Liquid preparation robot and liquid preparation method

Abstract

The present invention discloses a liquid dispensing robot and a liquid dispensing method, comprising: a workbench; a first clamping mechanism, and used to slide relative to the workbench in a first direction, and used to clamp a first container; a turntable clamping mechanism, the turntable clamping mechanism includes a plurality of clamping devices, and the clamping devices are used to clamp a second container; a suction piece clamping mechanism, which is located between the first clamping mechanism and the turntable clamping mechanism at intervals, and is used to clamp the suction piece, and is used to make the suction piece suck or inject; the suction piece clamping mechanism is used to rotate to face the first clamping mechanism or the turntable clamping mechanism, so that the suction piece is opposite to the first container or the second container; the suction piece clamping mechanism is in a first position state, and the first and second magnetic suction parts are arranged at intervals in the height direction, and the first and second bearing parts can move synchronously, and in a second position state, the first and second magnetic suction parts are adsorbed and connected, and the second bearing part can move relative to the first bearing part. The present invention can realize efficient and automatic dispensing, and has a simple structure.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic liquid dispensing equipment, and in particular to a liquid dispensing robot and a liquid dispensing method. Background Art

[0002] The drug preparation in the hospital requires the liquid (such as sodium chloride solution) in the infusion bag to be sucked into the syringe, and then the liquid in the syringe is injected into the vial, and then shaken to mix the liquid and powder in the vial, and then the mixed liquid is sucked through the syringe and injected into the infusion bag. Currently, the drug preparation is mainly done manually by medical staff, which is inefficient. Summary of the invention

[0003] The purpose of the present invention is to solve the technical problem that the traditional manual drug preparation method is inefficient, and also to solve the technical problem that the traditional liquid preparation robot occupies a large space. The present invention provides a liquid preparation robot that can realize automatic drug preparation and has high efficiency.

[0004] In order to solve the above technical problems, the embodiment of the present invention discloses a liquid dispensing robot, comprising:

[0005] Workbench;

[0006] A first clamping mechanism, disposed at one side of the workbench and used to slide relative to the workbench along a first direction, the first clamping mechanism being used to clamp a first container;

[0007] A turntable clamping mechanism, disposed on the other side of the workbench, the turntable clamping mechanism comprising a plurality of clamping devices, each of which is used to clamp the second container;

[0008] A suction piece clamping mechanism is provided on the workbench, and is located between the first clamping mechanism and the turntable clamping mechanism at intervals along the second direction, and is used to clamp the suction piece and enable the suction piece to suck or inject;

[0009] The suction member clamping mechanism is used to rotate toward the first clamping mechanism so that the suction member is opposite to the first container in the first clamping mechanism, and is used to make the suction member suck or inject into the first container; or,

[0010] The suction member clamping mechanism is used to rotate toward the turntable clamping mechanism so that the suction member is opposite to the second container of the clamping device, and is used to make the suction member suck or inject into the second container; the first direction intersects with the second direction; wherein,

[0011] The suction member clamping mechanism comprises: a first bearing part, a second bearing part and a base; the first bearing part is used to support the cylinder of the suction member, the second bearing part is used to connect with the piston push rod of the suction member, and the first bearing part and the second bearing part are connected to the base in a manner that they can move along the height direction;

[0012] The suction member clamping mechanism further includes: a first magnetic attraction portion, a second magnetic attraction portion, and a first motor, wherein the first magnetic attraction portion is connected to the first bearing portion, the second magnetic attraction portion is connected to the base, and the first motor is used to drive the first bearing portion and the second bearing portion to move relative to the base along the height direction;

[0013] The suction member clamping mechanism can switch between a first position state and a second position state;

[0014] In the first position state, the first magnetic attraction portion and the second magnetic attraction portion are spaced apart in the height direction, the first bearing portion and the second bearing portion can move synchronously in the height direction, and the suction member in the suction member clamping mechanism is in an empty state;

[0015] In the second position state, the first magnetic attraction part is adsorbed and connected to the second magnetic attraction part, the second bearing part can move along the height direction relative to the first bearing part, the suction piece in the suction piece clamping mechanism is in a suction state or an injection state; the height direction intersects with the second direction.

[0016] According to the above technical solution, the liquid dispensing robot includes a first clamping mechanism, a turntable clamping mechanism and a suction piece clamping mechanism. The first clamping mechanism clamps a first container (e.g., an infusion bag), and the turntable clamping mechanism clamps a second container (e.g., a vial). The suction piece clamping mechanism can rotate relative to the first clamping mechanism and the turntable clamping mechanism so that it faces the first clamping mechanism and is opposite to the first container in the first clamping mechanism, or faces the turntable clamping mechanism and is opposite to the second container in the turntable clamping mechanism. The suction piece clamping mechanism can also make the suction piece (e.g., a syringe) inside it suck or inject along the height direction, thereby achieving liquid dispensing.

[0017] Specifically, when dispensing liquid, the first clamping mechanism slides away from the workbench in the first direction so that the infusion bag inside it is spaced from the workbench, and then the syringe of the suction member clamping mechanism rotates to the bottom of the infusion bag so that the syringe sucks liquid (such as sodium chloride solution) from the infusion bag, and at the same time, multiple vials in multiple clamping devices of the turntable clamping mechanism rotate through the turntable. Then, the suction member clamping mechanism rotates to the bottom of any vial, and the syringe injects, for example, powdered medicine in the vial, to obtain a mixed liquid medicine (such as a mixture of sodium chloride solution and powdered medicine). Then, the suction member clamping mechanism causes the syringe to extract the mixed liquid medicine from the vial, rotates again to face the first clamping mechanism, and causes the syringe to rotate to the bottom of the infusion bag, and then injects the mixed liquid medicine into the infusion bag. Finally, the first clamping mechanism slides toward the workbench in the first direction so that the operator or the external mechanical arm can take the infusion bag to complete the dispensing. The above-mentioned dispensing process does not require manual control, which improves the dispensing efficiency.

[0018] Furthermore, on one hand, the suction member clamping mechanism of the embodiment of the present application can complete the suction or injection action of the syringe with high efficiency only through the cooperation between the first bearing part and the second bearing part. That is, the first bearing part and the second bearing part are respectively connected to the base in a slidable manner along the height direction. In other words, the first bearing part and the second bearing part can be driven by the first motor to move relative to the base in the height direction simultaneously or separately.

[0019] On the basis of the above-mentioned arrangement of the first bearing part, the second bearing part, and the base, the barrel of the syringe is supported on the first bearing part, and the piston push rod of the syringe is connected to the second bearing part. Then, when the first bearing part and the second bearing part move relative to the base respectively, the barrel and the piston push rod can respectively realize the suction or injection action with the movement of the first bearing part and the second bearing part. For example, the second bearing part moves downward away from the first bearing part in the height direction, and the second bearing part can drive the piston push rod of the syringe to move downward, thereby realizing the suction action of the syringe. For another example, the second bearing part moves upward toward the first bearing part in the height direction, and the second bearing part can push the piston push rod of the syringe upward to eject the liquid in the barrel, thereby realizing the injection action of the syringe.

[0020] When the first bearing part and the second bearing part move relative to the base at the same time, for example, when the first bearing part and the second bearing part move upward along the height direction together (that is, enter the first position state), the syringe can be moved to a height position convenient for subsequent suction or injection actions. At this time, the first bearing part remains at this height position (that is, enters the second position state) and no longer moves upward.

[0021] It can be seen that the suction piece clamping mechanism can achieve the three actions including but not limited to the above-mentioned three actions only through the mutual cooperation between the first bearing part and the second bearing part, and realizes efficient syringe suction work through a relatively simple structure.

[0022] On the other hand, the suction piece clamping mechanism of the embodiment of the present application also has better cushioning and positioning accuracy, that is, the suction piece clamping mechanism also includes a first magnetic part and a second magnetic part, the first magnetic part is connected to the first bearing part, and the second magnetic part is connected to the base. In the first position state, the first magnetic part and the second magnetic part are arranged at intervals, and the first bearing part and the second bearing part can move synchronously to move the syringe to the above-mentioned height position. At this time, the first magnetic part and the second magnetic part are adsorbed and connected, thereby ensuring that the first bearing part remains stationary relative to the base to enter the second position state. In this second position state, the second bearing part can move away from or toward the first bearing part in the height direction, thereby completing the suction or injection action.

[0023] Moreover, during the process of switching the suction piece clamping mechanism from the first position state to the second position state, the first magnetic attraction part on the first bearing part can be adsorbed to the second magnetic attraction part on the base. On the one hand, the two magnetic attraction parts are used to achieve fixation between the first bearing part and the base, ensuring that the first bearing part is no longer driven by the first motor, so that it remains at a set height position, providing a basis for subsequent suction or injection actions. On the other hand, during the adsorption process, more precise positioning can also be provided for the first bearing part, effectively improving the accuracy of the syringe suction or injection action, and reducing the mechanical wear of the first bearing part. At the same time, the first magnetic attraction part and the second magnetic attraction part can also improve the design flexibility of the structural coordination between the first bearing part and the base.

[0024] At the same time, the interaction between the first magnetic attraction part and the second magnetic attraction part can realize the automatic suction and injection actions of the syringe by configuring only one motor (i.e., the first motor), without the need to connect different motors to the first bearing part and the second bearing part respectively. The structure is simple, the space occupied is reduced, and the cost is reduced.

