of the mandrel 92.

[0125] In some examples, the matching of the first groove 241 with the outer contour of the grip 921 can mean that the shape of the first groove 241 is substantially consistent with the outer contour of the grip 921, allowing the grip 921 to be fully engaged within the first groove 241. For example, if the outer contour of the grip 921 is approximately T-shaped, the shape of the first groove 241 can also be approximately T-shaped. In this case, when the drive push mechanism 24 moves toward the aspirator 900 to engage the grip 921 with the first groove 241 that matches the outer contour of the grip 921, the stability of the engagement can be improved, and injection errors can be reduced.

[0126] In other examples, the matching of the first groove 241 with the outer contour of the grip 921 may also mean that the shape of the first groove 241 is completely consistent with the outer contour of the grip 921, and its size is slightly larger than the outer contour of the grip 921.

[0127] In some examples, the opening of the first groove 241 toward the suction device 900 can be in an outwardly flared V-shape (see [reference]). Figure 12 In this case, it is convenient for the suction device 900 to enter the receiving section 240 along the C1 direction.

[0128] In some examples, the support mechanism 21 may have a slide rail aligned with the length direction of the core rod 92, and the receiving portion 240 may be disposed on the support mechanism 21 via a groove that matches the slide rail. This allows the receiving portion 240 to move along the length direction of the core rod 92.

[0129] In some examples, the first groove 241 may have an elastic member 242 (see Figure 12 When the holding part 921 of the suction device 900 is not in the first groove 241, the elastic member 242 is in its natural state and the convex surface of the elastic member 242 can face downwards (see...). Figure 12 When the holding part 921 of the suction device 900 enters the first groove 241, the elastic member 242 abuts against the upper surface of the holding part 921, and the elastic member 242 is in a compressed and contracted state due to the force of the holding part 921 (see...). Figure 13To ensure the aspirator 900 can smoothly enter the first groove 241, the size of the first groove 241 is usually set to be slightly larger than the handle 921. In this case, a certain gap exists between the upper surface of the handle 921 and the first groove 241. This gap may affect the accuracy of the injection volume during the injection process. By providing an elastic member 242 within the first groove 241, when the receiving part 240 moves along the length of the mandrel 92 and cooperates with the handle 921 to control the movement of the mandrel 92 for injection, especially during the movement of the mandrel 92 towards the needle tube 93, the elastic member 242 abuts against the upper surface of the handle 921 and is in a compressed state due to the force exerted by the handle 921. The elastic member 242 only undergoes negligible deformation, thereby reducing the error in the injection volume caused by the gap between the upper surface of the handle 921 and the first groove 241. This improves the injection accuracy of automated injection.

[0130] In some examples, the elastic member 242 can be an elastic pad. In this case, it is convenient to provide elastic force to the gripping portion 921. In some examples, the elastic pad can be sheet-like. When the gripping portion 921 of the suction device 900 is not engaged in the first groove 241, the convex surface of the elastic pad can face downwards (see...). Figure 12 In this case, it is convenient for the suction device 900 to enter the receiving section 240 along the C1 direction.

[0131] In some examples, the elastic member 242 may also be a telescopic ball that at least partially protrudes from the inner wall of the first groove 241. In this case, it is convenient to provide elastic force to the grip 921. In other examples, the elastic member 242 may also be a spring.

[0132] In some examples, the direction of the elastic force when the elastic member 242 abuts against the gripping part 921 can be consistent with the length direction of the core rod 92 (see [reference]). Figure 13 In this case, the elastic member 242 can generate an extension direction (e.g., along the core rod 92 toward the needle tube 93) for the gripping part 921. Figure 13 The elastic force in the G2 direction (as shown) allows the upper surface of the gripping part 921 to adhere to the elastic member 242 while the lower surface of the gripping part 921 adheres to the inner wall of the first groove 241. This can improve the stability of the pickup device 20 in picking up the aspirator 900 and further improve the injection accuracy during automated liquid injection.

