Medicinal component detection sampling manipulator and sampling method

Abstract

The invention discloses a medicine component detection sampling mechanical arm and a sampling method, and relates to the technical field of medicine sampling, the medicine component detection sampling mechanical arm comprises a fixing table and a sampling head, a first support arm, a second support arm and a third support arm are sequentially arranged between the fixing table and the sampling head, and the sampling head is located at the end, away from the second support arm, of the first support arm and comprises a limiting shell; a limiting table is rotationally arranged in the limiting shell, a plurality of limiting cavities are vertically formed in the limiting table and are arranged around the axis of the limiting table, sampling pipes are arranged in the limiting cavities, a sealing plug is arranged at one end of each sampling pipe, a sampling needle is arranged at the other end of each sampling pipe, and the sealing plugs are connected with an air exhaust hose. Therefore, a plurality of sampling tubes are stored in the limiting table, and each sampling tube can extract one liquid medicament for storage, so that different medicaments can be reserved and stored by one-time operation, the operation is convenient, and the cost is also reduced.

Description

Technical Field

[0001] The invention relates to the technical field of drug sampling, in particular to a drug component detection sampling manipulator and a sampling method. Background Art

[0002] With the development of pharmacology, various additives in drugs are becoming more and more complex. In order to ensure that drugs can act on receptors safely, we need to test and analyze drug ingredients, which requires sample extraction of drugs.

[0003] Traditional drug sampling methods require manual grinding and dissolution, and some drug ingredients pose safety risks to the human body. Once drug contamination or leakage occurs during manual sampling, the operator is very likely to be harmed. Therefore, in the field of drug sampling, robotic arm sampling is gaining more and more attention.

[0004] Existing manipulator sampling generally uses multiple manipulators, each of which corresponds to the drug to be tested and the reagent for dissolving the drug. When in use, a specific manipulator extracts the corresponding drug and then places it in the premixing device to wait for mixing and testing. The advantage of this design is that each manipulator has a clear division of labor, and there will be no problem of mutual contamination between different reagents. However, the number of manipulators used in this solution is large, so its cost will inevitably increase.

[0005] Therefore, how to reduce the cost of existing sampling manipulators is the problem we are currently facing. Summary of the invention

[0006] In view of the above defects, the purpose of the present invention is to provide a drug component detection sampling robot and a sampling method, aiming to solve the problem of high cost caused by the need to use multiple robots in the sampling and detection process in the prior art.

[0007] In order to solve the above technical problems, the technical solution of the present invention is: A drug component detection sampling robot comprises a fixed platform and a sampling head, wherein a first arm, a second arm and a third arm are sequentially arranged between the fixed platform and the sampling head, wherein two ends of the second arm are respectively hinged to the first arm and the third arm, and one end of the third arm away from the second arm is rotatably connected to the fixed platform, and the sampling head is located at one end of the first arm away from the second arm, and the sampling head comprises a limit shell, wherein a limit platform is rotatably arranged in the limit shell, and a plurality of limit cavities are vertically arranged in the limit platform, and the plurality of limit cavities are arranged around the axis of the limit platform, and a sampling tube is arranged in the limit cavity, and a sealing plug is arranged at one end of the sampling tube, and a sampling needle is arranged at the other end of the sampling tube, and the sealing plug is connected to an exhaust hose.

[0008] Among them, an air separation valve is installed in the limit table, and several sampling tubes are arranged around the air separation valve. One end of the air extraction hose is connected to the sealing plug, and the other end of the air extraction hose is connected to the air separation valve. One end of the air separation valve is connected to an exhaust duct, and the end of the exhaust duct away from the air separation valve is connected to an exhaust fan.

[0009] Wherein, a first solenoid valve is installed on the outer wall of the air extraction hose.

[0010] Among them, the sampling needle includes a first section and a second section, the first section is slidably arranged in the second section, an elastic plug is installed at one end of the first section facing the limiting cavity, the elastic plug includes a through hole, the two ends of the through hole are respectively connected to the first section and the second section, an elastic ring is arranged on the side wall of the elastic plug, and the elastic ring is located between the elastic plug and the second section.

