Stroke automatic identification method, automatic identification medicine mixing control method and control system

Abstract

The invention discloses an automatic stroke identification method, an automatic identification medicine mixing control method and a control system, and the method comprises the steps: recording signal positions based on the simultaneous change of the rotating speeds of motors at two sides, and carrying out the automatic identification of the stroke based on the total push-pull length of each injector unit and the length between the lower tail ends of every two piston rods at the initial positions; judging whether the volume of the medicament in each injector container is enough to accommodate the volume of the medicament to be mixed; if any one of the volumes of the medicaments in the syringe container is sufficient to accommodate the volume of the medicament to be mixed, mixing the medicaments by adopting a first medicament mixing mode according to the preset first length of the medicament to be mixed; and if any one of the volumes of the medicaments in each injector container is not enough to accommodate the volume of the medicament to be mixed, mixing the medicaments by adopting a second medicament mixing mode according to a preset second length of the medicament to be mixed. According to the scheme, the speed of the motor assemblies on the two sides changes at the same time, namely a trigger signal is received, position recording and stroke recognition can be carried out, and therefore the whole medicine mixing process is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an automatic stroke identification method, an automatic mixed medicine identification control method and a control system. Background Art

[0002] A syringe is a device used in the medical field, which is intended to provide a specific or unspecified dose of a drug, and a mixing syringe is an injection device that mixes two or more drugs together for injection. In the prior art, for example, in the prior art solution with patent number CN205672801U and invention name “an automatic preparation device for mixed drugs” (its schematic diagram is shown in the fifth figure of the patent drawings, when the three-way is closed, the syringes on both sides can reciprocate to mix drugs), other drug mixing technical solutions known to the inventor also use similar methods as shown in the attached figure. Figure 1 In the above technical solutions, it is necessary to input the starting position of the medicine in each syringe (such as the starting position in the X and Y directions) and the running distance of each syringe (such as the running distance in the X and Y directions) in the control panel. In addition, it is also necessary to input conventional mixing parameters such as mixing speed (such as Figure 1 speed parameters shown in ) and the mixing setting times (such as Figure 1 The setting times shown in the figure) or the push-pull times shown in the fifth figure of the patent, and the attached Figure 1 The running distance L in the figure is the length parameter occupied by the amount of the mixed medicine in the syringe (when the syringe specification is a given or determined specification). At this time, it is necessary to measure the starting position parameter corresponding to the length parameter of the medicine and the length parameter of the medicine in the syringe and input them into the control panel. The running distances in the X and Y directions are the length parameters occupied by the amount of the mixed medicine in the syringe.

[0003] From the above, it can be seen that the prior art needs to adopt the method of inputting parameters to measure and input the volume of the medicine to be mixed or the length parameters of the medicine to be mixed in the syringe, the push-pull distance of each piston rod during the mixing process, that is, the running distance (or the push-pull stroke corresponding to the medicine to be mixed rather than the total stroke of the syringe piston rod), etc. before the next operation can be carried out. For example, the controller receives the above input parameters and then controls the corresponding module of the syringe to drive the mixing of the medicine by direct output.

[0004] At present, this type of solution that requires multiple inputs of parameters of the medicines to be mixed (especially the length measurement parameters of the volume of the medicines to be mixed on the syringe) cannot be used for some situations where there is a lack of quantity parameters of the medicines to be mixed (especially the length parameters of the medicines to be mixed contained in a syringe of a specific specification or a specified specification), or there is no measuring tool to measure the parameters of the medicines to be mixed, or the parameters of the medicines to be mixed are uncertain and cannot be measured. Even if the automatic medicine mixing device also purchases corresponding measuring tools to measure the medicines to be mixed, each time the medicines are mixed, it is necessary to measure the volume of the medicines to be mixed, especially the length (volume of the medicines to be mixed on the syringe), which brings many changes to each mixing.

[0005] Among other technical solutions known to the inventor, there is also a method of acquiring data only through all sensor elements without measuring the parameters of the medicine to be mixed. Although this method is also a method of automatically identifying mixed medicines, it requires the installation of multiple visual sensors or contact sensors or other types of sensors in a small space, which not only increases the cost but also brings obstacles to the space setting (when multiple sensors are installed in a limited space, the space setting requirements are high), and the sensor as an electrical component is also easily damaged and affects the stability of the equipment.

[0006] Therefore, based on the inconvenience of the above-mentioned prior art or the many problems to be solved, there is an urgent need for a method or a device that can automatically identify the dosage of the medicine to be mixed without inputting the parameters of the medicine to be mixed, especially, a medicine mixing method and a medicine mixing device that can obtain the starting point of the mixing stroke and the pushing and pulling stroke distance of the mixing medicine without inputting the parameters of the medicine to be mixed; even if it can only be applied to syringes of specific specifications or specified specifications (such as specific national standard 5ml or 10ml or other specific specifications of syringes), it can greatly improve the convenience of its operation, thereby eliminating the need to measure the volume parameters of the medicine to be mixed, especially the length parameters (volume parameters include cross-sectional area, length parameters under specific cross-sectional area, etc.) and input the length and starting position or position parameters (especially the work of parameter measurement can be eliminated). Summary of the invention

[0007] In view of the above shortcomings of the prior art, an object of the present invention is to provide a method for automatically identifying a stroke, a method for automatically identifying mixed medicine control, and a control system.

[0008] The method for automatically identifying the dosage stroke of the automatic drug mixing device of the present invention is as follows:

[0009] The stroke automatic identification method is applicable to an automatic drug mixing device, and the method is applicable to a single-side syringe whose volume is sufficient to accommodate the total amount of medicine to be mixed. The automatic drug mixing device includes a connected syringe unit, which is generally a syringe unit connected via a joint or a pipe, and also includes a master control module and a driving device controlled by the master control module. The driving device includes a motor and a push rod connected to the motor. The push rod is arranged at both ends of the syringe unit, and the syringe unit is fixed at the symmetric center of the push rods on both sides. The push rod moves forward or backward through the forward and reverse driving of the motor. The push rod is driven by the motor to approach the piston rod of the syringe unit and pushes the piston rod to move back and forth to mix the medicine after contacting the piston rod. The dosage stroke automatic identification method includes the following steps:

[0010] S1, the main control module records or obtains the piston rod spacing of the syringe unit when the syringe piston rod is not loaded with the medicine to be mixed or the piston rods are pushed to the bottom, and the main control module obtains or records the positions of the push rods on both sides before the motor drives the push rods to move;

[0011] S2, the master control module drives the motors on both sides to rotate at the same speed and simultaneously, thereby driving the push rods on each side to move at the same speed and simultaneously toward the syringe unit loaded with the medicine to be mixed;

[0012] S3, when the push rods on both sides contact the syringe piston rods on their respective sides simultaneously or not simultaneously, the rotation speeds of the motors on their respective sides decrease simultaneously. The decrease in rotation speed is mainly caused by the rapid increase in resistance in the relative directions. The master control module records the signal that the rotation speeds of the motors on their respective sides decrease simultaneously. The master control module also records the positions of the two push rods or the end positions of the piston rods on both sides of the syringe unit at this time, and records the spacing between the two push rods or the spacing between the piston rods of the syringe unit at this time. Because the piston rods of the syringes on both sides contact the push rods, the spacing between the two push rods at this time is the end spacing between the piston rods on both sides of the syringe unit. The positions of the two push rods at this time are also the end positions of the piston rods on both sides of the syringe unit.

[0013] S4, the master control module obtains the unilateral stroke of the push rod reciprocating to mix the medicine:

[0014] S5, after the main control module obtains the unilateral stroke of the push rod obtained by S4, the push rod is driven to move back and forth to mix the medicine according to the unilateral stroke and the end positions of the piston rods on both sides of the syringe unit recorded by the main control module in S3, thereby according to the position of the push rod and the unilateral stroke of the push rod.