[0133] In some examples, the pickup device 20 may also include a retaining portion 25 having a groove 251 (see [reference]). Figure 9In this disclosure, for clarity, the recess 251 of the retaining portion 25 is referred to as the third recess 251. The retaining portion 25 may be provided on the carrying mechanism 21. In some examples, the third recess 251 may match the outer contour of the flange 911 of the suction device 900, and the third recess 251 may be positioned opposite to the flange 911 (e.g., in...). Figure 9 In this configuration, the holding part 25 is located below the pushing mechanism 24. When the aspirator 900 is clamped in the clamping mechanism 22, the flange 911 is at least partially located within the third groove 251. In this case, by fixing the flange 911 of the injection tube 91 while clamping the aspirator 900, the stability of the pick-up device 20 in picking up the aspirator 900 can be improved. Furthermore, when the pushing mechanism 24 pushes and pulls the core rod 92, the holding part 25 can further fix the portion of the aspirator 900 including the injection tube 91.

[0134] In some examples, the third groove 251 matches the outer contour of the flange 911, meaning the height of the third groove 251 is slightly greater than the thickness of the flange 911. This allows the flange 911 of the suction device 900 to be held in place by the holding part 25. In some examples, the depth of the third groove 251 may be slightly greater than the width of the flange 911. This facilitates holding the flange 911 in place.

[0135] Figure 14 This is a schematic diagram showing the aspirator 900, as described in this disclosure, located in front of the pickup device 20. Figure 15 This is a schematic diagram showing the suction device 900 abutting against the limiting portion 26 according to the example of this disclosure. Figure 16 This is a schematic diagram showing another perspective of the suction device 900 clamped in the clamping mechanism 22 according to an example of this disclosure. Figure 14 , Figure 15 and Figure 16 In order to more clearly illustrate the posture of the suction device 900, only the feeding mechanism 13 is shown schematically, and most of the components and lines that may cause obstruction are omitted.

[0136] In some examples, the pickup device 20 also includes a limiting portion 26 for preventing tilting of the aspirator 900 during pickup (see [reference]). Figure 14 The limiting part 26 can be provided on the carrying mechanism 21 and located below the clamping mechanism 22. Since the suction device 900 is mounted on the feeding notch 132 when it is in the feeding position S2, when the picking device 20 picks it up, during the process of the holding part 921 engaging with the receiving part 240, the receiving part 240 may generate a force on the clamping part 25 in a direction away from the receiving part 240 as it moves toward the clamping part 25 (e.g., ...). Figure 15Under the influence of a force (in the direction of C2 shown), the suction device 900 may tilt undesirably with the turntable 130 as the fulcrum, causing the gripping part 921 to tilt away from the receiving part 240. In this case, during the engagement of the gripping part 921 with the pushing mechanism 24, the limiting part 26 can suppress the suction device 900 from tilting in the front-back direction (both the direction closer to the suction device 900 and the direction away from the suction device 900, for example...) Figure 14 The C1C2 direction is tilted undesirably to make the suction device 900 as vertical as possible, so as to facilitate the subsequent clamping mechanism 22 to clamp the suction device 900 and cooperate with the subsequent target container for suction.

[0137] The following, combined with Figure 14 , Figure 15 and Figure 16 The limiting part 26 will be described by way of example. See [link to documentation]. Figure 14 , Figure 15 and Figure 16 When the carrying mechanism 21 moves toward the suction device 900 (in the C2 direction) and contacts the receiving portion 240, the receiving portion 240 generates a force on the holding portion 25 in a direction away from the receiving portion 240 (see [reference]). Figure 15 The force acting in the direction of C2 (as shown) causes the holding part 921 to tilt away from the receiving part 240, thereby causing the suction device 900 to, for example... Figure 15 As shown in the posture, the limiting part 26 abuts against the outer surface of the injection tube 91, which can prevent the aspirator 900 from continuing to expand its tilt angle in the front-rear direction (C1C2 direction). When the carrying mechanism 21 continues to move toward the aspirator 900 until the holding part 921 is fully inserted into the first groove 241, the aspirator 900 is transformed into the posture shown in the figure. Figure 16 The posture shown is roughly vertical.