[0011] Among them, a driving platform is arranged on the outer wall of the sampling needle, a first motor is arranged on one side of the driving platform, and the driving platform includes a first plate body and a second plate body, a connecting plate is arranged between the first plate body and the second plate body, and a plurality of gear protrusions are arranged on one end of the connecting plate facing the first motor, a driving gear is installed on the power end of the first motor, and the driving gear is meshed and connected with the gear protrusion, the first plate body is fixedly connected to the first section body, and the second plate body is slidably connected to the second section body.

[0012] Wherein, a second solenoid valve is arranged between the second section and the sampling tube.

[0013] Among them, a spiral sampling barrel is also vertically arranged in the limit platform, and the spiral sampling barrel is parallel to the sampling tube. The sampling tube is installed in a part of the limit cavity, and the spiral sampling barrel is arranged in the other part of the limit cavity; a second motor is installed at one end of the spiral sampling barrel facing the second support arm, and a conical platform is arranged at one end of the spiral sampling barrel away from the second support arm, a rotating rod and a sampling through hole are arranged between the second motor and the conical platform, the power end of the second motor is connected to the rotating rod, and spiral blades are arranged around the outer wall of the rotating rod, and the sampling through hole is located on the side wall of the spiral sampling barrel.

[0014] Among them, a limiting ring is installed in the limiting cavity, the spiral sampling barrel is slidably connected to the limiting ring, a plurality of protrusion structures are arranged on the outer wall of the spiral sampling barrel, and the plurality of protrusion structures are evenly arranged along the length direction of the spiral sampling barrel. A third motor is arranged on the side of the spiral sampling barrel away from the axis of the limiting platform, and a power gear is installed at the power end of the third motor, and the power gear is meshingly connected with the protrusion structure.

[0015] Among them, a fourth motor is installed on the side wall of the first arm, a driving shaft is installed on one end of the limit platform facing the second arm, the axis of the driving shaft coincides with the axis of the limit platform, and a driving toothed belt is arranged between the driving shaft and the power end of the fourth motor.

[0016] Among them, a sampling method for drug component detection includes the following steps: S1. The sampling head is sent to the top of the container containing the No. 1 medicine through the linkage of the first arm, the second arm and the third arm, and the shape of the No. 1 medicine is determined. Then the limit table rotates to align the limit cavity with the container; S2. Based on S1, when the No. 1 reagent is in liquid state, there is a sampling tube in the limiting cavity, and the first motor is driven to work. The first motor drives the driving platform to descend through the driving gear. At this time, the driving platform will drive the first section of the sampling tube to descend until the bottom of the first section is wrapped by the No. 1 reagent; S3. Based on S2, the exhaust fan is started, the first solenoid valve and the second solenoid valve are opened, and the sampling tube extracts the No. 1 agent. After the No. 1 agent in the sampling tube reaches the set value, the first solenoid valve and the second solenoid valve are closed, and the first motor drives the first section to move upward. After the first section is reset, the sampling head stops for 3-10 seconds; S4. On the basis of S1, when the first medicine is granular, the limiting cavity is a spiral sampling cylinder, and the third motor drives the spiral sampling cylinder to descend until the first medicine buries the sampling through hole; S5. Based on S4, the second motor starts, driving the rotating rod and the spiral blade to rotate, and the No. 1 medicine is lifted vertically. When the No. 1 medicine in the spiral sampling cylinder reaches the set value, the second motor stops working, and the third motor drives the spiral sampling cylinder to reset. After the spiral sampling cylinder is reset, the sampling head stops for 3-10 seconds; S6. Based on S3 or S5, the sampling head moves to the top of the container containing the second medicine, and determines the form of the second medicine. If the form of the second medicine is liquid, repeat S2 and S3; if the form of the second medicine is granular, repeat S4 and S5; S7. After the sampling head is finished, the sampling head is transferred to the detection and testing table, and the limiting cavity is driven to align with the storage container of the detection and testing table. When there is a sampling tube in the limiting cavity, the first solenoid valve and the second solenoid valve are opened, the first section body descends, and the exhaust fan supplies air to the sampling tube through the exhaust hose, so that the medicine in the sampling tube is delivered to the storage container. After the delivery is completed, the first section body is reset, and the first solenoid valve and the second solenoid valve are closed; if there is a spiral sampling cylinder in the limiting cavity, the spiral sampling cylinder descends, and the second motor drives the rotating rod to rotate in the opposite direction, and the medicine in the spiral sampling cylinder falls into the storage container through the sampling through hole. After the delivery is completed, the second motor stops and the spiral sampling cylinder is reset; S8. Repeat S7 until the delivery of the reagent in the sampling head is completed, and then clean the sampling head.