[0015] In some or one embodiment of the method for automatically identifying the dosage stroke of the automatic drug mixing device of the present invention, in S4, the master control module obtains the unilateral stroke of the push rod cyclically reciprocatingly mixing the drug, including the following steps:

[0016] The total length of the medicine to be mixed is obtained from S1, S2, and S3, and the total length of the medicine to be mixed is divided by 2, which is the single-side stroke of the double-sided push rods moving back and forth in a cycle;

[0017] The total length of the medicine to be mixed = the distance between the two side push rods or the distance between the two side syringe piston rods when the push rods on each side in S3 are in contact with the piston rod of the syringe unit - the distance between the piston rod ends of the syringe unit when the syringe piston rods are not loaded with the medicine to be mixed or the piston rods are pushed to the bottom as recorded or obtained by the master control module in S1;

[0018] In the scheme of the present invention, the position of the push rod is recorded by the simultaneous change in speed of the motors on both sides after running for a period of time (at a certain point in time); and at this time, the motors on both sides are in contact with the piston rods on their respective sides, so the point in time when the speed of the motors on both sides changes simultaneously is also a signal for the start of the stroke or number of times the push rod circulates back and forth to mix the medicine.

[0019] Although the amount of drugs to be mixed in a single syringe on each side may be different, this difference will inevitably cause the push rod on one side to contact the piston rod on that side first. The push rod will also be subject to a certain resistance at the moment of contact (because there is drugs to be mixed in the syringe), which will cause the motor speed on that side to change for a short time (and generally the motor speed will drop for a short time when blocked, such as generally recorded as a decrease in the number of pulses when recording data), but the change in motor speed is only a brief instantaneous change of the motor on one side. At this time, the master control module ignores the signal of the motor speed change or the master control module records the signal of the motor speed change but does not perform specific operations. Only when the push rod in the opposite direction or the opposite side (simultaneous and at the same speed) also contacts the piston rod on its corresponding side, at this time, the counter-resistance generated by the motors on each side through the push rod indirectly transmits the counter-resistance so that the speeds of the motors on both sides drop at the same time, and the master control module will signal or record the simultaneous drop in the speeds of the motors on both sides.

[0020] In the scheme of the present invention, the rotation speeds of the motors on both sides decrease simultaneously due to the indirect resistance of the push plates on both sides (the movement of the push plates is driven by motors). At this time, the master control module starts to record the position of the starting point of the mixing stroke, and uses the signal of the position record to obtain the single-sided push rod mixing stroke associated with or corresponding to the length of the medicine to be mixed.

[0021] In the scheme of the present invention, the length of the medicine to be mixed can be obtained without using an external measuring tool or entering the data measured by the measuring tool, and the stroke of the cyclic reciprocating mixing of each side push rod and the starting position of the stroke of the reciprocating mixing are also obtained. The starting position of the stroke of each side push rod is generally symmetrical with respect to the center of the syringe unit.

[0022] The present invention provides a method for automatically identifying the dosage stroke of an automatic drug mixing device: the method for automatically identifying the dosage stroke is applicable to the automatic drug mixing device, and the method is applicable to the case where the volume of a single-side syringe is insufficient to accommodate the total amount of a to-be-mixed drug and the volume of a single-side syringe is sufficient to accommodate the total amount of a to-be-mixed drug. The automatic drug mixing device comprises a connected syringe unit, and also comprises a master control module and a driving device controlled by the master control module, wherein the driving device comprises a motor and a push rod connected to the motor, wherein the push rod is arranged at both ends of the syringe unit, and the syringe unit is fixedly arranged at the symmetric center of the push rods on both sides, wherein the push rod moves forward or backward through the forward and reverse rotation of the motor, and the push rod is driven by the motor to approach the piston rod of the syringe unit and pushes the piston rod to reciprocate to mix the drug after contacting the piston rod. The method for automatically identifying the dosage stroke comprises the following steps:

[0023] K1, the master control module records or obtains the distance between the ends of the piston rod of the syringe unit when the syringe piston rod is not loaded with the medicine to be mixed and the piston rods are pushed to the bottom (that is, the distance between the two ends of the unloaded piston rod), records or obtains the volume length of a single syringe (that is, the length parameter corresponding to the volume of a single syringe, which is also the total push-pull range of each piston rod or the total stroke of the piston rod), and records or obtains the distance between the ends of the piston rod of the syringe unit when both sides of the syringe piston rod are fully loaded with medicine or the piston rods on both sides are pulled to the bottom (that is, the distance between the two ends of the fully loaded piston rod); the master control module obtains or records the position of the push rods on both sides before the motor drives the push rods to move;

[0024] K2, the master control module drives the motors on both sides to rotate forward at the same speed and simultaneously, thereby driving the push rods on each side to move towards the syringe unit at the same speed and simultaneously;

[0025] K3, when the push rods on both sides contact the syringe piston rods on their respective sides simultaneously or at different times, the speeds of the motors on their respective sides decrease simultaneously, and the master control module records the positions of the two push rods or the end positions of the piston rods on both sides of the syringe unit at this time, and records the distance between the two push rods or the end distance between the two piston rods of the syringe unit;

[0026] K4, the master control module determines whether the volume of the single-side syringe is sufficient to accommodate the total volume of the medicine to be mixed, and obtains the single-side stroke of the push rod cyclically moving back and forth to mix the medicine;

[0027] K5, after the master control module obtains the unilateral stroke of the push rod obtained by K4, the unilateral stroke of the push rod of the medicine to be mixed and the positions of the two push rods when both push rods are in contact with the piston rod recorded by the master control module in K3, thereby driving the push rod to move back and forth to mix the medicine according to the position of the push rod and the unilateral stroke of the push rod.

[0028] In K3, since the piston rods of the syringes on both sides are in contact with the push rods, the distance between the two push rods when the motor speed changes simultaneously is the distance between the outer ends of the piston rods on both sides of the syringe unit, and the positions of the two push rods are also the end positions of the piston rods on both sides of the syringe unit.

[0029] In one or some preferred embodiments of the dosage stroke automatic identification method of the automatic drug mixing device of the present invention, in step K4, the method in which the master control module determines whether the volume of the single-side syringe is sufficient to accommodate the total volume of the medicine to be mixed, and obtains the single-side stroke of the push rod cyclically reciprocating to mix the medicine is:

[0030] The total length of the medicine to be mixed obtained from K1, K2, and K3 is recorded as Sq, wherein the total length of the medicine to be mixed Sq = the distance between the push rods on both sides when each side push rod in K3 contacts the piston rod of the syringe unit or the distance between the ends of the piston rods of the syringes on both sides - the distance between the piston rod ends of the syringe unit when the piston rods of the syringes recorded or obtained by the master control module in K1 are not loaded with the medicine to be mixed or the piston rods are pushed to the bottom;

[0031] When Sq / 2 is greater than the volume length of a single syringe, that is, the volume of the single-side syringe is insufficient to accommodate the volume of the medicine to be mixed, the single-side stroke of the double-side push rods for mixing medicine = the distance between the piston rod ends of the syringe unit when both sides of the syringe piston rod are fully loaded with medicine or the piston rods on both sides are pulled to the bottom (that is, the distance between the ends of the fully loaded piston rod) - Sq;

[0032] When Sq / 2 is not greater than the volume length of a single syringe, that is, when the volume of the single-side syringe can accommodate the volume of the medicine to be mixed, the single-side stroke of the double-sided push rods for cyclic reciprocating mixing = Sq / 2.

[0033] In some or one preferred embodiment of the method for automatically identifying the dosage stroke of the automatic drug mixing device of the present invention, it further includes the following step KS6: the automatic identification and drug mixing control method is applied to the automatic drug mixing device;

[0034] KS6, the master control module obtains or records the positions of the double-side push rods before the motor drives the push rods to move;

[0035] After the push rod reciprocating cycle of mixing medicine is completed, the master control module drives the push rod to retreat to the position before it was started, away from the original unstarted position of the syringe unit, to prepare for mixing medicine for the next group of syringe units.