[0138] Figure 17 This is a schematic diagram showing another perspective of the limiting portion 26 involved in the example of this disclosure. Wherein, Figure 17 The perspective is an upward view from below, perpendicular to the lower surface of the limiting part 26.

[0139] In some examples, the limiting portion 26 may have a limiting surface 261 relatively close to the suction device 900 (see [reference]). Figure 17 Furthermore, the limiting surface 261 is not located within the clamping space X. In this case, the posture of the suction device 900 can be restricted by the limiting part 26 without causing undesirable effects on the clamping mechanism 22's clamping of the suction device 900.

[0140] In some examples, when projected along a direction perpendicular to the upper surface of the limiting portion 26, the limiting surface 261 may be concave in a direction relatively away from the clamping space X and in a V-shape (see...). Figure 17 In this case, the limiting surface 261 is configured in a V-shape, which not only restricts the posture of the injection tube 91 in the front-back direction, but also abuts against the lower part of the injection tube 91 from both directions of the V-shape, suppressing the injection tube 91 from moving in the left-right direction (e.g. Figure 17 The tilt in the D1D2 direction further improves the stability of the injection tube 91 and the limiting part 26 when they come into contact.

[0141] Figure 18 This is a schematic diagram illustrating the calibration apparatus 30 involved in the example of this disclosure.

[0142] In some examples, as described above, the transport system 100 may also include a calibration device 30 for calibrating the position of the infusion device 900. In this case, a movement route can be planned based on the calibration coordinates of the infusion device 900 so that the infusion device 900 is accurately moved to a predetermined position to cooperate with a container such as a medicine bottle or infusion bag for drug infusion.

[0143] In some examples, calibration device 30 may have a calibration region H (see Figure 18 The infusion aspirator 900 can be placed within the calibration area H and calibrated using the calibration device 30. Specifically, during the transport of the infusion aspirator 900, the needle tip needs to be moved to a predetermined position to align with a container such as a medicine bottle or infusion bag for drug infusion. When picking up each infusion aspirator 900, the orientation of each aspirator 900 may vary slightly. In this case, the needle tip of the infusion aspirator 900 can be placed within the calibration area H, and the needle tip position (i.e., the calibration coordinate value of the needle tip) can be obtained using the calibration device 30. In this situation, a movement route can be planned based on the calibration coordinate value of the needle tip to move the infusion aspirator 900 to the predetermined position, thereby achieving precise alignment between the infusion aspirator 900 and the target container (e.g., a medicine bottle or infusion bag).

[0144] In some examples, the calibration device 30 may include a first camera 31 and a second camera 32 with their optical axes perpendicular to each other, the first camera 31 and the second camera 32 cooperating to form a calibration region H (see Figure 18 In other words, the calibration area H can be the area formed at the intersection of the output optical axis A1 of the first camera 31 and the output optical axis A2 of the second camera 32, which can be simultaneously captured by the first camera 31 and the second camera 32 (see...). Figure 18In this case, the first camera 31 and the second camera 32 can acquire the image position information of the needle tip, which can then be converted into calibration coordinate values. In some examples, the image position information of the needle tip can be converted into calibration coordinate values ​​of the needle tip based on camera calibration principles.

[0145] In some examples, the calibration device 30 may include a housing 33 with a receiving space. The first camera 31, the second camera 32, and the calibration area H may be located within the receiving space of the housing 33, and the housing 33 may have an opening 330 on the housing 33 opposite to the calibration area H for the suction device 900 to enter (see [reference]). Figure 18 When it is necessary to move the needle tip to the calibration area H, it can be accessed through the opening 330 on the housing 33. In this case, the housing 33 can reduce the influence of the outside world on the calibration area H (such as stray light, reflected light, etc.), thereby improving the calibration accuracy. Moreover, the housing 33 can also protect the optical components (for example, it can prevent dust and water).