[0025] According to another specific embodiment of the present invention, the liquid dispensing robot is used to switch between a first state and a second state, wherein:

[0026] In the first state, the suction member clamping mechanism faces the first clamping mechanism, and the first clamping mechanism is away from the workbench and located above the suction member clamping mechanism;

[0027] In the second state, the suction piece clamping mechanism faces the turntable clamping mechanism, and any one of the plurality of clamping devices rotates to the top of the suction piece clamping mechanism.

[0028] According to another specific embodiment of the present invention, the suction piece clamping mechanism further includes: a second motor, and the second motor is used to drive the cylinder in the first bearing part to rotate.

[0029] According to another specific embodiment of the present invention, the suction piece clamping mechanism further includes: a third motor, and the third motor is used to drive the suction piece clamping mechanism to rotate toward the first clamping mechanism or the turntable clamping mechanism.

[0030] According to another specific embodiment of the present invention, the liquid dispensing robot also includes: an electrical control box, which is arranged on one side of the workbench, and the first clamping mechanism is connected to the electrical control box in a slidable manner along the first direction, and the electrical control box is electrically connected to the first clamping mechanism, the turntable clamping mechanism, and the suction piece clamping mechanism.

[0031] According to another specific embodiment of the present invention, the first clamping mechanism includes: a first clamp and a first sliding part connected to each other, the first clamp is used to clamp the first container, the electrical control box is provided with a second sliding part, the second sliding part extends along the first direction, and the first sliding part and the second sliding part are slidably matched.

[0032] According to another specific embodiment of the present invention, the turntable type clamping mechanism also includes: a turntable, a support column and a first drive assembly, one end of the support column is arranged on the other side of the workbench, the other end of the support column is connected to the turntable, the first drive assembly is arranged at the other end of the support column, a part of the first drive assembly is used to drive the turntable to rotate in the circumferential direction, and the multiple clamping devices are arranged on the turntable at intervals along the circumferential direction.

[0033] According to another specific embodiment of the present invention, another part of the first driving assembly is used to extend or retract relative to any one of the clamping devices, so that the turntable clamping mechanism switches between the third position state and the fourth position state;

[0034] In the third position state, another part of the first driving assembly extends to abut against any one of the clamping devices, and enables any one of the clamping devices to release the second container therein;

[0035] In the fourth position state, another part of the first driving assembly is retracted to separate from any one of the clamping devices, and any one of the clamping devices clamps the second container.

[0036] According to another specific embodiment of the present invention, each of the clamping devices includes: a second drive component and a second clamp, the second clamp is used to clamp the second container, one side of the second drive component is used to abut or separate from the first drive component, the other side of the second drive component is connected to the second clamp, and the second drive component is used to drive the second clamp to loosen or close.

[0037] According to another specific embodiment of the present invention, the liquid dispensing robot further includes: a display screen, and the display screen is connected to the electric control box.

[0038] The embodiment of the present invention further discloses a liquid preparation method, which uses the liquid preparation robot as described in any of the above embodiments; the liquid preparation method comprises:

[0039] The suction member clamping mechanism rotates toward the first clamping mechanism and drives the suction member to suck the first product from the first container;

[0040] The suction member clamping mechanism rotates toward the turntable clamping mechanism and injects the first product into the second container, and stirs to mix the first product with the second product in the second container;

[0041] The suction member clamping mechanism drives the suction member to suck the mixed first product and second product from the second container;

[0042] The suction member clamping mechanism rotates toward the first clamping mechanism and injects the mixed first product and the second product into the first container.

[0043] By adopting the above technical solution and implementing the liquid preparation method through the liquid preparation robot described in any of the above specific implementation modes, the liquid preparation efficiency can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A three-dimensional diagram of a liquid dispensing robot according to an embodiment of the present invention is shown.

[0045] Figure 2 A three-dimensional diagram showing a first clamping mechanism according to an embodiment of the present invention.

[0046] Figure 3 A three-dimensional diagram of a suction piece clamping mechanism according to an embodiment of the present invention is shown; wherein the outer shell is not shown.

[0047] Figure 4 A three-dimensional diagram showing the connection between a screw rod, a first slider, a second slider, a first bearing portion, and a second bearing portion according to an embodiment of the present invention.

[0048] Figure 5 A stereoscopic diagram showing the connection between the screw rod and the first motor according to an embodiment of the present invention.

[0049] Figure 6 A three-dimensional diagram showing the connection between the base and the support frame according to an embodiment of the present invention.

[0050] Figure 7 A three-dimensional diagram showing the connection between the second motor and the support frame according to an embodiment of the present invention.

[0051] Figure 8 A three-dimensional diagram showing a turntable clamping mechanism according to an embodiment of the present invention Figure 1 .

[0052] Fig. 9 A three-dimensional diagram showing a turntable clamping mechanism according to an embodiment of the present invention Figure 2 ; Among them, only one clamping jaw assembly is shown, and the turntable and the shell are not shown.

[0053] Fig.10 A three-dimensional view of a clamping device according to an embodiment of the present invention is shown.

[0054] Fig.11 A stereoscopic view of a clamping jaw assembly according to an embodiment of the present invention is shown; wherein the fixing seat is not shown.

[0055] Fig.12 A cross-sectional view showing a jaw assembly according to an embodiment of the present invention.

[0056] Fig.13 A perspective view showing a moving part according to an embodiment of the present invention.

[0057] Fig.14 A three-dimensional view of a fixing seat according to an embodiment of the present invention is shown. Figure 1 .

[0058] Fig.15 A three-dimensional view of a fixing seat according to an embodiment of the present invention is shown. Figure 2 .

[0059] Fig.16 A three-dimensional diagram showing the connection between the fifth motor, the sliding member and the connecting rod assembly according to an embodiment of the present invention.

[0060] Fig.17 A three-dimensional view of a threaded sleeve according to an embodiment of the present invention is shown.

[0061] Fig.18 A flow chart of a liquid preparation method according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0062] The following specific embodiments illustrate the implementation of the present invention, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this implementation. On the contrary, the purpose of introducing the invention in conjunction with the implementation is to cover other options or modifications that may extend based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0063] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0064] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0065] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0066] In the description of this embodiment, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0067] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0068] refer to Figure 1 An embodiment of the present application provides a liquid dispensing robot 1, comprising a workbench 2, an electric control box 3, a first clamping mechanism 4, a suction piece clamping mechanism 5 and a turntable clamping mechanism 6.

[0069] It can be seen that the electric control box 3 , the first clamping mechanism 4 , the suction piece clamping mechanism 5 and the turntable clamping mechanism 6 are all arranged on the workbench 2 .

[0070] Exemplarily, the electrical control box 3 is electrically connected to the first clamping mechanism 4, the suction piece clamping mechanism 5 and the turntable clamping mechanism 6, that is, a control system is provided in the electrical control box 3, and the control system is used to control the first clamping mechanism 4, the suction piece clamping mechanism 5 and the turntable clamping mechanism 6 to perform the liquid preparation work described later.

[0071] In addition, illustratively, the electric control box 3 further includes a display screen 30 , and the display screen 30 can be used by the staff to perform operations such as clicking to control the control system to perform the liquid preparation work described later.

[0072] Continue to refer Figure 1 The first clamping mechanism 4 is arranged on one side of the workbench 2 (i.e. Figure 1 The turntable clamping mechanism 6 is arranged on the other side of the workbench 2 (i.e. Figure 1 The suction member clamping mechanism 5 is also arranged on the workbench 2 and along the second direction (eg, Figure 1 The Y direction shown in the figure is located between the first clamping mechanism 4 and the turntable clamping mechanism 6 at intervals.

[0073] At the same time, the first clamping mechanism 4 is used to clamp the first container (such as an infusion bag 400), and the infusion bag 400 contains a first product (such as sodium chloride solution). Figure 1 The first direction (P direction shown in FIG. 1 ) slides relative to the workbench 2, thereby causing the infusion bag 400 to slide along the first direction. Exemplarily, the first direction intersects with the second direction.

[0074] The turntable clamping mechanism 6 is used to clamp a second container (e.g., a vial, not shown in the figure), and the second container contains a second product (powdered medicine or liquid medicine). Specifically, it can be seen that the turntable clamping mechanism 6 includes a plurality of clamping devices 63, and the plurality of clamping devices 63 are arranged at intervals along the circumferential direction, and each clamping device 63 is used to clamp the above-mentioned second container (e.g., a vial). The embodiment of the present application does not specifically limit the number of the clamping devices 63.

[0075] The suction piece clamping mechanism 5 is used to clamp the suction piece 7 (such as the syringe 700 ), and the suction piece clamping mechanism 5 itself can enable the suction piece 7 to suction or inject, which will be described in detail later.

[0076] Furthermore, the suction member clamping mechanism 5 can be moved along, for example Figure 1The T1 direction shown in the figure is rotated toward the above-mentioned first clamping mechanism 4, so that the syringe 700 in the suction piece clamping mechanism 5 is opposite to the infusion bag 400 in the first clamping mechanism 4. At this time, the suction piece clamping mechanism 5 can drive the syringe 700 to suck or inject into the infusion bag 400.