[0036] The present invention also provides an automatic identification and mixing control method based on the stroke automatic identification method, which is applicable to an automatic mixing device driven by a double-sided motor.

[0037] The push rod is driven forward or backward by the forward and reverse rotation of the motor. The push rod is driven by the motor to approach the piston rod of the syringe unit and pushes the piston rod to move back and forth to mix the medicine after contacting the piston rod. The automatic identification and mixing control method includes the following steps:

[0038] P1: The master control module obtains the starting position of the medicine to be mixed after both push rods on both sides contact the piston rod, and the unilateral stroke of the push rod when it cyclically moves back and forth to mix the medicine;

[0039] P2: When the push rods on both sides contact the piston rods of the syringes on their respective sides at the same time, the speeds of the motors on their respective sides decrease at the same time, and the master control module records the positions of the two push rods at this time and (marks or records the positions as the starting positions of the medicine to be mixed) drives the motor on either side to rotate in the opposite direction from the starting position of the medicine to be mixed, so that the push rod on that side moves in the opposite direction, while keeping the direction of the motor on the other side unchanged so that the pushing direction of the push rod on that side remains unchanged;

[0040] P3: The double-sided push rods move along the unilateral stroke of the medicine to be mixed until they reach the end of the unilateral stroke of the medicine to be mixed and stop moving (because the length of the unilateral stroke of the medicine to be mixed (i.e. the end of the stroke) has been recorded by the master control module, so when the double-sided push rods move along the unilateral stroke of the medicine to be mixed to the end of the stroke, the master control module drives (actually the master control module drives the double-sided motors to stop rotating, the motors stop rotating and the push rods stop moving) the double-sided push rods automatically stop moving);

[0041] P4: The master control module drives the motors on both sides that have reached the end of the stroke to turn at the same time, so that the push rods move forward in the opposite direction at the same time (i.e. the motor that originally rotated forward turns reversely: the motor that originally rotated reversely rotates forward); and the reversal of the motor's forward and reverse directions is recorded as a complete drug mixing; (after the motor turns, the push rod's pushing direction also moves in the opposite direction, that is, the push rod also turns around, from moving away from the syringe unit to moving closer to the syringe unit, or moving in the opposite direction; but no matter how it turns around or turns, the push rods on each side are close to the piston rod of the syringe unit);

[0042] P5: Follow the above steps to mix the medicine in a cycle.

[0043] In some or one embodiment of the automatic identification and drug mixing control method based on the automatic identification method of the dosage stroke of the present invention, the master control module also includes the setting of the number of drug mixing cycles, or the preset number of drug mixing cycles, and the drug mixing is performed based on the preset or set number of drug mixing cycles, and the number of cycles is an integer greater than or equal to 1.

[0044] In some or one embodiment of the automatic identification and drug mixing control method based on the automatic identification method of the dosage stroke of the present invention, the master control module also includes a preset drug mixing speed, and the drug mixing is performed based on the preset mixing speed. The drug mixing speed is generally understood as the speed of the axial movement of the syringe push rod converted according to the preset motor speed.

[0045] In some or one embodiment of the automatic identification and control method for mixed drugs based on the automatic identification method for dosage stroke of the present invention, the following steps are also included:

[0046] The master control module drives the push rod according to the preset number of times. After the reciprocating cycle of drug mixing is completed, the master control module drives the push rod (actually the master control module commands the motor to rotate, and the rotation of the motor drives the push rod to move) back to the original unactivated position away from the syringe unit.

[0047] The automatic identification and mixed drug control method of the present invention does not need to be equipped with sensors on the push rod and the piston rod. The position information of the push rod and the piston rod is based on the motor signal received by the main control module when the motor speed changes simultaneously, and the next control action is formed based on the signal. Therefore, the solution of the present invention minimizes the use of sensors.

[0048] In the present invention, the contact between the push rod and the piston rod is purely mechanical contact, that is, people can observe the contact, but the main controller inside the device or system is unaware of the fact of the contact (the contact between the push rod and the piston rod). Only when the signal of the simultaneous change in the speed of the two motors appears, the signal of the simultaneous change in the speed of the motors appears and is captured, received and recorded by the main control module, and then other logical judgments or other actions are formed based on the signal.

[0049] The present invention provides a control system for automatically identifying mixed drugs, which is implemented based on a master control module. The control system is suitable for a single-side syringe container that is sufficient or insufficient to accommodate the total volume of the drugs to be mixed, and is characterized by comprising:

[0050] A data acquisition module is used to obtain the volume length of a single syringe, the total length of the medicine to be mixed, the distance between the piston rods when both sides of the syringe piston rod are fully loaded with medicine, or the distance between the piston rod ends of the syringe unit when both piston rods are pulled to the bottom (that is, the distance between the two ends of the fully loaded piston rod), and the positions of the two push rods when both push rods are in contact with the piston rod of the syringe unit;

[0051] A judgment processing module, based on the distance between the ends of the piston rods of the syringe units after the medicine to be mixed is loaded and the length between the ends of the piston rods in the initial position (not loaded with the medicine to be mixed), determines whether a single syringe container is sufficient to accommodate the volume of the medicine to be mixed;

[0052] The first execution module is configured to: if the single-side syringe container is sufficient to accommodate the total volume of the medicine to be mixed, then the medicine is mixed based on the single-side stroke of the push rod reciprocating = the length of the total amount of the medicine to be mixed / 2, and the starting point of the two push rod positions when both push rods contact the syringe unit piston rod is used as the starting point of the medicine mixing position;

[0053] The second execution module is configured as follows: if the single-sided syringe container is insufficient to accommodate the total volume of the medicine to be mixed, then the medicine is mixed according to the method of "the single-sided stroke of the push rod reciprocating for mixing the medicine = the distance between the piston rods of the syringe unit when the syringe unit is fully loaded with medicine (i.e., the distance between the piston rods of the syringe unit when the syringe unit is fully loaded with medicine, that is, the distance between the piston rods of the syringe unit when both sides of the syringe piston rod are fully loaded with medicine or the piston rods of both sides are pulled to the bottom (the state of wanting to detach from the syringe barrel)) - the length of the total amount of medicine to be mixed", and the starting point of the two push rod positions when both push rods contact the piston rod of the syringe unit is used as the starting point of the mixing position.

[0054] Regarding the push and pull of the piston rod, the axial force applied by the piston rod to the inside of the cylinder is called pushing, and the axial force applied by the piston rod to the outside of the cylinder is called pulling.

[0055] The present invention provides a control system for automatically identifying mixed drugs, which is implemented based on a master control module. The control system is suitable for a single-sided syringe container that is sufficient to accommodate the total volume of the drugs to be mixed, and is characterized in that it includes:

[0056] A data acquisition module, used to acquire the length of the total amount of medicine to be mixed, and the positions of the two push rods when both push rods contact the piston rod of the syringe unit;

[0057] The execution module is configured to mix medicine based on the unilateral stroke of the push rod reciprocating movement = the total length of the medicine to be mixed / 2, and to mix medicine from the starting point of the two push rod positions when both push rods contact the piston rod of the syringe unit as the mixing position starting point.

[0058] The present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any of the above methods is implemented.

[0059] The present invention provides a control device for automatically identifying mixed drugs, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements any of the above methods when executing the computer program.

[0060] The present invention has significant technical effects due to the adoption of the above technical solutions:

[0061] The stroke automatic identification method and the automatic identification and mixing control method of the present invention do not need to measure and input parameters of the medicine to be mixed, such as the volume of the medicine to be mixed, the initial starting point position parameters of the push-pull mixing, the push-pull stroke and other parameters, and do not need to set sensors on various components (if sensors are set, it is necessary to set signal transmission lines and wires, etc., which will cause the internal wiring and layout of the physical product to be messy). Signal identification and position parameter recording are only performed through the simultaneous change of the speed of the motors on both sides. The length parameters of the medicine to be mixed can be automatically identified by the signal, the signal position parameters and the syringe unit parameters, and the mixing position starting point and mixing stroke parameters can be obtained by the parameters. The master control module controls the push rod of the motor to move axially back and forth to automatically mix the medicine, thereby completing the entire mixing process.