[0146] Figure 19 This is a schematic diagram illustrating the recycling device 50 involved in the example of this disclosure. Figure 20 This is a schematic diagram showing another perspective of the recycling device 50 involved in the example of this disclosure. Figure 21 This is a schematic diagram illustrating the shearing mechanism 53 involved in the example of this disclosure. Wherein, Figure 20 This is a top-down view from above the recycling unit 50.

[0147] In some examples, the transport system 100 may also include a recycling device 50 (see Figure 2 The recovery device 50 can remove the suction device 900 from the pickup device 20 and recover the suction device 900.

[0148] In some examples, the recycling device 50 may include a barrier 51 (see...) Figure 19 The barrier 51 can be elongated. When it is necessary to remove the aspirator 900 from the pickup device 20, the carrier mechanism 21 can be driven to move until the barrier 51 is located between the injection tube 91 and the carrier mechanism 21. Then, the clamping mechanism 22 releases its grip on the injection tube 91, and the carrier mechanism 21 or the barrier 51 is driven to move away from each other to apply a force to the aspirator 900, thereby removing the aspirator 900 from the pickup device 20. In this disclosure, the position where the barrier 51 is located between the injection tube 91 and the carrier mechanism 21 can be referred to as the recovery station.

[0149] In some examples, the barrier 51 can be a double-layered structure (see...). Figure 19In other words, there can be two barriers 51. In this case, during the process of removing the aspirator 900 from the pickup device 20, the double-layered barriers 51 can simultaneously apply a force to the upper and lower halves of the aspirator 900, moving it away from the support mechanism 21, thereby facilitating the removal of the aspirator 900 from the pickup device 20.

[0150] In some examples, the recycling device 50 may include a base 52 (see [reference]). Figure 19 In some examples, the barrier 51 can be rotatably mounted on the base 52. This facilitates the removal of the suction device 900 from the pickup device 20. In other examples, the barrier 51 can be fixedly mounted on the base 52. When it is necessary to remove the suction device 900 from the pickup device 20, after the carrying mechanism 21 moves the suction device 900 to the recycling station, the suction device 900 can be removed from the pickup device 20 by driving the carrying mechanism 21 to move away from the barrier 51.

[0151] In some examples, the recycling device 50 may include a shearing mechanism 53 having a shearing region K (see [reference]). Figure 21 The shearing mechanism 53 can be used to separate the needle 93 and the injection tube 91 of the aspirator 900. Specifically, the drive support mechanism 21 can be moved so that the connection between the needle 93 and the injection tube 91 is within the shearing region K, and then the shearing mechanism 53 shears the connection to separate the needle 93 and the injection tube 91. Since the injection tube 91 and the needle 93 of the aspirator 900 are usually made of different materials (e.g., the injection tube 91 is usually made of plastic and the needle 93 is made of metal), in this case, by setting up a recycling device 50 with the shearing mechanism 53 to separate the needle 93 and the injection tube 91, the needle 93 and the injection tube 91 can be sorted and recycled separately, thereby improving the environmental friendliness of the transport system 100.

[0152] In some examples, the cutting mechanism 53 may include a scissor-shaped cutting section 531 (see...). Figure 21 The shearing region K can be the area between two blades. This allows the aspirator 900 to be sheared to separate the needle 93 from the injection tube 91. In an example with a shearing mechanism 53, the recovery station can be where the barrier 51 is located between the injection tube 91 and the support mechanism 21, and the connection between the needle 93 and the injection tube 91 is located in the shearing region K.

[0153] In some examples, the recycling device 50 may also include a waste collection box 54 with a containment space (see [reference]). Figure 19 Waste collection box 54 can be installed below the recycling station to automatically collect the suction device 900 removed from the pickup device 20.

[0154] In some examples, the waste collection box 54 may have a main collection area 541 and a syringe collection area 542 (see Figure 20 The needle 93 separated by the shearing mechanism 53 can fall into the needle collection area 542, and the other main body parts 131 of the aspirator 900, including the injection tube 91, can fall into the main body collection area 541. Thus, the needle 93 and the main body parts 131 of the aspirator 900 including the injection tube 91 can be collected separately.