[0077] Furthermore, the suction member clamping mechanism 5 can be arranged along, for example Figure 1 The T2 direction shown in the figure is rotated to face the above-mentioned turntable clamping mechanism 6, so that the syringe 700 in the suction piece clamping mechanism 5 is opposite to the second container (such as a vial, not shown in the figure) in the turntable clamping mechanism 6. At this time, the suction piece clamping mechanism 5 can drive the syringe 700 to suck or inject into the vial.

[0078] Continue to refer Figure 1 That is to say, first, the liquid dispensing robot 1 of the embodiment of the present application includes a first clamping mechanism 4 for clamping a first container (such as an infusion bag 400, which is described in this article by taking the infusion bag 400 as an example), a suction member clamping mechanism 5 for clamping a suction member 7 (such as a syringe 700, which is described in this article by taking the syringe 700 as an example) and capable of driving the syringe 700 to suck or inject, and a turntable clamping mechanism 6 for clamping a second container (such as a vial, which is described in the following article by taking the vial as an example). In addition, the following article also takes the example that the first product in the first container is a sodium chloride solution and the second product in the second container is a powdered medicine as an example.

[0079] Secondly, the liquid preparation robot 1 of the embodiment of the present application is intended to transfer the sodium chloride solution in the infusion bag 400 to the syringe bottle through the suction piece clamping mechanism 5 (during this transfer process, the syringe 700 will perform suction and injection actions) to mix the sodium chloride solution with the powdered medicine in the syringe bottle to obtain a mixed liquid medicine, and then transfer the mixed liquid medicine from the syringe bottle to the infusion bag 400 (during this transfer process, the syringe 700 will also perform suction and injection actions) to complete the liquid preparation.

[0080] Specifically, in the above-mentioned liquid preparation process, the suction piece clamping mechanism 5 only needs to perform two movements: first, the suction piece clamping mechanism 5 can be rotated toward the first clamping mechanism 4 so that the syringe 700 inside it is opposite to the infusion bag 400 in the first clamping mechanism 4; or, the suction piece clamping mechanism 5 can be rotated toward the turntable clamping mechanism 6 so that the syringe 700 inside it is opposite to the syringe bottle in the turntable clamping mechanism 6.

[0081] Secondly, when the suction piece clamping mechanism 5 is facing the first clamping mechanism 4, the suction piece clamping mechanism 5 itself can also drive the syringe 700 to suck the sodium chloride solution in the infusion bag 400, or inject the mixed liquid medicine into the infusion bag 400; or, when the suction piece clamping mechanism 5 is facing the turntable clamping mechanism 6, the suction piece clamping mechanism 5 itself can drive the syringe 700 to inject the sodium chloride solution into the vial, or suck the mixed liquid medicine in the vial.

[0082] Meanwhile, in the above-mentioned liquid preparation process, the first clamping mechanism 4 also only needs to perform two movements: first, the first clamping mechanism 4 can move away from the workbench along the first direction until it moves to be opposite to the suction member clamping mechanism 5. Second, the first clamping mechanism 4 can move toward the workbench along the first direction, so that the staff or the external robot arm can install the infusion bag 400 containing the sodium chloride solution, or the staff or the external robot arm can take the infusion bag 400 containing the mixed liquid medicine.

[0083] Meanwhile, in the above-mentioned liquid preparation process, the turntable clamping mechanism 6 only needs to move in one aspect: that is, rotate circumferentially so that the vial in any clamping device 63 can rotate until it can rotate to be opposite to the suction piece clamping mechanism 5 .

[0084] like Figure 1 As shown, further, the liquid preparation robot 1 provided in the embodiment of the present application can complete the liquid preparation process including but not limited to the following:

[0085] First, the infusion bag 400 in the first clamping mechanism 4 approaches the workbench 2 along the P direction, and the staff installs the infusion bag 400 containing sodium chloride solution onto the first clamping mechanism 4; the first clamping mechanism 4 moves away from the workbench 2 along the P1 direction until it moves to the first state.

[0086] At the same time, the suction member clamping mechanism 5 rotates along the T1 direction to face the first clamping mechanism 4 until it moves to the first state (in the first state, the first clamping mechanism 4 is located above the suction member clamping mechanism 5, and the infusion bag 400 is located directly above the syringe 700), that is, the syringe 700 inside the suction member clamping mechanism 5 is opposite to the infusion bag 400 inside the first clamping mechanism 4; then, the suction member clamping mechanism 5 stops rotating and drives the syringe 700 to suck the sodium chloride solution in the infusion bag 400. At the same time, the turntable clamping mechanism 6 continues to rotate circumferentially.

[0087] Next, the suction member clamping mechanism 5 rotates in the direction T2 toward the turntable clamping mechanism 6 until it moves to the second state, that is, the syringe 700 inside the suction member clamping mechanism 5 is opposite to the vial in the clamping device 63 at the top position of the turntable clamping mechanism 6 (in this second state, the clamping device 63 at the top position is located above the suction member clamping mechanism 5, and the vial at the top position is located directly above the syringe 700); then, the suction member clamping mechanism 5 stops rotating, and drives the syringe 700 to inject the internal sodium chloride solution into the vial, and mix the sodium chloride solution in the vial with the powdered medicine. It should be noted that, since the turntable clamping mechanism 6 continues to rotate in the circumferential direction, the syringe 700 can perform the above operation only on the vial in one clamping device 63 at the top position, or can perform multiple operations on multiple vials rotated to the top position, which can be selected according to the actual drug formula.

[0088] Afterwards, the suction piece clamping mechanism 5 drives the syringe 700 to suck out the mixed liquid medicine in the vial, and rotates along the T1 direction to face the first clamping mechanism 4 until it moves to the above-mentioned first state; further, the suction piece clamping mechanism 5 drives the syringe 700 to inject the mixed liquid medicine into the infusion bag 400.

[0089] Finally, the first clamping mechanism 4 moves along the P2 direction toward the workbench 2 until reaching the final state. At this time, the liquid preparation robot 1 completes the liquid preparation, and the staff can remove the infusion bag 400 in the first clamping mechanism 4.

[0090] Therefore, the liquid dispensing robot 1 provided in the embodiment of the present application has a higher liquid dispensing efficiency through the coordinated cooperation of the first clamping mechanism 4, the suction piece clamping mechanism 5, and the turntable clamping mechanism 6.

[0091] In addition, it should be noted that the liquid preparation robot 1 of the present application can prepare a variety of liquids. In addition to drug solutions, it can also prepare chemical solutions in the laboratory and cosmetic formulas.

[0092] The specific structures of the first clamping mechanism 4, the suction member clamping mechanism 5 and the turntable clamping mechanism 6 are described in detail below in conjunction with the accompanying drawings.

[0093] First, the specific structure of the first clamping mechanism 4 is described in detail with reference to the accompanying drawings.

[0094] refer to Figure 2 Combined with Figure 1 In some possible implementations, the first clamping mechanism 4 includes: a first clamp 41 and a first sliding portion 42 connected to each other, the first clamp 41 is used to clamp the infusion bag 400, and the electric control box 3 is provided with a second sliding portion 31, and the second sliding portion 31 is moved along the first direction (such as Figure 1The first sliding portion 42 extends in the P direction shown in FIG. 1 , and the first sliding portion 42 is slidably matched with the second sliding portion 31.

[0095] The specific structure of the suction piece clamping mechanism 5 will be described in detail below with reference to the accompanying drawings.

[0096] refer to Figure 1 and Figure 3 , Figure 1 The suction piece clamping mechanism 5 shown as an example includes a housing 500. To facilitate illustration of the structure of the suction piece clamping mechanism 5 located within the housing 500, Figure 3 The housing 500 is hidden.

[0097] As can be seen from the foregoing, the suction piece clamping mechanism 5 itself can enable the syringe 700 to suction or inject.

[0098] That is, in some possible implementations, the suction member clamping mechanism 5 includes: a bearing portion and a base 50, the base 50 is disposed along a height direction (eg Figure 1 and Figure 3 The syringe 700 is clamped in the bearing portion, and the bearing portion is connected to the base portion 50 in a slidable manner along the height direction, so that the suction member clamping mechanism 5 can be switched between a first position state and a second position state; in the first position state, the syringe 700 in the suction member clamping mechanism 5 is in an empty state; in the second position state, the syringe 700 in the suction member clamping mechanism 5 is in a suction state or an injection state;

[0099] Specifically, the bearing part includes: a first bearing part 51 and a second bearing part 52. It can be understood that the syringe 700 includes a barrel 71, a piston push rod 72 and a needle 73.

[0100] The first bearing portion 51 is used to support the barrel 71 of the syringe 700; the first bearing portion 51 is arranged along the height direction (such as Figure 3 The first supporting portion 51 is connected to the base 50 in a movably manner so that the first supporting portion 51 can be in the first position state and the second position state ( Figure 3 The first bearing portion 51 is driven by the first motor 54 to move up and down along the height direction.