[0062] This solution also greatly improves the ease of use in the following scenarios: when multiple drug mixing is required and the user does not need to obtain the mixed drug dosage after each mixing, but only needs to measure the total dosage of all and multiple mixed drugs. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0064] Figure 1 It is a schematic diagram of the prior art in the background art;

[0065] Figure 2 It is a schematic diagram showing that the amount of medicine to be mixed is centered in the syringe unit when the piston rods on each side contact the push rod;

[0066] Figure 3 It is a schematic diagram of the full scale and empty scale of the syringe unit, the actual scale of the syringe unit, and the volume length of the syringe in the present invention;

[0067] Figure 4 It is a schematic diagram of the specific structure of the automatic medicine mixing device and its control system of the present invention;

[0068] Figure 5 is a schematic diagram of one embodiment of the present invention;

[0069] Figure 5n yes Figure 5 A schematic diagram of the control flow in the illustrated embodiment;

[0070] Figure 5a yes Figure 5 A schematic diagram of the K time point recording when the speeds of the two motors change simultaneously under the corresponding embodiment;

[0071] Figure 6 is a schematic diagram of another embodiment of the present invention;

[0072] Figure 6n yes Figure 6 A schematic diagram of the control flow in the illustrated embodiment;

[0073] Figure 6a yes Figure 6 A schematic diagram of the K time point recording when the speeds of the two motors change simultaneously under the corresponding embodiment;

[0074] Figure 7 is a schematic diagram of yet another embodiment of the present invention;

[0075] Figure 7n yes Figure 7 A schematic diagram of the control flow in the illustrated embodiment;

[0076] Figure 8 It is a schematic diagram of one embodiment of an automatic identification and control method for mixed drugs based on an automatic identification method for dosage stroke;

[0077] Figure 8n yes Figure 8 A schematic diagram of the control flow in the illustrated embodiment;

[0078] Fig. 9 It is a structural schematic diagram of a control system for automatically identifying mixed medicines according to the present invention;

[0079] Fig.10 It is another structural schematic diagram of the control system for automatically identifying mixed medicines of the present invention;

[0080] Fig.11 It is a schematic diagram of one structural form of a motor push rod in the prior art of the present invention. DETAILED DESCRIPTION

[0081] The following is combined with Figures 1 to 11 The present invention is further described in detail with reference to the following embodiments. The following embodiments are for explanation of the present invention but the present invention is not limited to the following embodiments.

[0082] The present application is generally applicable to syringes of uniform or identical specifications, such as 5ml standard syringes, or 10ml standard syringes, or syringes of specific or specially made specifications, etc. For the present solution, no matter what standard or specific specifications of the syringe, the parameters of the syringe itself are known, such as the effective length of the inner barrel of the syringe (the length occupied by the piston in the syringe barrel is not considered here), or the full stroke or use stroke of the syringe piston rod (that is, the full stroke of the empty distance when the syringe is not filled with the medicine to be mixed), or the volume length of a single syringe, etc.; the connector for connecting the syringe described in the present patent solution is not limited to various connecting tubes or connecting heads, etc., such as a hose or a hard tube, etc., as long as it can allow the fluid of the medicine on both sides to pass through; the steps in the present patent specification and embodiments are represented by S1~S5, K1~K5, P1~P5, which only indicate that there are such action steps or operating methods, and are not shown as restrictions on the order of steps or the order of operating methods, etc.

[0083] Before describing the specific embodiments of the present application, the following relationships need to be clearly indicated in the manner shown in the figure. The action relationships or the action applications are formed by the inventor through creative thinking and constitute part of the invention. The specific description is as shown in the attached figure. Figure 2 As shown, Figure 2 In the figure, the push rods 1 and 2 on the left and right sides are driven forward or backward by the motors on each side. The 0 position is the center position relative to the push rods on both sides. The push rods and syringes on both sides are symmetrically arranged along the center 0 position (the medicine to be mixed therein can be more in one syringe and less in the other syringe, or the medicine to be mixed in the syringes on both sides can be the same, etc.), and the factory specifications of the syringes on both sides are exactly the same, the barrels of the syringes on both sides are fixed or the barrels of the syringes on both sides are fixed due to the fixing of the joint S, but the piston rods on both sides can move axially.

[0084] When the amount of the medicine to be mixed in the syringe unit to be mixed is more on one side and less on the other side, and the syringe unit has been fixed at the center 0 position, the push rods at the far ends of both sides are driven simultaneously and at the same speed (driven by the motor on the corresponding side or other possible driving devices, etc.). Since the push rods at the far ends move toward the center 0 position at the same speed at the same time, after the same period of operation, the push rod on one side must first contact the piston rod on that side (when the amount of the medicine to be mixed is more on one side and less on the other side, it must be that the piston rod of the syringe on the side containing the larger amount of the medicine to be mixed first contacts the push rod on the corresponding side). Since the medicines to be mixed are interconnected via the joint, the push rod that first contacts the piston rod of the syringe continues to push the piston rod toward the center 0 position, thereby causing (in this patent solution, factors such as the friction resistance of the medicine or the piston are not considered) the other push rod to move away from the center 0 position.

[0085] like Figure 2In the state 1 shown, because push rod 1 and push rod 2 move toward the center position 0 at the same speed at the same time, piston rod 2 moves toward the direction close to the center position 0, while piston rod 1 moves toward the direction away from the center position 0. The reverse movement of piston rod 1 also drives it to contact push rod 1 faster. In state 2, piston rod 1 also contacts push rod 1. For push rod 1 and push rod 2, they move toward the center position 0 at the same speed at the same time. Sooner or later, there will always be a time when piston rod 1 contacts push rod 1 and piston rod 2 also contacts push rod 2 (or piston rod 2 contacts push rod 2 and piston rod 1 also contacts push rod 1, or when the volumes on both sides of the mixed dose are the same, piston rod 2 contacts push rod 2 and piston rod 1 also contacts push rod 1 at the same time). At this time, the distance between piston rod 1 and piston rod 2 and center position 0 is exactly the same, that is, Figure 2 As shown in state 2 in , both are H1, that is, the distance between piston rod 1 and the center position 0 is H1, and the distance between piston rod 2 and the center position 0 is also H1; because the push rods on each side move at the same speed and the same time and start to move at the same time, their final travel distances must be the same, so D1=D2, so, when piston rod 2 contacts push rod 2 and piston rod 1 also contacts push rod 1, at this time, the medicine to be mixed is evenly divided, that is, the amount of medicine to be mixed in the syringes on both sides is the same.

[0086] In the present application, the length of the piston of the physical piston part in sealing contact with the syringe barrel, such as the joint and the inside of the piston rod, is generally short and can be almost ignored (although the attached drawings enlarge the joint and the piston to facilitate the understanding of the scheme), and are temporarily not included in the description of the patent scheme; in the present patent scheme, it is generally believed that the motor is driven to rotate at a uniform speed, even if it is subject to a short-term opposing resistance, causing the motor speed to drop for a short time, but when the resistance is removed, the motor will immediately return to the uniform rotation before the resistance. In this scheme, the resistance caused by the piston rod of the inner barrel of the syringe itself, the resistance of the loaded medicine to be mixed, etc. can be ignored relative to the opposing resistance of the motor.

[0087] The specific technical solutions of the present application may be described below in conjunction with other specific embodiments.