[0155] In some examples, a partition 543 with a groove 544 may be provided between the main body collection area 541 and the syringe collection area 542 (see [reference]). Figure 19 In this disclosure, for clarity, the groove 544 on the partition 543 is referred to as the fourth groove 544. The width of the fourth groove 544 is greater than the diameter of the needle tube 93 and less than the diameter of the injection tube 91, and the length of the fourth groove 544 may be greater than the length of the needle tube 93. The shearing mechanism 53 may be located to the side and below the barrier 51, the main body collection area 541 may be located below the barrier 51, and the shearing area K may be located within the needle tube collection area 542. When it is necessary to remove the aspirator 900 from the pickup device 20, the aspirator 900 may be moved to the recovery station (the portion of the needle tube 93 may enter the shearing area K from the fourth groove 544). In this situation, after the shearing mechanism 53 cuts the needle 93 from the injection tube 91, the needle 93 can fall naturally into the needle collection area 542. Since the width of the fourth groove 544 is smaller than the diameter of the injection tube 91, when the carrying mechanism 21 and the barrier bar 51 cooperate to knock the aspirator 900 from the pickup device 20, the aspirator 900, including the main body 131 of the injection tube 91, can fall into the main body collection area 541 due to the blocking effect of the partition 543.

[0156] Figure 22 This is a schematic diagram illustrating the drive device 40 involved in the example of this disclosure.

[0157] In some examples, as described above, the transport system 100 may include a drive unit 40. The drive unit 40 may be used to drive the placement device 10, the pickup device 20, the calibration device 30, and / or the retrieval device 50. In some examples, the drive unit 40 may drive the placement device 10, the pickup device 20, the calibration device 30, and / or the retrieval device 50, respectively.

[0158] In some examples, the drive unit 40 may include a first drive mechanism 41 for driving the mounting device 10 (see [link]). Figure 22The first drive mechanism 41 can be connected to the turntable 130 and drive the turntable 130 to rotate. This allows the feeder 900 to be moved to the feeding position S2 via the feeding mechanism 13. In some examples, the first drive mechanism 41 may include a servo motor, which can be connected to the center of the turntable 130 via a connecting rod, thereby controlling the rotation of the turntable 130. In some examples, preferably, the first drive mechanism 41 may include a servo motor reducer. This allows for more precise control of the rotation of the turntable 130.

[0159] In some examples, the drive unit 40 may include a second drive mechanism 42 for driving the pickup unit 20 (see [link]). Figure 22 The second drive mechanism 42 may include a first drive part 421 that drives the bearing mechanism 21 to move, a second drive part 422 that drives the first clamping part 220 and the second clamping part 225 of the clamping mechanism 22 to move towards or away from each other, and a third drive part 423 that drives the pushing mechanism 24 to move along the length direction of the core rod 92 (see...). Figure 22 In this case, the carrying mechanism 21, the clamping mechanism 22, and the pushing mechanism 24 can be driven by the first driving unit 421, the second driving unit 422, and the third driving unit 423, respectively.

[0160] In some examples, the second drive unit 422 can be a cylinder. In this case, configuring the second drive unit 422 as a cylinder facilitates control of the clamping force on the aspirator 900, improving safety. In some examples, the third drive unit 423 can be an electric cylinder. This facilitates precise control of the movement of the pushing mechanism 24, thereby improving injection accuracy.

[0161] In some examples, the drive unit 40 may include a third drive mechanism 43 for driving the calibration device 30 (see [link]). Figure 22 The third drive mechanism 43 can send control commands to the calibration device 30 to start and stop operation. For example, when an object is sensed entering the calibration area H, a control command to start operation is sent. After obtaining the image position information of the object according to a predetermined program, a control command to stop operation is sent to the calibration device 30.