[0101] refer to Figure 3 and Figure 4, exemplarily, the first bearing portion 51 is L-shaped, and includes a first plate portion 512 and a second plate portion 513 connected vertically, the first plate portion 512 extends along the height direction Z, the second plate portion 513 is located on a horizontal plane perpendicular to the height direction Z, and the second plate portion 513 is provided with a support groove 514 running through from top to bottom, and the support groove 514 is for the piston push rod 72 of the syringe 700 to pass through. That is, the barrel 71 of the syringe 700 is located above the second plate portion 513, the piston push rod 72 is located below the second plate portion 513, and the outlet of the barrel 71 is convexly provided with an annular convex portion 74, which abuts against the upper surface of the second plate portion 513, thereby forming the support of the second plate portion 513 to the barrel 71.

[0102] The second bearing portion 52 is used to connect with the piston push rod 72 of the syringe 700; the second bearing portion 52 is arranged along the height direction (such as Figure 3 and Figure 4 The second bearing part 52 is connected to the base 50 in a movable manner (Z direction shown in FIG. 1 ). The second bearing part 52 is driven by the first motor 54 to move up and down in the height direction. That is, the first bearing part 51 and the second bearing part 52 are driven by the same first motor 54.

[0103] refer to Figure 4 Combined with Figure 3 In some possible implementations, the second bearing portion 52 includes a first portion 520 and a second portion 521 connected to each other, and the first portion 520 and the second portion 521 are connected along a height direction (eg Figure 4 The first portion 520 is provided with a U-shaped groove 523 extending vertically therethrough, and the U-shaped groove 523 is connected to the limiting region 522, so that the piston push rod 72 can pass through, thereby limiting the position of the piston push rod 72, and further, connecting the piston push rod 72 with the second bearing portion 52.

[0104] refer to Figure 3 and Figure 4 In some possible implementations, the suction member clamping mechanism 5 further includes: a first magnetic attraction portion 511 and a second magnetic attraction portion 53 .

[0105] It can be seen that the first magnetic attraction portion 511 is disposed along the third direction (eg Figure 3 and Figure 4 For example, the third direction (such as Figure 3 and Figure 4 The M direction shown in FIG. 1 is perpendicular to the height direction (as shown in FIG. Figure 3 and Figure 4 Z direction shown in ).

[0106] The second magnetic attraction portion 53 is connected to the base portion 50, and the second magnetic attraction portion 53 and the first magnetic attraction portion 511 are connected in the height direction (such as Figure 3 and Figure 4 That is, as the first bearing portion 51 moves along the height direction driven by the first motor 54, the first magnetic attraction portion 511 can be attracted to the second magnetic attraction portion 53 which is arranged opposite to it.

[0107] Exemplarily, the first magnetic attraction portion 511 is a ferromagnetic material. Exemplarily, the second magnetic attraction portion 53 is an electromagnet. That is, the second magnetic attraction portion 53 has magnetism when powered on and can be adsorbed and connected to the first magnetic attraction portion 511. When the second magnetic attraction portion 53 is not powered on, it has no magnetism and cannot be connected to the first magnetic attraction portion 511.

[0108] In the first position state of the first bearing portion 51, the first magnetic attraction portion 511 and the second magnetic attraction portion 53 are aligned along the height direction (eg Figure 3 and Figure 4 The first bearing part 51 and the second bearing part 52 are arranged at intervals, and the first bearing part 51 and the second bearing part 52 can move synchronously in the height direction; the cylinder 71 on the first bearing part 51 is in an empty state. Exemplarily, the first bearing part 51 and the second bearing part 52 are driven by the first motor 54, that is, under the drive of the first motor 54, the first bearing part 51 and the second bearing part 52 move synchronously in the height direction (such as Figure 3 and Figure 4 The Z direction shown in FIG. 5 ) moves upward relative to the base 50 so that the syringe 700 reaches a preset height, which facilitates the needle 73 to the infusion bag 400 (such as the first clamping mechanism 4) of the first clamping mechanism 4. Figure 1 As shown) or a turntable clamping mechanism 6 for performing a suction or injection action.

[0109] In some possible implementations, in the second position state of the first bearing portion 51, the first magnetic attraction portion 511 is adsorbed and connected to the second magnetic attraction portion 53, and the second bearing portion 52 can be relatively close to the first bearing portion 51 in the height direction (such as Figure 3 and Figure 4 The cylinder 71 on the first bearing part 51 is in the suction or injection state. That is, in the second position state, the second bearing part 52 moves away from the first bearing part 51 in the height direction, and the cylinder 71 is in the suction state, and the second bearing part 52 moves toward the first bearing part 51 in the height direction, and the cylinder 71 is in the injection state.

[0110] For example, the first magnetic attraction portion 511 is connected to the second magnetic attraction portion 53 by adsorption, and the first bearing portion 51 is fixed relative to the base portion 50 by the adsorption of the second magnetic attraction portion 53 to the first magnetic attraction portion 511, and the first bearing portion 51 is no longer driven by the first motor 54, but is maintained at the set height. It can be understood that the set height of the first bearing portion 51 is that the needle 73 located at the upper end of the cylinder 71 can be inserted into the infusion bag 400 of the first clamping mechanism 4 in a vertically aligned manner (such as Figure 1 As shown) or the height of the vial of the turntable clamping mechanism 6.

[0111] In the second position state of the first bearing portion 51, the second bearing portion 52 can be relatively close to the first bearing portion 51 in the height direction (such as Figure 3 and Figure 4 The piston push rod 72 on the second bearing portion 52 moves in the height direction relative to the cylinder 71 on the first bearing portion 51.

[0112] refer to Figure 3 and Figure 4 Combined with Figure 1 It can be understood that if the second bearing portion 52 is downward in the height direction relative to the first bearing portion 51 (such as Figure 3 The piston push rod 72 moves in the Z2 direction shown in the figure, that is, the piston push rod 72 is performing a suction action, for example, the sodium chloride solution in the infusion bag 400 is sucked into the cylinder 71, or the mixed liquid medicine in the vial (that is, the mixture of sodium chloride solution and powdered medicine) is sucked into the cylinder 71.

[0113] If the second supporting portion 52 is upward relative to the first supporting portion 51 in the height direction (such as Figure 3 The piston push rod 72 moves in the Z1 direction shown in the figure, that is, the piston push rod 72 is performing an injection action, for example, injecting the sodium chloride solution sucked into the cylinder 71 in the previous step into the vial to mix the sodium chloride solution and the powdered medicine in the vial, or injecting the mixed medicine liquid (that is, the mixture of the sodium chloride solution and the powdered medicine) into the infusion bag 400.

[0114] refer to Figures 1 to 4 , using the above technical solution, firstly, the barrel 71 of the syringe 700 is installed on the first bearing part 51, so that the first bearing part 51 supports the barrel 71 upward. The piston push rod 72 of the syringe 700 is connected to the second bearing part 52. At this time, the barrel 71 of the syringe 700 is in an empty state, and the first magnetic attraction part 511 and the second magnetic attraction part 53 are aligned along the height direction (such as Figure 3 Then the first motor 54 is started, and the first motor 54 drives the first bearing part 51 and the second bearing part 52 to move upward in the height direction (such as Figure 3The first magnetic attraction portion 511 moves in the Z1 direction (i.e., the first position state) to reach a preset position, that is, a height position convenient for suction and injection operations. At this time, the first magnetic attraction portion 511 reaches the position where the second magnetic attraction portion 53 is located, and is adsorbed and connected with the second magnetic attraction portion 53, so that the first bearing portion 51 remains in this position and no longer moves upward.

[0115] Then the first motor 54 drives the second bearing portion 52 to start moving downward (eg Figure 3 The second bearing portion 52 drives the piston push rod 72 of the syringe 700 to move downward, and the syringe 700 starts to suck. For example, when the syringe 700 is toward the first clamping mechanism 4, the syringe 700 sucks the sodium chloride solution of the infusion bag 400.

[0116] After the suction is completed, the suction member clamping mechanism 5 turns to the turntable clamping mechanism 6, and the first motor 54 drives the second bearing part 52 to start moving upward, and the second bearing part 52 drives the piston push rod 72 of the syringe 700 to move upward, so as to pump out the sodium chloride solution in the cylinder 71 and make it enter the vial, and the sodium chloride solution and the powdered medicine in the vial are mixed. After the mixing is completed, the first motor 54 drives the second bearing part 52 to drive the piston push rod 72 of the syringe 700 to move downward, and the syringe 700 starts to suck the mixed liquid medicine (i.e., the mixed liquid of the sodium chloride solution and the powdered medicine).

[0117] Then, the suction member clamping mechanism 5 turns to the first clamping mechanism 4, and the first motor 54 drives the second bearing part 52 to start moving upward, and the second bearing part 52 drives the piston push rod 72 of the syringe 700 to move upward, and the mixed liquid medicine (i.e., the mixture of sodium chloride solution and powdered medicine) in the cylinder 71 is ejected and enters the infusion bag 400, thereby completing the liquid preparation process.

[0118] In summary, the suction piece clamping mechanism 5 of the present application can realize automatic suction and injection of the syringe 700 by configuring only one motor through the cooperation of the first bearing part 51 and the second bearing part 52, without the need to connect different motors to the first bearing part 51 and the second bearing part 52 respectively. The structure is simple, the space occupied is reduced, and the cost is reduced.