[0088] Embodiment 1:

[0089] A method for automatically identifying the stroke of an automatic drug mixing device. The automatic identification method of this embodiment is applicable to the case where the volume of a single-side syringe is sufficient to accommodate the total amount of the drug to be mixed. Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 5n , Figure 5a and Figure 6aAs shown, push rod 1 is the first push rod, push rod 2 is the second push rod, motor 1 is the first motor, motor 2 is the second motor, the first syringe container is syringe 1, the second syringe container is syringe 2, the first piston rod is piston rod 1, the second piston rod is piston rod 2, and the syringe unit includes syringes 1 and syringes 2 of the same specifications and their connectors or connecting tubes; the method of this embodiment can be used to produce products or apply the method to products of automatic drug mixing devices (and it can be indicated in the product that the product is suitable for indicating that the volume of a single-sided syringe is sufficient to accommodate the total amount of the medicine to be mixed), wherein the automatic drug mixing device includes the following components or component relationships, such as Figure 4 As shown, the automatic drug mixing device includes a connected syringe unit, wherein the syringe unit includes a syringe and a joint or a connecting tube connecting the syringes on both sides, wherein the specifications of the syringes on each side are exactly the same, and also includes a master control module and a driving device controlled by the master control module, wherein the master control module is generally a controller, and the driving device includes a motor and a push rod connected to the motor, such as Figure 5 , Figure 5n and Figure 6n As shown, a rotating shaft is arranged in the motor (not shown in the figure, the rotating shaft can be a shaft type or a hollow shaft type), and the rotating shaft of the motor rotates to drive the push rod to move forward or backward. When the motor rotates forward, the push rod moves forward; when the motor rotates reversely, the push rod retreats. In the automatic drug mixing device, the push rod is arranged at both ends of the syringe unit (the motor is generally also arranged at both ends of the syringe unit), and the syringe unit is fixedly arranged at the symmetric center of the push rods on both sides. The push rod moves forward or backward through the forward and reverse rotation of the motor, and the push rod is driven by the motor to approach the piston rod of the syringe unit, and after the push rods on both sides contact the piston rod, the piston rod is pushed to move back and forth to mix the medicine; as shown in FIG. Figure 4 In the structure of the automatic drug mixing device and its control system shown, the motor can be a servo motor, a counting motor, or a common pulse encoder motor, etc.; the master control module includes but is not limited to a PLC controller, a programmable logic controller, or a UCB control center.

[0090] As attached Figure 2 ~Attached Figure 8 As shown in , Se is the volume length of a single syringe or the volume of a single-side syringe; Sq is the length of the total amount of medicine to be mixed excluding the joint and the piston; Hempty is the end distance of the piston rod of the syringe unit when the piston rod of the syringe unit is not loaded with the medicine to be mixed or the piston rods are pushed to the bottom (cannot be pushed any further), or the end distance of the piston rod when the syringe unit is unloaded; Hactual is the inner end distance of the push rods on both sides when the push rods on each side contact the piston rods on each side of the syringe unit or the end distance of the piston rods of the syringes on both sides; Hfull is the end distance of the piston rods of the syringe unit when the piston rods on both sides of the syringe unit are fully loaded with medicine or the piston rods on both sides are pulled to the bottom, or the end distance of the piston rods when the syringe unit is fully loaded; 2D is the original position of the push rods on both sides before the motor drives the push rods to move, as shown in Fig.11 As shown, this figure shows one embodiment or implementation of the motor push rod, the motor has a rotating shaft, the surface of the rotating shaft has a screw thread, and the rotating shaft thread is matched with a movable sleeve (the movable sleeve is provided with a screw thread inside), the rotating shaft rotates to drive the movable sleeve to move axially, and the movable sleeve is fixedly connected to the push rod 1, so the rotation of the motor drives the push rod 1 to move forward or backward; of course, various other implementations of the motor push rod can also be used.

[0091] In this embodiment Figures 1 to 10 In some of the drawings, the push rod and the motor are separated. This is to express the need and to make it easier to show the push position of the push rod. The push rod and the motor should be connected, such as Figure 5 and Figure 7 As shown, other drawings are no longer Figure 5 and Figure 7 Generally fill in one by one.

[0092] The steps of the automatic dose stroke recognition method are as follows:

[0093] like Figure 5a and Figure 6a As shown in the figure, when the syringe unit is fixed at the symmetrical center of the push rods on both sides, the syringe unit is fixed and cannot be moved. At this time, the medicine to be mixed can be moved left and right by moving the push rod to mix; but for the automatic medicine mixing equipment, when there is no length of the medicine to be mixed and there is no position of the medicine to be mixed in each syringe, its start and cycle are generally confirmed by parameter input, or the contact signal between the push rod and the piston rod is obtained by setting a sensor on the piston rod to obtain the starting position of the medicine mixing; and the automatic dose stroke recognition method of the present invention abandons the above-mentioned parameter input link or the method of loading multiple sensors. The method changes the speed of the motors on both sides at the same time (generally the speed decreases, and correspondingly, the pulse encoder count of the motor decreases). The signal is obtained by the main control module, so that the position H of the medicine to be mixed and the single-side stroke Sg of the medicine to be mixed are automatically obtained by the following formula. Since the push rods on both sides have contacted the piston rod, the push rod driving the motor on either side runs according to the single-side stroke of the medicine to be mixed to complete the medicine mixing, and the motor on the other side can follow the active motor when mixing medicine.

[0094] Here’s how it works:

[0095] exist Figure 3 In the above, the distance between the piston rod ends on both sides when the syringe unit is fully loaded is Hfull, and the distance between the piston rod ends on both sides when the syringe unit is unloaded is Hempty, which are both known. The distance between the two push rods before the operation is not started is 2D, and has been entered into the master control module. Figure 2 , Figure 5 , Figure 5n , Figure 6 and Figure 6nAs shown, no matter push rod 1 contacts piston rod 1 first (at this time, the amount of medicine to be mixed loaded in syringe 1 is greater than that in syringe 2), or push rod 2 contacts piston rod 2 first (at this time, the amount of medicine to be mixed loaded in syringe 2 is greater than that in syringe 1), or push rod 1 and push rod 2 contact the piston rods on their respective sides at the same time (at this time, the amount of medicine to be mixed loaded in the syringes is the same), after starting the operation, the push rods that move forward to the symmetric center of the syringe unit will always have their motors on each side at a certain point in time (such as Figure 5a and Figure 6a The reason for the simultaneous decrease in speed is that the push rods on both sides contact (maybe one contacts first and the other later, or may be both contacted at the same time) the piston rod of the syringe on that side, resulting in a sudden increase in the opposite resistance (transmission in the opposite direction), thereby reducing the speed of the motors on both sides (the master control module records it, and for the case where the speed of only one side of the motor decreases, the master control module may not perform the next step of processing). The time point when the push rods on both sides contact (their respective piston rods) is also the time point when the piston rods on each side of the syringe are pushed to a mutually symmetrical position.

[0096] The position of H is recorded. H is the time point when the push rods on each side touch the piston rods on each side of the syringe unit. This time point and position point are also the starting position of drug mixing (because the push rods on both sides touch the piston rods on their own sides, and a push and a pull start the drug mixing cycle). The drug mixing amount on one side after being evenly divided is the moving stroke distance of the drug mixing cycle of the push rods on each side. The length of the total amount of drugs to be mixed Sq = H - H, then the drug mixing stroke of the push rod on one side is Sq / 2; therefore, based on the simultaneous decrease in the speed of the motors on both sides, the recorded H position (which can be calculated based on Figure 2 As shown in , 2*D-2*t*v, we can get that, because the motor speeds v on both sides are the same and they start at the same time, after the same time t, the H real centered on the symmetry center can be obtained, H real = 2*D-2*t*v), and the single-sided push rod mixing stroke Sq / 2 can be obtained, so that the dosage stroke and the starting position of the circulation mixing stroke can be automatically identified based on the signal of the simultaneous change of the motor speeds on both sides.

[0097] Embodiment 2:

[0098] A method for automatically identifying the stroke of an automatic medicine mixing device. The automatic identification method of this embodiment is applicable to the case where the volume of a single-side syringe is sufficient to accommodate the total amount of medicine to be mixed, or the volume of a single-side syringe is insufficient to accommodate the total amount of medicine to be mixed. Figure 2 Figure 3 to Figure 8 Figure 8n and Figure 5a , Figure 6aAs shown, the product can be produced according to the method of this embodiment 2 or the method can be applied to the product of the automatic drug mixing device (and it can be indicated in the product that the product is suitable for the case where the volume of the single-sided syringe is sufficient to accommodate the total amount of the medicine to be mixed, and the case where the volume of the single-sided syringe is insufficient to accommodate the total amount of the medicine to be mixed), that is, the method has more usage scenarios.