[0162] In some examples, the drive unit 40 may include a fourth drive mechanism 44 for driving the recycling unit 50 (see [link]). Figure 22 The fourth drive mechanism 44 can be used to drive the barrier 51 and / or the shearing mechanism 53. In some examples, the fourth drive mechanism 44 may include a barrier drive unit 441 for driving the movement of the barrier 51 (see [link to documentation]). Figure 22Therefore, the barrier 51 can be driven to rotate to cooperate with the support mechanism 21 to remove the suction device 900. In some examples, the fourth drive mechanism 44 may include a shear drive 442 for driving the shear mechanism 53 to perform shearing (see...). Figure 22 Therefore, the shearing mechanism 53 can be driven to shear the suction device 900.

[0163] Figure 23 This is a schematic diagram illustrating the process of transporting the suction device 900 by the transport system 100 according to the example of this disclosure. The following, in conjunction with... Figure 23 This disclosure provides a detailed description of the complete process by which the transportation system 100 transports the suction device 900.

[0164] In some examples, such as Figure 23 As shown, the complete process of transporting the suction device 900 by the transport system 100 may include the following steps: placing the suction device 900 into the loading device 10, and the loading device 10 moving the suction device 900 to the feeding position S2 (step S100); the picking device 20 picking up the suction device 900 located at the feeding position S2 and moving the suction device 900 to the cap removal mechanism 15 for cap removal (step S200); the picking device 20 moving the cap-removed suction device 900 to the calibration area H of the calibration device 30, the calibration device 30 sensing the position of the suction device 900 to obtain the calibration coordinate value of the suction device 900 (step S300); and planning a movement route based on the calibration coordinate value to move the suction device 900 to a predetermined position to cooperate with the target container for suction (step S400). Thus, the transport system 100 can automatically transport, remove caps from, and perform suction on the suction device 900.

[0165] In some examples, in step S400, moving the aspirator 900 to a predetermined position to cooperate with the target container for aspiration can mean inserting the needle tip of the aspirator 900 into the target container and controlling the aspirator 900 to inject or aspirate the drug via the pushing mechanism 24. That is, the predetermined position can be the inside of the target container.

[0166] In summary, the transport system 100 of the aspirator 900 according to this disclosure can automatically transport, remove the cap and aspirate the aspirator 900, and can improve the injection accuracy during automated aspiration.

[0167] While the present disclosure has been specifically described above in conjunction with the accompanying drawings and examples, it is to be understood that the foregoing description does not limit the present disclosure in any way. Those skilled in the art can make modifications and variations to the present disclosure as needed without departing from its essential spirit and scope, and all such modifications and variations shall fall within the scope of the present disclosure.

Claims

1. A transport system for an aspirator, the aspirator comprising an injection tube having a receiving chamber, a core rod movably disposed within the cavity of the injection tube, a needle tube communicating with the receiving chamber, and a needle cap sleeved on the needle tube, the core rod having a rod body, a piston disposed at one end of the rod body and located within the injection tube, and a gripping portion located at the other end of the rod body, characterized in that, The transport system includes a loading device for placing the aspirator, a picking device for picking up the aspirator from the loading device to a target location, a calibration device having a calibration area for calibrating the position of the aspirator, and a drive device. The loading device includes a feed channel having an inlet and an outlet for the suction device to move, a feeding mechanism adjacent to the outlet, and a cap removal mechanism. The feeding mechanism is configured to receive the suction device delivered from the outlet and transport the suction device to the feeding position. The cap removal mechanism is adjacent to the feeding position. The pickup device includes a movable support mechanism, a clamping mechanism for holding the aspirator, and a pushing mechanism for pushing the core rod. The clamping mechanism and the pushing mechanism are disposed on the support mechanism. The pushing mechanism includes a receiving portion having a first groove that matches the outer contour of the grip portion, and an elastic member disposed in the first groove. When the grip portion is located in the first groove, the lower surface of the elastic member abuts against the upper surface of the grip portion located in the first groove, and the elastic force direction of the elastic member when it abuts against the grip portion is consistent with the length direction of the core rod. When the transport system transports the suction device, the suction device moves along the feed channel from the inlet to the outlet. The drive device drives the feeding mechanism to transport the suction device to the feeding position, and the drive device drives the pickup device to move toward the feeding position until the gripping part of the suction device engages with the receiving part. Then, the clamping mechanism is driven to clamp the suction device. Next, the pickup device is driven to move the suction device to the cap removal mechanism to remove the needle cap. Then, the pickup device is driven to move the suction device to the calibration area. The calibration device calibrates the needle tip position of the suction device to obtain the calibration coordinate value of the needle tip. The drive device plans a movement route based on the calibration coordinate value to drive the pickup device to move the suction device to a predetermined position.