[0119] refer to Figure 4 and Figure 5 Combined with Figure 3 In some possible implementations, the suction member clamping mechanism 5 further includes a screw 540, a first slider 541 and a second slider 542. The screw 540 is connected to the first motor 54 in a transmission manner; the screw 540 is moved in a height direction (such as Figure 4 The Z direction shown in FIG.

[0120] The first slider 541 is connected to the first bearing portion 51. Exemplarily, the first slider 541 connects the first bearing portion 51 and the first magnetic portion 511. The first slider 541 is sleeved on the screw 540 and is threadedly connected to the screw 540. Exemplarily, the first slider 541 is threadedly connected to the screw 540, and when the screw 540 rotates, the first slider 541 moves relative to the screw 540 along the axial direction of the screw 540 (i.e., the height direction Z).

[0121] Correspondingly, the second slider 542 is connected to the second bearing portion 52, and the second slider 542 is sleeved on the screw rod 540 and threadedly connected to the screw rod 540. Exemplarily, the second slider 542 is threadedly connected to the screw rod 540, and when the screw rod 540 rotates, the second slider 542 moves relative to the screw rod 540 along the axial direction of the screw rod 540 (i.e., the height direction Z).

[0122] In the first position state, the first slider 541 and the second slider 542 can move along the height direction (such as Figure 4 That is, the first bearing portion 51 and the second bearing portion 52 move synchronously along the height direction (such as Figure 4 The syringe 700 is moved synchronously (in the Z direction shown in FIG) so that the needle 73 of the syringe 700 is close to the infusion bag 400 of the first clamping mechanism 4 or the vial of the turntable clamping mechanism 6.

[0123] In the second position state, the second slider 542 can move relative to the first slider 541 in the height direction (eg Figure 4 That is, the second carrying portion 52 moves in the height direction relative to the first carrying portion 51 to perform the suction and injection actions.

[0124] refer to Figure 5 Combined with Figure 3 and Figure 4 , illustratively, the output end of the first motor 54 is sleeved with a fifth transmission wheel 543, the first motor 54 drives the fifth transmission wheel 543 to rotate, the lower end of the screw 540 is sleeved with a sixth transmission wheel 544, and the sixth transmission wheel 544 and the fifth transmission wheel 543 are connected by a first belt 545. Then, the first motor 54 is started, the first motor 54 drives the fifth transmission wheel 543 to rotate, the fifth transmission wheel 543 transmits power to the sixth transmission wheel 544 through the first belt 545, and then the sixth transmission wheel 544 drives the screw 540 to rotate. That is, this embodiment realizes the power transmission from the first motor 54 to the screw 540 through two transmission wheels, which effectively saves space.

[0125] refer to Figure 6 Combined with Figure 4 In some possible implementations, the base 50 is provided with a Figure 6The slide rail 501 extends in the Z direction (Z direction shown in the figure), and the first slider 541 and the second slider 542 are respectively slidably connected to the slide rail 501. That is, through the cooperation of the first slider 541 and the slide rail 501, on the one hand, a certain support effect is played on the first slider 541, and on the other hand, the sliding of the first slider 541 is made more stable. Correspondingly, through the cooperation of the second slider 542 and the slide rail 501, on the one hand, a certain support effect is played on the second slider 542, and on the other hand, the sliding of the second slider 542 is made more stable.

[0126] refer to Figure 6 Combined with Figure 1 and Figure 3 In some possible implementations, the suction member clamping mechanism 5 further includes a support frame 55 and a receiving portion 56. The support frame 55 is connected to the base 50; the support frame 55 is disposed above the first bearing portion 51. Exemplarily, the support frame 55 is disposed at a height close to the first clamping mechanism 4 and the turntable clamping mechanism 6.

[0127] For example, reference Figure 6 Combined with Figure 3 and Figure 4 The support frame 55 is L-shaped and includes a vertically connected side plate 550 and a horizontal plate 551, wherein the side plate 550 is vertically connected to the horizontal plate 551. Figure 6 The side plate 550 and the first plate portion 512 of the first bearing portion 51 extend in the height direction (as shown in the Z direction). Figure 6 In the Z direction shown in FIG, that is, the two are not in a directly opposite relationship, when the first bearing portion 51 moves upward under the drive of the first motor 54, the side plate 550 will partially overlap with the first plate portion 512 until the side plate 550 abuts against the upper surface of the second plate portion 513. At this time, the first bearing portion 51 moves upward to the maximum extent (that is, enters the second position state of the first bearing portion 51).

[0128] refer to Figure 6 Combined with Figure 3 , the receiving portion 56 surrounds the height direction (such as Figure 6 The Z direction shown in FIG. 5 ) is rotatably connected to the support frame 55; the receiving portion 56 is connected to the support frame 55 in a rotatable manner along the height direction (such as Figure 6 The receiving portion 56 is rotatably connected to the first bearing portion 51 to accommodate the barrel 71. For example, the receiving portion 56 passes through the horizontal plate 551 of the support frame 55, and is partially protruded on the horizontal plate 551 to allow the needle 73 at the upper end of the barrel 71 to extend. The receiving portion 56 is rotatably connected to the horizontal plate 551.

[0129] Exemplarily, the accommodating portion 56 is a semi-cylindrical groove to match the shape of the barrel 71 of the syringe 700 , so as to better accommodate the barrel 71 .

[0130] In the first position state of the first bearing portion 51, the barrel 71 is located outside the accommodating portion 56, or a part of the barrel 71 is located in the accommodating portion 56. It is understandable that before the syringe 700 is installed, the first bearing portion 51 does not move upward. If the distance between the first bearing portion 51 and the lower end of the accommodating portion 56 is less than the length of the barrel 71, the lower end of the barrel 71 is placed on the first bearing portion 51 during installation, and a part of the barrel 71 extends into the accommodating portion 56. On the contrary, if the distance between the first bearing portion 51 and the lower end of the accommodating portion 56 is greater than the length of the barrel 71, the lower end of the barrel 71 is placed on the first bearing portion 51 during installation, and the barrel 71 does not extend into the accommodating portion 56, and the barrel 71 is located between the accommodating portion 56 and the first bearing portion 51.

[0131] In the second position state of the second receiving portion 52 , the accommodation portion 56 accommodates the entirety of the cylinder 71 .

[0132] In the embodiment of the present application, a portion of the cylinder 71 is located in the accommodating portion 56 in the first position state. Before the first bearing portion 51 and the second bearing portion 52 move upward together, the first bearing portion 51 and the support frame 55 are aligned in the height direction (eg, Figure 6 The staff places the barrel 71 of the syringe 700 on the first bearing portion 51 in advance, and a portion of the barrel 71 extending upward is placed in the accommodating portion 56, while a portion of the barrel 71 located between the first bearing portion 51 and the support frame 55 is located outside the accommodating portion 56.

[0133] Then the first bearing part 51 and the second bearing part 52 move upward together (i.e., enter the first position state), the first bearing part 51 gradually approaches the support frame 55, and the part of the cylinder 71 originally located in the accommodating part 56 also slides upward in the accommodating part 56, and the part of the cylinder 71 originally located outside the accommodating part 56 moves upward to enter the accommodating part 56, until the first bearing part 51 abuts against the support frame 55, and the first magnetic part 511 is also adsorbed by the second magnetic part 53, the first bearing part 51 can no longer move upward (i.e., enter the second position state), at this time the cylinder 71 is located as a whole in the accommodating part 56, and the cylinder 71 has reached the preset position, and the height of the cylinder 71 at this time is convenient for the needle 73 located at its upper end to contact the infusion bag 400 or the syringe bottle for subsequent suction and injection actions.

[0134] refer to Figure 7 Combined with Figure 1 and Figure 3 In some possible implementations, the suction piece clamping mechanism 5 further includes a second motor 57, and the second motor 57 is used to drive the cylinder 71 in the first bearing portion 51 to rotate, that is, illustratively, the second motor 57 is used to drive the accommodating portion 56 to rotate.

[0135] Specifically, the second motor 57 drives the accommodating portion 56 to rotate through a transmission assembly, and the transmission assembly includes a first transmission wheel 570, a second transmission wheel 571, a third transmission wheel 572 and a fourth transmission wheel 573. Among them, the first transmission wheel 570 is sleeved on the output shaft of the second motor 57; the second motor 57 drives the first transmission wheel 570 to rotate; the second transmission wheel 571 is connected to the first transmission wheel 570 through a second belt 574; the second transmission wheel 571 and the third transmission wheel 572 are sleeved on both ends of the first rotating shaft 575, the second transmission wheel 571 drives the first rotating shaft 575 to rotate, and the first rotating shaft 575 drives the third transmission wheel 572 to rotate; the fourth transmission wheel 573 and the third transmission wheel 572 are connected through a third belt 576; the fourth transmission wheel 573 is sleeved on the portion of the accommodating portion 56 located on the horizontal plate 551 to drive the accommodating portion 56 to rotate.

[0136] That is, the present embodiment uses a plurality of transmission wheels to realize power transmission from the second motor 57 to the accommodating portion 56, thereby saving space. However, it can be understood by those skilled in the art that in other embodiments, other transmission components, such as chains, etc., may also be selected.