[0099] Similar to Example 1, the automatic identification method of this embodiment also automatically identifies the single-sided dosage stroke and the starting position of the circulating mixing stroke based on the signal of the simultaneous change of the motor speed on both sides. The same parts as Example 1 will not be repeated. The difference between this method and Example 1 is: in this embodiment, in the master control module, the distance between the ends of the piston rods on both sides when the syringe unit is fully loaded is Hfull, the distance between the ends of the piston rods on both sides when the syringe unit is unloaded is Hempty, and the distance between the two push rods before the operation is not started is 2D. In addition to the above data being known data, in this embodiment, the master control module also needs to know the volume length of a single syringe or the volume Se of a single-sided syringe in advance (here it is mainly the data of the syringe volume in the length direction);

[0100] When the speeds of the motors on both sides decrease, before obtaining the length Sq of the total amount of the medicine to be mixed, it is necessary to set it in the master control module, or the master control module is required to determine whether the volume of the syringe on one side is sufficient to accommodate the total volume of the medicine to be mixed. The determination method is:

[0101] When Sq / 2 is greater than the volume length Se of a single syringe, that is, the volume of a single syringe is insufficient to accommodate the volume of the medicine to be mixed, the single-side stroke of the double-side push rods for mixing medicine = the distance between the piston rod ends of the syringe unit when both sides of the syringe piston rod are fully loaded with medicine or when both sides of the piston rod are pulled to the bottom Hfull-Sq;

[0102] That is, when Sq / 2>Se, that is, when the volume of the single-side syringe is insufficient to accommodate the volume of the medicine to be mixed, the single-side stroke of the double-side push rods moving back and forth to mix the medicine = Hfull-Sq, where Sq = Hfull-Hempty;

[0103] When Sq / 2 is not greater than the volume length Se of a single syringe, that is, when the volume of the single-side syringe can accommodate the volume of the medicine to be mixed, the single-side stroke of the double-side push rods for cyclic reciprocating mixing = Sq / 2;

[0104] The method for obtaining the length Sq of the total amount of the medicine to be mixed has been described in detail in Example 1, that is, Sq = H real - H empty, where H empty represents the distance between the ends of the piston rod of the syringe unit when the piston rod of the syringe unit is not loaded with the medicine to be mixed or the piston rod is pushed to the bottom (cannot be pushed any further), or the distance between the ends of the piston rod when the syringe unit is unloaded;

[0105] H represents the distance between the inner ends of the push rods on both sides or the distance between the ends of the piston rods of the syringes on both sides when the push rods on both sides are in contact with the piston rods on both sides of the syringe unit.

[0106] Embodiment 3:

[0107] An automatic identification mixed medicine control method based on an automatic travel identification method is provided, which is based on the automatic travel identification method described in the embodiment or embodiment 2 to form the automatic identification mixed medicine control method.

[0108] Specific embodiments can be seen in the attached Figure 2 ~Attached Figure 8n And attached Figure 5a , 6a As shown in the attached Figure 5 Figure 5n In the case where the volume and length of a single-side syringe is sufficient to accommodate the total amount of the medicine to be mixed, and the amounts of medicine in the syringes on each side are different, in the automatic identification and mixing control method, it is possible to use the method as described in Example 1 without having to determine whether the total amount of medicine to be mixed can be loaded into one syringe, and only need to indicate or specify in the use conditions of the external scheme, and the use conditions of the scheme are: "In this scheme, the total amount of medicine to be mixed can be loaded into one syringe", or it is possible to use the method as described in Example 2 without having to determine whether the total amount of medicine to be mixed can be loaded into one syringe, without indicating the use conditions of the scheme.

[0109] The method for automatically identifying the dosage stroke in this embodiment is the same as that in Embodiment 2 or Embodiment 1, and no further description is required.

[0110] As attached Figure 5 Figure 5n As shown, the automatic identification and control method of mixed drugs can be used for Figure 5 The figure shows a situation where the volume length of a single-side syringe is sufficient to accommodate the total amount of medicine to be mixed, and the amount of medicine in each side syringe is different.

[0111] The following steps and methods are included:

[0112] Push rod 1 and push rod 2 are respectively located at the initial position at each end, the motor is not started, the syringe unit is placed and fixed to the symmetrical center position, the mixing number and the preset mixing speed are input, the preset mixing speed can be regarded as the preset of the motor speed, and the motor speed is converted into the push-pull linear motion speed of the push rod through the rotational motion, and the relevant parameters and control method of the above-mentioned dosage stroke automatic identification method have been written into the master control module. After the above-mentioned mixing preparation work is completed; start (the master control module controls the start and stop, etc.) The motor runs, and the speed changes of the motors on both sides are as follows Figure 5a As shown;

[0113] The motor starts to run, push rod 1, push rod 1 is moving forward, push rod 2 is moving forward, when push rod 2 (first) contacts piston rod 1, the speed of push rod 2 changes, the speed of the motor of push rod 2 will decrease, and the master control module can record (or not record) this (because push rod 2 that contacts piston rod 2 first pushes, so piston rod 1 (being pushed) moves forward in the direction of push rod 1 that is moving in the opposite direction, and piston rod 1 moves forward in the opposite direction to accelerate and shorten the distance with push rod 1 (also moving at the same speed));

[0114] Push rod 1 and push rod 2 are both moving forward. Push rod 1, which continues to move forward, contacts piston rod 1 for the first time (due to the opposite resistance). The speeds of push rod 2 and electric push rod 1 change at the same time. The pulse encoder counts of push rod 1 and push rod 2 motors decrease at the same time. The master control module records this and records the positions of push rod 1 and push rod 2.

[0115] The master control module drives motor 1 or motor 1 to reverse, so that one of push rod 2 and push rod 1 starts to reverse and follow, and the other motor continues to move forward;

[0116] The master control module drives push rod 1 to move in reverse (or push rod 2 to move in reverse), and push rod 2 to move forward (or push rod 1 to move forward), and the two follow each other forward, under the control of the master control module, until they reach the end of the push and pull stroke of the piston rod 2 of the syringe 2.

[0117] The master control module drives push rod 1 and push rod 2 to reverse forward and reverse, push rod 1 moves forward and push rod 2 moves reverse (because the motor is reversed forward and reversed), so the master control module records a complete mixing, and continues to be controlled by the master control module until the end of the push and pull stroke of syringe 1, and the master control module records a complete mixing again;

[0118] The medicine is mixed in a cycle according to a preset mixing number, wherein each time the motor is reversed in the forward and reverse directions, it is recorded as a complete mixing of the medicine. The preset mixing number can be an integer number such as 1.

[0119] After mixing according to the preset mixing times, push rod 1 and push rod 2 return to their respective initial positions.

[0120] Embodiment 4:

[0121] An automatic identification mixed medicine control method based on the automatic travel identification method is formed based on the automatic travel identification method described in the embodiment or embodiment 2. Figure 6 Figure 6nAs shown, the volume length of a single-side syringe is sufficient to accommodate the total amount of the medicine to be mixed, and the amount of medicine in each side syringe is the same. In the automatic identification and mixing control method, it can be used as described in Example 1 without judging whether the total medicine to be mixed can be loaded into one syringe, and only needs to be marked or indicated in the use conditions of the external scheme. The use conditions of the scheme are: "In this scheme, the total medicine to be mixed can be loaded into one syringe", or it can be used as described in Example 2, which requires judging whether the total medicine to be mixed can be loaded into one syringe, without indicating the use conditions of the scheme.