2. The transportation system according to claim 1, characterized in that, The feeding mechanism includes a rotatable turntable and a guide section. The turntable includes a disc-shaped main body and a feeding notch formed on the outer periphery of the main body for mounting the suction device. With the position of the feeding notch facing the outlet as the initial position, the driving device drives the turntable to rotate so that the suction device mounted on the feeding notch moves from the initial position to the feeding position along a predetermined movement path. The guide section is configured to allow the suction device mounted on the feeding notch to move along the predetermined movement path as the turntable rotates.

3. The transportation system according to claim 2, characterized in that, The guide portion is located between the initial position and the predetermined position and is arranged along the rotation trajectory of the suction device. When the feeding notch accommodates the suction device and rotates to between the initial position and the feeding position, it is projected along a direction orthogonal to the upper surface of the turntable. The inner wall of the guide portion is located outside the injection tube of the suction device and inside the outer periphery of the turntable.

4. The transportation system according to claim 1, characterized in that, The cap removal mechanism has a second groove communicating with the area of ​​the feeding position. The width of the second groove is greater than the outer diameter of the needle tube and less than the outer diameter of the needle cap. The height of the second groove is not greater than the distance between the needle cap and the injection tube. The pickup device clamps the aspirator and moves it from the feeding position to a point where the needle tube is located in the second groove and the needle cap and the injection tube are located on opposite sides of the cap removal mechanism. Then, the aspirator is moved toward the side away from the needle cap to remove the needle cap.

5. The transportation system according to claim 1, characterized in that, The clamping mechanism includes a first clamping part and a second clamping part that can move towards or away from the first clamping part. The first clamping part and the second clamping part cooperate to form a clamping space that matches the injection tube. When the aspirator is picked up, the driving device drives the carrying mechanism to move toward the aspirator so that the aspirator enters the clamping space and the holding part engages with the first groove of the pushing mechanism. The first clamping part and the second clamping part move towards each other and clamp the injection tube by abutting the injection tube from two directions respectively.

6. The transportation system according to claim 1, characterized in that, The injection tube of the aspirator has a flange at one end opposite to the needle tube. The pickup device also includes a clamping part disposed in the carrying mechanism. The clamping part has a third groove that matches the outer contour of the flange. When the aspirator is clamped in the clamping mechanism, the flange is at least partially located in the third groove.

7. The transportation system according to claim 1, characterized in that, The pickup device further includes a limiting part disposed on the bearing mechanism and located below the clamping mechanism. The limiting part has a limiting surface relatively close to the aspirator. The limiting surface is at least not located within the clamping space. It is projected along a direction perpendicular to the upper surface of the limiting part. The limiting surface is concave in a direction relatively away from the clamping space and is V-shaped.

8. The transportation system according to claim 1, characterized in that, It also includes a retrieval device, which includes a barrier and a shearing mechanism with a shearing area. When it is necessary to remove the aspirator from the pickup device, the drive device drives the support mechanism to move until the barrier is located between the injection tube and the support mechanism, and the connection between the needle and the injection tube is within the shearing area. Then, the shearing mechanism cuts the connection to separate the needle from the injection tube. Then, the support mechanism is driven to move away from the barrier to remove the aspirator from the pickup device.

9. The transportation system according to claim 1, characterized in that, The calibration device includes a first camera and a second camera whose output optical axes are perpendicular to each other, and the first camera and the second camera cooperate to form the calibration area.

10. The transportation system according to claim 1, characterized in that, The elastic component is an elastic gasket.

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