[0137] Illustratively, the second motor 57 drives the accommodating portion 56 to rotate, and the barrel 71 located in the accommodating portion 56 rotates. When the needle 73 of the syringe 700 extends into the vial, the sodium chloride solution sucked into the barrel 71 in the previous step is injected into the vial to mix it with the powdered medicine in the vial. The barrel 71 rotates, and the needle 73 located at the upper end thereof rotates synchronously in the vial, thereby playing a stirring role to mix the sodium chloride solution and the powdered medicine evenly.

[0138] In some possible implementations, reference Figure 3 The suction member clamping mechanism 5 further includes a first elastic member 58 and a positioning block 502. The positioning block 502 is connected to the base 50, that is, the positioning block 502 is relatively fixed. The first elastic member 58 extends along the height direction Z, with its upper end connected to the first magnetic attraction portion 511 and its lower end connected to the positioning block 502.

[0139] Exemplarily, the first elastic member 58 is a spring, the upper end of which is connected to the first magnetic attraction portion 511, and the lower end is connected to the positioning block 502, so that when the first bearing portion 51 is moved in the height direction (such as Figure 3During the upward movement of the first bearing part 51 (in the Z direction shown in the figure), the first elastic member 58 stretches until the first magnetic attraction part 511 is adsorbed and connected with the second magnetic attraction part 53, and the spring stretches to the maximum limit. When the first bearing part 51 needs to move downward, the first magnetic attraction part 511 needs to be separated from the second magnetic attraction part 53. However, after the power is turned off, the magnetism of the second magnetic attraction part 53 weakens, and the first magnetic attraction part 511 cannot be separated from it immediately. Then, the restoring force of the first elastic member 58 will give the first magnetic attraction part 511 a downward pulling force to help it overcome the suction force from the second magnetic attraction part 53, so that the first magnetic attraction part 511 and the second magnetic attraction part 53 are quickly separated, and the first bearing part 51 can continue to move downward.

[0140] refer to Figure 1 and Figure 3 In some possible implementations, the suction member clamping mechanism 5 further includes a base (not shown in the figure), which is connected to the base 50; a third motor 590 is connected to the base, and the third motor 590 is used to drive the base to rotate relative to the workbench 2. That is, the third motor 590 is used to drive the suction member clamping mechanism 5 to rotate toward the first clamping mechanism 4 or the turntable clamping mechanism 6.

[0141] Specifically, the base is the bottom of the entire suction member clamping mechanism 5, which is rotatably connected to the workbench 2. Then, driven by the third motor 590, the base rotates relative to the workbench 2, changing the position of the syringe 700 relative to the workbench 2, so that it faces the infusion bag 400 on the first clamping mechanism 4 or the vial on the turntable clamping mechanism 6. When it faces the infusion bag 400, the syringe 700 can suck the sodium chloride solution in the infusion bag 400 into the barrel 71, or inject the mixed liquid medicine (i.e., the mixture of the sodium chloride solution and the powdered medicine) into the infusion bag 400. When it faces the vial, the syringe 700 injects the sodium chloride solution sucked into the barrel 71 in the previous step into the vial, so that the sodium chloride solution and the powdered medicine are mixed, or sucks the mixed liquid medicine (i.e., the mixture of the sodium chloride solution and the powdered medicine) into the barrel 71.

[0142] The specific structure of the turntable clamping mechanism 6 will be described in detail below with reference to the accompanying drawings.

[0143] refer to Figure 8 and Fig. 9 Combined with Figure 1 In some possible implementations, the turntable clamping mechanism 6 includes a support column 60, a fourth motor 61, a turntable 62, a clamping device 63 and a first driving assembly.

[0144] The first driving assembly is disposed at the top end of the support column 60 (i.e. Fig. 9 The first drive assembly and the housing 600 (such as Figure 1Exemplarily, the first driving assembly includes: a pushing portion 64 and a fifth motor 640.

[0145] It can be seen that the bottom end of the support column 60 is arranged on the other side of the workbench 2 (i.e. Figure 1 The top end of the support column 60 is connected to the housing 600 of the turntable 62, and the fourth motor 61 is installed inside the housing 600. The fourth motor 61 is used to drive the turntable 62 to rotate circumferentially. The above-mentioned multiple clamping devices 63 are arranged on the turntable 62 at intervals along the circumferential direction.

[0146] Meanwhile, the pusher 64 is mounted on the outer wall of the fourth motor 61, and the pusher 64 does not rotate with the turntable 62. Moreover, the pusher 64 is used to extend or retract relative to any one of the clamping devices 63, so that the turntable clamping mechanism 6 switches between the third position state and the fourth position state; in the third position state, the pusher 64 extends to abut against any one of the clamping devices 63, and any one of the clamping devices 63 releases the vial inside; in the fourth position state, the pusher 64 retracts to separate from any one of the clamping devices 63, and any one of the clamping devices 63 clamps the vial.

[0147] refer to Figure 8 and Fig. 9 Combined with Figure 1 Each clamping device 63 includes a second clamp, and the second clamp includes a clamping jaw assembly 630. Each clamping jaw assembly 630 includes a first clamping jaw 631 and a second clamping jaw 632. The first clamping jaw 631 and the second clamping jaw 632 are used to clamp, for example, a vial. The plurality of clamping jaw assemblies 630 are arranged along the circumference of the rotating disk 62 (eg, Fig. 9 The fourth motor 61 drives the turntable 62 to rotate, and the plurality of clamping jaw assemblies 630 thereon also rotate to change the position of each clamping jaw assembly 630 relative to the workbench 2.

[0148] As the plurality of clamping jaw assemblies 630 rotate, the push portion 64 can move with any one of the plurality of clamping jaw assemblies 630 along a fourth direction (eg Fig. 9 The first and second jaws 631, 632 of the jaw assembly 630 are arranged relatively to each other in the N direction shown in the figure to drive the first and second jaws 631, 632 of the jaw assembly 630 to open.

[0149] It should be noted that the first clamping jaw 631 and the second clamping jaw 632 are usually in a clamping state to clamp the vial. When the pushing portion 64 applies a thrust to the first clamping jaw 631 and the second clamping jaw 632, the first clamping jaw 631 and the second clamping jaw 632 open to release the vial after the preparation of the liquid.

[0150] In some possible implementations, the first driving assembly further includes: a reducer 610 .

[0151] The reducer 610 is disposed between the rotating disk 62 and the fourth motor 61, and the reducer 610 is fixed to the output shaft of the fourth motor 61. That is, the rotating disk 62 is fixed to the output shaft of the fourth motor 61 through the reducer 610, and the reducer 610 can reduce the speed of the output shaft of the fourth motor 61, thereby adjusting the rotation angle of the rotating disk 62, so that each time the rotating disk 62 rotates once, the next clamping jaw assembly 630 and the pushing portion 64 move along the fourth direction (such as Fig. 9 N direction shown in FIG.

[0152] In the embodiment of the present application, 12 clamping jaw assemblies 630 are provided on the turntable 62, and the turntable 62 can rotate relative to the support column 60, and each clamping jaw assembly 630 can rotate synchronously with the turntable 62. Each rotation of the turntable 62 can align another clamping jaw assembly 630 with the push portion 64, that is, the angle of each rotation of the turntable 62 is the same, so that the 12 clamping jaw assemblies 630 cooperate with the push portion 64 in sequence. Exemplarily, the angle of each rotation of the turntable 62 in the embodiment of the present application is 30°, but it is not limited thereto, and can be adjusted according to the number of the clamping jaw assemblies 630. For example, when the turntable 62 is provided with six clamping jaw assemblies 630, the angle of each rotation of the turntable 62 can be 60°.

[0153] refer to Figures 10 to 12 Each clamping device 63 also includes: a second driving component, which is used to drive the first clamping jaw 631 and the second clamping jaw 632 to loosen or close.

[0154] Specifically, the second driving assembly further includes a first connecting seat 633, a second connecting seat 634, a first connecting rod 635, a second connecting rod 636, a moving member 637, a fixed seat 638 and a second elastic member 639. In order to facilitate the illustration of the first connecting seat 633 and the second connecting seat 634, Fig.11 The fixing seat 638 in is not shown.

[0155] like Fig.11 and Fig.12 As shown, the first connecting seat 633 is fixedly connected to the first clamping claw 631, and the first connecting rod 635 is rotatably connected to the first connecting seat 633. The first connecting rod 635 is used to drive the first connecting seat 633 to move along the fifth direction (such as Fig.11 Exemplarily, the first connecting seat 633 includes a first rotation groove 6330, and one end of the first connecting rod 635 extends into the first rotation groove 6330 and is used to rotate in the first rotation groove 6330.

[0156] Correspondingly, the second connecting seat 634 is fixedly connected to the second clamping claw 632, and the second connecting rod 636 is rotatably connected to the second connecting seat 634. The second connecting rod 636 is used to drive the second connecting seat 634 to move along the fifth direction (such as Fig.11 Exemplarily, the second connecting seat 634 includes a second rotation groove 6340, and one end of the second connecting rod 636 extends into the second rotation groove 6340 and is used to rotate in the second rotation groove 6340.

[0157] The other end of the first connecting rod 635 is arranged to intersect with the other end of the second connecting rod 636. The first connecting rod 635 and the second connecting rod 636 are arranged to intersect with each other at one end. Fig.10 The movable member 637 is rotatably connected to the movable member 637 in the Z direction (as shown in FIG. 1 ).