[0122] The specific implementation methods of this plan are as follows Figure 6 Figure 6n As shown, the details will not be repeated, the speed changes of the motors on both sides are as follows Figure 6a As shown, in this embodiment, after mixing according to the preset mixing times, the push rod 1 and the push rod 2 still return to their respective initial positions at each end.

[0123] Embodiment 5:

[0124] An automatic identification mixed medicine control method based on the automatic travel identification method is formed based on the automatic travel identification method described in Example 2. Figure 7 Figure 7n The motor speed changes as shown in the attached Figure 5a As shown, this embodiment is a situation where the volume and length of a single-side syringe is insufficient to accommodate the total amount of medicine to be mixed, and the amount of medicine in each side syringe is different. In this automatic identification and mixing control method, it is necessary to use the method described in Example 2 to determine whether the total amount of medicine to be mixed can be loaded into one syringe.

[0125] The specific implementation methods of this plan are as follows Figure 7 Figure 7n As shown, the details are not repeated here. In this embodiment, after mixing according to the preset mixing times, the push rod 1 and the push rod 2 still return to their respective initial positions at each end.

[0126] Embodiment 6:

[0127] An automatic identification mixed medicine control method based on the automatic travel identification method is formed based on the automatic travel identification method described in Example 2. Figure 8 Figure 8n The motor speed changes as shown in the attached Figure 6a As shown, this embodiment is a situation where the volume and length of a single-side syringe is insufficient to accommodate the total amount of medicine to be mixed, and the amount of medicine in each side syringe is the same. In this automatic identification and mixing control method, it is necessary to use the method described in Example 2 to determine whether the total amount of medicine to be mixed can be loaded into one syringe.

[0128] The specific implementation methods of this plan are as follows Figure 8 Figure 8n As shown, the details are not repeated here. In this embodiment, after mixing according to the preset mixing times, the push rod 1 and the push rod 2 still return to their respective initial positions at each end.

[0129] Embodiment 7:

[0130] A control system for automatically identifying mixed drugs is implemented based on the master control module 10, such as Fig. 9 As shown, the master control module 10 includes:

[0131] The data acquisition module S100 is used to obtain the volume length of a single syringe, the total length of the medicine to be mixed, the distance between the piston rods when both sides of the syringe piston rod are fully loaded with medicine or the distance between the piston rod ends of the syringe unit when both piston rods are pulled to the bottom, and the positions of the two push rods when both push rods are in contact with the piston rod of the syringe unit;

[0132] A judgment processing module S200, based on the distance between the piston rod ends of the syringe units after loading the medicine to be mixed and the length between the ends of the two piston rods in the initial position, determines whether a single syringe container is sufficient to accommodate the volume of the medicine to be mixed;

[0133] The first execution module S300 is configured to: if the single-side syringe container is sufficient to accommodate the total volume of the medicine to be mixed, then the medicine is mixed according to the method of "the single-side stroke of the push rod reciprocating for mixing medicine = the length of the total amount of medicine to be mixed / 2", and the starting point of the two push rod positions when both push rods contact the syringe unit piston rod is used as the starting point of the medicine mixing position;

[0134] The second execution module S400 is configured as follows: if the single-sided syringe container is insufficient to accommodate the total volume of the medicine to be mixed, the medicine mixing is performed according to the method of "the single-sided stroke of the push rod reciprocating for mixing the medicine = the spacing of the piston rods of the syringe unit when the syringe unit is fully loaded with medicine - the length of the total amount of medicine to be mixed", and the starting point of the two push rod positions when both push rods contact the piston rod of the syringe unit is used as the starting point of the medicine mixing position.

[0135] Embodiment 8:

[0136] A control system for automatically identifying mixed drugs is implemented based on the master control module 10, such as Fig.10 As shown, the master control module 10 includes:

[0137] The data acquisition module S600 is used to acquire the length of the total amount of the medicine to be mixed, and the positions of the two push rods when both push rods contact the piston rod of the syringe unit;

[0138] The execution module S700 is configured to mix medicine according to the method of "single-side stroke of the push rod reciprocating for mixing medicine = length of the total amount of medicine to be mixed / 2", and to mix medicine from the starting point of the two push rod positions when both push rods contact the piston rod of the syringe unit as the mixing position starting point.

[0139] Various changes and modifications can be made without departing from the spirit and scope of the present invention, and all equivalent technical solutions also belong to the scope of the present invention.

[0140] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0141] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0142] The present invention is described with reference to the flowcharts and / or block diagrams of the method, terminal device (system), and computer program product according to the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0143] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0144] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0145] It should be noted that:

[0146] The "one embodiment" or "embodiment" mentioned in the specification means that the specific features, structures or characteristics described in conjunction with the embodiment are included in at least one embodiment of the present invention. Therefore, the phrases "one embodiment" or "embodiment" appearing in various places throughout the specification do not necessarily refer to the same embodiment.

[0147] In addition, it should be noted that the shapes and names of the parts and components of the specific embodiments described in this specification may be different. Any equivalent or simple changes made based on the structure, features and principles described in the patent concept of the present invention are included in the protection scope of the patent of the present invention. The technicians in the technical field of the present invention can make various modifications or supplements to the specific embodiments described or replace them in a similar manner, as long as they do not deviate from the structure of the present invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. A method for automatically identifying the stroke of an automatic medicine mixing device, characterized in that: The method for automatically identifying a dosage stroke is applicable to an automatic drug mixing device, and is applicable to a single-side syringe whose volume is sufficient to accommodate the total amount of a drug to be mixed. The automatic drug mixing device includes a connected syringe unit, a master control module, and a driving device controlled by the master control module. The driving device includes a motor and a push rod connected to the motor. The push rod is arranged at both ends of the syringe unit, and the syringe unit is fixed at the symmetric center of the push rods on both sides. The push rod moves forward or backward through the forward and reverse rotation of the motor. The push rod is driven by the motor to approach the piston rod of the syringe unit and pushes the piston rod to reciprocate to mix the drug after contacting the piston rod. The method for automatically identifying a dosage stroke includes the following steps: The master control module records or obtains the piston rod spacing of the syringe unit when the syringe piston rod is not loaded with the medicine to be mixed or the piston rods are pushed to the bottom, and the master control module obtains or records the positions of the push rods on both sides before the motor drives the push rods to move; The master control module drives the motors on both sides to rotate at the same speed and at the same time, thereby driving the push rods on each side to move at the same speed and at the same time toward the syringe unit that is loaded with the medicine to be mixed; When the push rods on both sides contact the piston rods of the syringes on their respective sides simultaneously or not, the speeds of the motors on their respective sides decrease simultaneously, and the master control module records the positions of the two push rods or the end positions of the piston rods on both sides of the syringe unit at this time, and records the distance between the two push rods or the distance between the piston rods of the syringe unit at this time; The master control module obtains the unilateral stroke of the push rod reciprocating to mix the medicine; After the master control module acquires the unilateral stroke, the push rod is driven to perform reciprocating cyclic movement to mix the medicine according to the unilateral stroke and the positions of the two push rods recorded by the master control module, and thus the positions of the push rods and the unilateral stroke of the push rods.

2. The method for automatically identifying the stroke of an automatic medicine mixing device according to claim 1, characterized in that: The master control module obtains the unilateral stroke of the push rod cyclically moving back and forth to mix the medicine, including the following steps: The length Sq of the total amount of medicine to be mixed is obtained, and the total length of the medicine to be mixed is divided by 2, which is the single-side stroke of the reciprocating movement of the double-sided push rods; wherein, the length Sq of the total amount of medicine to be mixed = the distance between the push rods on both sides when the push rods on each side are in contact with the piston rod of the syringe unit or the distance between the piston rods on both sides of the syringe - the distance between the piston rod ends of the syringe unit recorded or obtained by the master control module when the piston rods of the syringes are not loaded with the medicine to be mixed or the piston rods are pushed to the bottom.