[0158] refer to Fig.11 and Fig.12 For example, a rectangular groove 6370 is provided at one end of the movable member 637, and the intersecting ends of the first link 635 and the second link 636 overlap in the rectangular groove 6370, and the second rotating shaft 6371 passes through the first link 635, the second link 636 and the movable member 637 along the height direction, thereby realizing the rotational connection between the first link 635, the second link 636 and the movable member 637.

[0159] refer to Fig.11 and Fig.14 The fixing seat 638 is provided with a through hole 6380 and an annular groove 6381. The through hole 6380 is along the fourth direction (such as Fig.11 and Fig.14 The fourth direction is parallel to the radial direction of the rotating disk 62. The annular groove 6381 faces the fourth motor 61 (as shown in FIG. Fig. 9 One end of the housing is open.

[0160] At least a portion of the moving member 637 is located in the through hole 6380 and can be moved by the pushing portion 64 (such as Fig.10 ) is pushed in the through hole 6380 along the fourth direction (as shown Fig.11 and Fig.14 N direction) movement shown in FIG.

[0161] refer to Figure 12 to Figure 14In the embodiment of the present application, the end of the moving member 637 away from the first connecting rod 635 and the second connecting rod 636 includes a first abutting surface 6372; an annular portion 6382 is provided between the annular groove 6381 and the through hole 6380, and the annular portion 6382 includes a second abutting surface 6383 facing the first abutting surface 6372, and the first abutting surface 6372 is used to abut against the second abutting surface 6383 to limit the moving member 637 from moving in the fourth direction and away from the fourth motor 61 (such as Fig. 9 That is, the moving member 637 moves in the pushing portion 64 (as shown in FIG. Fig.10 ) in the through hole 6380 along the fourth direction and away from the fourth motor 61 (as shown Fig. 9 When the movable member 637 moves in the direction shown in the figure, and moves to a set distance, the first abutting surface 6372 will abut against the second abutting surface 6383 to limit the movable member 637 from continuing to move.

[0162] Exemplarily, the movable member 637 includes a rod portion 6374, a first protrusion 6375 and a second protrusion 6376, wherein the first protrusion 6375 is sleeved outside the rod portion 6374, and the second protrusion 6376 is sleeved outside the first protrusion 6375, and the step surface formed between the first protrusion 6375 and the rod portion 6374 constitutes a first abutting surface 6372.

[0163] The second elastic member 639 is arranged along the fourth direction (eg Fig.12 and Fig.14 The second elastic member 639 extends in the N direction shown in FIG. 1 , and one end of the second elastic member 639 abuts against the bottom wall of the annular groove 6381. Exemplarily, the second elastic member 639 is a spring.

[0164] The interior between the first convex portion 6375 and the second convex portion 6376 of the moving member 637 is hollow to form a limiting groove 6373, and the other end of the second elastic member 639 is located in the limiting groove 6373. That is, the second elastic member 639 is located between the limiting groove 6373 and the bottom wall of the annular groove 6381, and the moving member 637 is moved in the pushing portion 64 (such as Fig.10 ) along the fourth direction (as shown) Fig.12 and Fig.14 N direction shown in FIG) and away from the fourth motor 61 (as shown in FIG. Fig. 9 The second elastic member 639 is compressed, the angle between the first connecting rod 635 and the second connecting rod 636 is increased, and the clamping jaw assembly 630 is opened to facilitate the removal of the vial.

[0165] Accordingly, in the push portion 64 (such as Fig.10 After leaving the moving member 637, the moving member 637 moves along the fourth direction (as shown) under the action of the restoring force of the second elastic member 639. Fig.12 and Fig.14 N direction shown in FIG. 1 ) and toward the fourth motor 61 (as shown in FIG. Fig. 9 As shown in the figure, the first connecting rod 635 and the second connecting rod 636 move, and the angle between the first connecting rod 635 and the second connecting rod 636 decreases, that is, the clamping jaw assembly 630 returns to its original clamping state.

[0166] refer to Fig.14 and Fig.15 Combined with Fig.12 In the embodiment of the present application, the fixing seat 638 is provided with a Fig.14 and Fig.15 The receiving groove 6384 is formed along the fourth direction (as shown in the E direction) and the receiving groove 6384 is formed along the fourth direction (as shown in the Fig.14 and Fig.15 The first connection seat 633 and the second connection seat 634 are connected along the fifth direction (as shown in FIG. Fig.14 and Fig.15 E direction shown in the figure) is arranged in the accommodating groove 6384.

[0167] Exemplarily, the receiving groove 6384 is arranged along the fifth direction (eg Fig.14 and Fig.15 E direction shown in the figure) passes through the fixed seat 638, and the first connecting seat 633 and the second connecting seat 634 are arranged in the receiving groove 6384 along the fifth direction. Then, the first connecting seat 633 can move in the receiving groove 6384 along the fifth direction under the action of its corresponding first connecting rod 635, and the first clamping claw 631 connected to the first connecting seat 633 moves along the fifth direction.

[0168] Accordingly, the second connection seat 634 can move in the fifth direction in the receiving groove 6384 under the action of the corresponding second connecting rod 636, and the second clamping jaw 632 connected to the second connection seat 634 moves in the fifth direction. Then the first clamping jaw 631 and the second clamping jaw 632 move away from each other in the fifth direction, and the distance between the first clamping jaw 631 and the second clamping jaw 632 increases, and they gradually open to facilitate the removal of the vial.

[0169] It can be understood that the above-mentioned first connecting seat 633, second connecting seat 634, first connecting rod 635, second connecting rod 636, movable member 637, fixed seat 638 and second elastic member 639 are all connected to the clamping jaw assembly 630, which, as a whole, rotates synchronously with the turntable 62 so that the movable member 637 cooperates with the pushing part 64 to realize the opening of the clamping jaw assembly 630.

[0170] As can be seen from the foregoing, the first driving assembly includes a fifth motor 640 .

[0171] refer to Fig.10 , Fig.16 and Fig.17The pushing part 64 is driven by the fifth motor 640 to push the moving part 637. Specifically, the fifth motor 640 is fixedly connected to the fourth motor 61 (such as Fig. 9 ), the fifth motor 640 includes a screw rod 6400, and the screw rod 6400 is arranged along the height direction (as shown in FIG. Fig.16 Exemplarily, the fifth motor 640 is a lead screw motor.

[0172] The screw rod 6400 is provided with a sliding member 641, and the sliding member 641 is threadedly connected to the screw rod 6400; the sliding member 641 switches between the first motion state and the second motion state. Exemplarily, a threaded sleeve 642 is provided between the screw rod 6400 and the sliding member 641, and the threaded sleeve 642 includes a base plate portion 6420 and a column portion 6421 protruding from the base plate portion 6420, the base plate portion 6420 is screwed to the bottom of the sliding member 641, and the column portion 6421 is provided along the height direction (such as Fig.10 The column 6421 is provided with a threaded hole 6422, and the threaded hole 6422 penetrates the base plate 6420. The screw rod 6400 is inserted into the threaded hole 6422, and the sliding member 641 is sleeved outside the column 6421. That is, the sliding member 641 is threadedly connected with the screw rod 6400 through the threaded sleeve 642. Then the fifth motor 640 is started, the screw rod 6400 rotates, and the threaded sleeve 642 drives the sliding member 641 to move along the height direction (such as Fig.10 The Z direction shown in FIG. 2 is an up and down movement.

[0173] In the embodiment of the present application, the first movement state is that the sliding member 641 moves upward along the height direction on the screw rod 6400, and the second movement state is that the sliding member 641 moves downward along the height direction on the screw rod 6400.

[0174] The sliding member 641 is connected to a connecting rod assembly 643, which includes a fixing portion 6430, a connecting portion 6431 and the above-mentioned pushing portion 64, and the fixing portion 6430 is fixedly connected to the fifth motor 640. It can be understood that the fixing portion 6430 is connected to the outer wall of the fifth motor 640, that is, the fixing portion 6430 is relatively fixed.

[0175] The two ends of the connecting portion 6431 are respectively arranged to surround along the fifth direction (such as Fig.10 and Fig.16 The connecting portion 6431 is rotatably connected to the fixing portion 6430 and the pushing portion 64 in the E direction shown in FIG. 4. Exemplarily, the connecting portion 6431 is rotatably connected to the fixing portion 6430 via a third rotating shaft 6437.

[0176] The pusher 64 is connected to the sliding member 641 in a manner that it can rotate around the fifth direction; the fourth direction (such as Fig.10N direction shown in the figure) is perpendicular to the height direction. Exemplarily, the pushing portion 64 is triangular in shape. Specifically, the triangular-shaped pushing portion 64 includes a first rotating portion 6433, a second rotating portion 6434 and a pressing portion 6435 whose connecting lines are triangular in shape, wherein the first rotating portion 6433 and the connecting portion 6431 are rotatably connected via a fourth rotating shaft 6438, the second rotating portion 6434 and the sliding member 641 are rotatably connected via a fifth rotating shaft 6439, and the pressing portion 6435 is used to push the moving member 637 along the fourth direction (such as Fig.10 N direction shown in the figure) and moves away from the sliding member 641.