3. A method for automatically identifying the stroke of an automatic medicine mixing device, characterized in that: The method for automatically identifying dosage stroke is applicable to an automatic drug mixing device, and is applicable to a case where the volume of a single-side syringe is insufficient to accommodate the total amount of a drug to be mixed and the volume of a single-side syringe is sufficient to accommodate the total amount of a drug to be mixed. The automatic drug mixing device includes a connected syringe unit, and also includes a master control module and a driving device controlled by the master control module. The driving device includes a motor and a push rod connected to the motor. The push rod is arranged at both ends of the syringe unit, and the syringe unit is fixed at the symmetric center of the push rods on both sides. The push rod moves forward or backward through the forward and reverse driving of the motor. The push rod is driven by the motor to approach the piston rod of the syringe unit and pushes the piston rod to reciprocate to mix the drug after contacting the piston rod. The method for automatically identifying dosage stroke includes the following steps: The master control module records or obtains the distance between the ends of the piston rods of the syringe unit when the syringe piston rods are not loaded with the medicine to be mixed and the piston rods are pushed to the bottom, records or obtains the volume length of a single syringe, records or obtains the distance between the ends of the piston rods of the syringe unit when both sides of the syringe piston rods are fully loaded with medicine or the piston rods on both sides are pulled to the bottom, and the master control module obtains or records the positions of the push rods on both sides before the motor drives the push rods to move; The master control module drives the motors on both sides to rotate forward at the same speed and simultaneously, thereby driving the push rods on each side to move toward the syringe unit at the same speed and simultaneously; When the push rods on both sides contact the syringe piston rods on their respective sides simultaneously or not simultaneously, the speeds of the motors on their respective sides decrease simultaneously, and the master control module records the positions of the two push rods or the end positions of the piston rods on both sides of the syringe unit at this time, and records the distance between the two push rods or the end distance between the two piston rods of the syringe unit; The master control module determines whether the volume of the syringe on one side is sufficient to accommodate the total volume of the medicine to be mixed, and obtains the one-side stroke of the push rod for cyclic reciprocating movement of the medicine mixing; After the master control module obtains the unilateral stroke, the push rod is driven to move back and forth to mix the medicine according to the unilateral push rod stroke of the medicine to be mixed and the positions of the two push rods when both push rods contact the piston rod recorded by the master control module, thereby according to the position of the push rod and the unilateral stroke of the push rod.

4. The method for automatically identifying the stroke of an automatic medicine mixing device according to claim 3, characterized in that: The master control module determines whether the volume of the single-side syringe is sufficient to accommodate the total volume of the medicine to be mixed, and obtains the single-side stroke of the push rod cyclically moving back and forth to mix the medicine, including the following steps: The length of the total amount of the medicine to be mixed is obtained and recorded as Sq, wherein the length of the total amount of the medicine to be mixed Sq = the distance between the push rods on both sides when the push rods on each side are in contact with the piston rod of the syringe unit or the distance between the ends of the piston rods of the syringes on both sides minus the distance between the piston rod ends of the syringe units when the piston rods of the syringes are not loaded with the medicine to be mixed or the piston rods are pushed to the bottom as recorded or obtained by the master control module; When Sq / 2 is greater than the volume length of a single syringe, that is, the volume of the syringe on one side is not enough to accommodate the volume of the medicine to be mixed, The single-side stroke of the double-sided push rod for mixing medicine by cyclic reciprocating movement = the distance between the piston rod ends of the syringe unit when both sides of the syringe piston rod are fully loaded with medicine or the piston rods on both sides are pulled to the bottom - Sq; When Sq / 2 is not greater than the volume length of a single syringe, that is, when the volume of the single-side syringe can accommodate the volume of the medicine to be mixed, the single-side stroke of the double-sided push rods for cyclic reciprocating mixing = Sq / 2.

5. An automatic identification and mixing control method based on the stroke automatic identification method, which is applicable to an automatic mixing device driven by a double-sided motor, characterized in that: The push rod moves forward or backward through the forward and reverse driving of the motor. The push rod is driven by the motor to approach the piston rod of the syringe unit and pushes the piston rod to move back and forth to mix the medicine after contacting the piston rod. The automatic identification and mixing control method includes the following steps: The master control module obtains the starting position of the medicine to be mixed after both push rods on both sides contact the piston rod, and the unilateral stroke of the push rod in cyclic reciprocating movement to mix the medicine; When the push rods on both sides contact the piston rods of the syringes on their respective sides at the same time, the speeds of the motors on their respective sides decrease at the same time, and the master control module records the positions of the two push rods at this time and drives the motor on either side to rotate in the opposite direction from the starting point of the medicine to be mixed, so that the push rod on the same side moves in the opposite direction, while keeping the direction of the motor on the other side unchanged so that the push rod on the same side moves in the same direction; The double-sided push rods move along the unilateral stroke of the medicine to be mixed until they reach the end of the unilateral stroke of the medicine to be mixed and stop moving; The master control module drives the motors on both sides that have reached the end of the stroke to turn simultaneously, so that the push rods move forward in the opposite direction at the same time; and the forward and reverse reversal of the motors are recorded as a complete mixing of the medicines; Repeat the mixing process until the mixing is completed.

6. The automatic identification and control method of mixed drugs according to claim 5, characterized in that: The master control module also includes setting of the number of drug mixing cycles, or presetting the number of drug mixing cycles, and mixing drugs based on the preset or set number of drug mixing cycles, wherein the number of cycles is an integer greater than or equal to 1.

7. The automatic identification and control method of mixed drugs according to claim 5, characterized in that: The master control module also includes a preset medicine mixing speed, and the medicine is mixed based on the preset mixing speed.

8. The automatic identification and control method for mixed drugs according to claim 5 or 6, characterized in that: The following steps are also included: The master control module drives the push rod to perform the reciprocating mixing cycle according to the preset number of times, and after the mixing cycle is completed, the master control module drives the push rod to retreat to the original unactivated position away from the syringe unit.

9. A control system for automatically identifying mixed drugs, based on a master control module, the control system is suitable for a single-sided syringe container that is sufficient or insufficient to accommodate the total volume of the drugs to be mixed, characterized in that: include: A data acquisition module is used to obtain the volume length of a single syringe, the total length of the medicine to be mixed, the distance between the piston rods when both sides of the syringe piston rod are fully loaded with medicine or the distance between the piston rod ends of the syringe unit when both piston rods are pulled to the bottom, and the positions of the two push rods when both push rods are in contact with the piston rod of the syringe unit; A judgment processing module, based on the distance between the piston rod ends of the syringe units after loading the medicine to be mixed and the length between the ends of the two piston rods in the initial position, determines whether a single syringe container is sufficient to accommodate the volume of the medicine to be mixed; The first execution module is configured to: if the single-side syringe container is sufficient to accommodate the total volume of the medicine to be mixed, then the medicine is mixed based on the single-side stroke of the push rod reciprocating = the length of the total amount of the medicine to be mixed / 2, and the starting point of the two push rod positions when both push rods contact the syringe unit piston rod is used as the starting point of the medicine mixing position; The second execution module is configured as follows: if a single-sided syringe container is insufficient to accommodate the total volume of the medicine to be mixed, the medicine mixing is based on the single-sided stroke of the push rod reciprocating movement = the spacing of the piston rods of the syringe unit when the syringe unit is fully loaded with medicine - the length of the total amount of medicine to be mixed, and the starting point of the two push rod positions when both push rods contact the piston rod of the syringe unit is used as the starting point of the mixing position for mixing.

10. A control system for automatically identifying mixed drugs, based on a master control module, the control system is suitable for a single-sided syringe container that is sufficient to accommodate the total volume of the drugs to be mixed, characterized in that: include: A data acquisition module, used to acquire the length of the total amount of medicine to be mixed, and the positions of the two push rods when both push rods contact the piston rod of the syringe unit; The execution module is configured to mix medicine based on the unilateral stroke of the push rod reciprocating movement = the total length of the medicine to be mixed / 2, and to mix medicine from the starting point of the two push rod positions when both push rods contact the piston rod of the syringe unit as the mixing position starting point.

11. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

12. A control device for automatically identifying mixed drugs, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

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