[0177] For example, a semicircular push ball 6436 is connected to the side of the pressing portion 6435 facing away from the sliding member 641, and the semicircular push ball 6436 is used to directly contact the moving member 637 to push the moving member 637 to move. In the first movement state, the semicircular push ball 6436 contacts the moving member 637, and in the second movement state, the semicircular push ball 6436 is spaced from the moving member 637. The semicircular push ball 6436 is in a hemispherical shape, which is convenient for applying a thrust to the moving member 637 to make it move.

[0178] Among them, in the first movement state of the sliding member 641, the sliding member 641 moves upward in the height direction on the screw rod 6400, and the first rotating part 6433 and the connecting part 6431 gradually approach the sliding member 641, thereby causing the pressing part 6435 of the pushing part 64 and the semicircular push ball 6436 located thereon to gradually move away from the sliding member 641, thereby contacting and pushing the moving part 637 to move, so as to realize the opening of the first clamping jaw 631 and the second clamping jaw 632.

[0179] In the second movement state of the sliding member 641, the sliding member 641 moves on the screw rod 6400 along the fifth direction (eg Fig.16 When the push portion 6435 moves downward in the direction E shown in the figure, the first rotating portion 6433 and the connecting portion 6431 gradually move away from the sliding member 641, so that the pressing portion 6435 of the pushing portion 64 and the semicircular pushing ball 6436 located thereon gradually approach the sliding member 641, that is, the pushing portion 64 is retracted, and the first clamping jaw 631 and the second clamping jaw 632 return to the original clamping state.

[0180] refer to Fig.10 , Fig.16 Combined with Fig. 9In addition, a sensor (not shown in the figure) is provided on one side of the sliding member 641, and the sensor is connected to the fourth motor 61 to achieve relative fixation of its position. The sensor is used to detect whether the pusher 64 is retracted to the initial position. The initial position refers to the position of the sliding member 641 before it moves in the height direction, or the position of the sliding member 641 after it completes the up and down movement in the height direction. At this time, the semicircular push ball 6436 on the pushing member 64 is spaced apart from the moving member 637, so that the turntable 62 (such as Figure 8 The jaw assembly 630 (as shown) rotates to rotate the next clamping jaw assembly 630 holding the vial to a position opposite to the pushing portion 64, so that the pushing portion 64 repeats the above process to complete the unloading process of the vial.

[0181] refer to Fig.18 Combined with Figure 1 The embodiment of the present application also provides a liquid preparation method implemented by using the liquid preparation robot 1 described in any of the above embodiments, and the liquid preparation method specifically includes:

[0182] S100: The suction member clamping mechanism 5 rotates toward the first clamping mechanism 4 and drives the syringe 700 to suck the sodium chloride solution from the infusion bag.

[0183] S200: The suction member clamping mechanism 5 rotates toward the turntable clamping mechanism 6 and injects the sodium chloride solution into the vial, and stirs to mix the sodium chloride solution with the powdered medicine to obtain a mixed medicine solution (ie, a mixture of the sodium chloride solution and the powdered medicine).

[0184] S300: The suction member clamping mechanism 5 drives the syringe 700 to suck the mixed liquid medicine (ie, the mixed liquid of the sodium chloride solution and the powdered medicine) from the vial.

[0185] S400: The suction member clamping mechanism 5 rotates toward the first clamping mechanism 4 and injects the mixed liquid medicine (ie, the mixed liquid of the sodium chloride solution and the powdered medicine) into the infusion bag.

[0186] Although the present invention has been illustrated and described with reference to certain preferred embodiments of the present invention, it should be understood by those skilled in the art that the above is a further detailed description of the present invention in conjunction with specific embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. Those skilled in the art may make various changes in form and details, including making several simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A liquid preparation robot, characterized in that: include: Workbench; A first clamping mechanism, disposed at one side of the workbench and used to slide relative to the workbench along a first direction, the first clamping mechanism being used to clamp a first container; A turntable clamping mechanism, disposed on the other side of the workbench, the turntable clamping mechanism comprising a plurality of clamping devices, each of which is used to clamp the second container; A suction piece clamping mechanism is provided on the workbench, and is located between the first clamping mechanism and the turntable clamping mechanism at intervals along the second direction, and is used to clamp the suction piece and enable the suction piece to suck or inject; The suction member clamping mechanism is used to rotate toward the first clamping mechanism so that the suction member is opposite to the first container in the first clamping mechanism, and is used to make the suction member suck or inject into the first container; or, The suction member clamping mechanism is used to rotate to face the turntable clamping mechanism so that the suction member is opposite to the second container of the clamping device, and is used to make the suction member suck or inject into the second container; The first direction intersects the second direction; wherein, The suction member clamping mechanism comprises: a first bearing part, a second bearing part and a base; the first bearing part is used to support the cylinder of the suction member, the second bearing part is used to connect with the piston push rod of the suction member, and the first bearing part and the second bearing part are connected to the base in a manner that they can move along the height direction; The suction member clamping mechanism further includes: a first magnetic attraction portion, a second magnetic attraction portion, and a first motor, wherein the first magnetic attraction portion is connected to the first bearing portion, the second magnetic attraction portion is connected to the base, and the first motor is used to drive the first bearing portion and the second bearing portion to move relative to the base along the height direction; The suction member clamping mechanism can switch between a first position state and a second position state; In the first position state, the first magnetic attraction portion and the second magnetic attraction portion are spaced apart in the height direction, the first bearing portion and the second bearing portion can move synchronously in the height direction, and the suction member in the suction member clamping mechanism is in an empty state; In the second position state, the first magnetic attraction part is adsorbed and connected to the second magnetic attraction part, the second bearing part can move along the height direction relative to the first bearing part, the suction piece in the suction piece clamping mechanism is in a suction state or an injection state; the height direction intersects with the second direction.

2. The liquid dispensing robot according to claim 1, characterized in that: The liquid dispensing robot is used to switch between a first state and a second state, wherein: In the first state, the suction member clamping mechanism faces the first clamping mechanism, and the first clamping mechanism is away from the workbench and located above the suction member clamping mechanism; In the second state, the suction piece clamping mechanism faces the turntable clamping mechanism, and any one of the plurality of clamping devices rotates to the top of the suction piece clamping mechanism.

3. The liquid dispensing robot according to claim 1, characterized in that: The suction piece clamping mechanism further includes: a second motor, and the second motor is used to drive the cylinder in the first bearing part to rotate.

4. The liquid dispensing robot according to claim 1, characterized in that: The suction piece clamping mechanism further includes: a third motor, and the third motor is used to drive the suction piece clamping mechanism to rotate toward the first clamping mechanism or the turntable clamping mechanism.

5. The liquid dispensing robot according to claim 1, characterized in that: The liquid dispensing robot also includes: an electrical control box, which is arranged on a side of the workbench close to the first clamping mechanism, the first clamping mechanism is connected to the electrical control box in a slidable manner along the first direction, and the electrical control box is electrically connected to the first clamping mechanism, the turntable clamping mechanism, and the suction piece clamping mechanism.

6. The liquid dispensing robot according to claim 5, characterized in that: The first clamping mechanism includes: a first clamp and a first sliding part connected to each other, the first clamp is used to clamp the first container, the electric control box is provided with a second sliding part, the second sliding part extends along the first direction, and the first sliding part and the second sliding part are slidably matched.

7. The liquid dispensing robot according to claim 1, characterized in that: The turntable clamping mechanism also includes: a turntable, a support column and a first drive assembly, one end of the support column is arranged on the other side of the workbench, the other end of the support column is connected to the turntable, the first drive assembly is arranged at the other end of the support column, a part of the first drive assembly is used to drive the turntable to rotate in the circumferential direction, and the multiple clamping devices are arranged on the turntable at intervals along the circumferential direction.

8. The liquid dispensing robot according to claim 7, characterized in that: Another part of the first driving assembly is used to extend or retract relative to any one of the clamping devices, so that the rotary disc clamping mechanism switches between the third position state and the fourth position state; In the third position state, another part of the first driving assembly extends to abut against any one of the clamping devices, and enables any one of the clamping devices to release the second container therein; In the fourth position state, another part of the first driving assembly is retracted to separate from any one of the clamping devices, and any one of the clamping devices clamps the second container.

9. The liquid dispensing robot according to claim 8, characterized in that: Each of the clamping devices includes: a second drive component and a second clamp, the second clamp is used to clamp the second container, one side of the second drive component is used to abut or separate from the first drive component, the other side of the second drive component is connected to the second clamp, and the second drive component is used to drive the second clamp to loosen or close.

10. The liquid dispensing robot according to any one of claims 1 to 9, characterized in that: The liquid dispensing robot further comprises: a display screen, and the display screen is connected to the electric control box.

11. A liquid preparation method, characterized in that: Using the liquid preparation robot as described in any one of claims 1 to 10; the liquid preparation method comprises: The suction member clamping mechanism rotates toward the first clamping mechanism and drives the suction member to suck the first product from the first container; The suction member clamping mechanism rotates toward the turntable clamping mechanism and injects the first product into the second container, and stirs to mix the first product with the second product in the second container; The suction member clamping mechanism drives the suction member to suck the mixed first product and second product from the second container; The suction member clamping mechanism rotates toward the first clamping mechanism and injects the mixed first product and second product into the first container.

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