[0017] After adopting the above technical solution, the beneficial effects of the present invention are: First, there are several sampling tubes stored in the limiting table, and each sampling tube can extract a liquid medicine for storage, thereby realizing a one-time operation, and can store samples of different medicines, which is convenient for operation and reduces costs. Second, there is also a spiral sampling cylinder in the limiting table. Through the rotation of the spiral blade, the powdered medicine can be vertically transported to the spiral sampling cylinder for storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the sampling robot for drug component detection; Figure 2 is the structural diagram of the sampling head; Figure 3 This is the structural diagram of the sampling tube; Figure 4 This is a structural diagram of the sampling needle; Figure 5 It is a top view of the elastic plug; Figure 6 This is the structural diagram of the drive platform; Figure 7 It is a top view of the driving platform; Figure 8 is a structural diagram of another sampling head; Fig. 9 This is the structural diagram of the spiral sampling tube; Fig.10 It is the structural diagram of the premix test tube; Fig.11 is a structural diagram of the support ring; Fig.12 This is the structural diagram of the positioning ring.

[0019] In the figure: 1-fixed platform, 11-first support arm, 12-second support arm, 13-third support arm, 2-sampling head, 20-limiting shell, 21-limiting platform, 22-limiting cavity, 23-sampling tube, 24-sealing plug, 25-sampling needle, 26-exhaust hose, 27-gas distributor, 28-exhaust duct, 29-first solenoid valve, 30-first section, 31-second section, 32-elastic plug, 33-through hole, 34-elastic ring, 35-driving platform, 36-first plate, 37-second plate, 38-connecting plate, 39-gear protrusion, 40-driving gear, 41-first motor, 42-second solenoid valve, 43-spiral sampling tube, 44-second motor, 45-conical platform, 46-rotating rod, 47-spiral blade, 48-sampling through hole, 49-limiting ring, 5 0-raised structure, 51-power gear, 52-fourth motor, 53-drive shaft, 54-drive toothed belt, 55-three-way valve, 56-cleaning pipeline, 57-fixed chamber, 58-premix test tube, 59-secondary air extraction pipe, 60-liquid outlet, 61-third solenoid valve, 62-fourth solenoid valve, 63-diversion hose, 64-fifth solenoid valve, 65-premix chamber, 66-temporary storage box, 67-sealing cover, 68-sixth solenoid valve, 69-feeding barrel, 70-elastic air pipe, 71-seventh solenoid valve, 72-feeding hose, 73-eighth solenoid valve, 74-powder outlet, 75-feeding hose, 76-limiting port, 77-support ring, 78-outer ring body, 79-inner ring body, 80-support ball, 81-positioning ring, 82-first ring body, 83-second ring body, 84-rolling ball. DETAILED DESCRIPTION

[0020] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0021] Example: like Figure 1-7 As shown, a drug component detection sampling manipulator includes a fixed platform 1 and a sampling head 2. In order to ensure that the sampling head 2 can move in multiple directions and angles, a first arm 11, a second arm 12 and a third arm 13 are sequentially arranged between the fixed platform 1 and the sampling head 2. The two ends of the second arm 12 are respectively hinged to the first arm 11 and the third arm 13. The end of the third arm 13 away from the second arm 12 is rotatably connected to the fixed platform 1. The sampling head 2 is located at the end of the first arm 11 away from the second arm 12. This design ensures that the sampling head 2 can sample in multiple directions, thereby realizing that the sampling head 2 can sample multiple components at one time.

[0022] In order to facilitate the sampling head 2 to sample multiple medicines at one time, the sampling head 2 includes a limiting shell 20, a limiting platform 21 is rotatably arranged in the limiting shell 20, a plurality of limiting cavities 22 are vertically arranged in the limiting platform 21, and the plurality of limiting cavities 22 are arranged around the axis of the limiting platform 21, a sampling tube 23 is arranged in the limiting cavity 22, a sealing plug 24 is arranged at one end of the sampling tube 23, a sampling needle 25 is arranged at the other end of the sampling tube 23, and a suction hose 26 is connected to the sealing plug 24. The limiting platform 21 can drive the limiting cavity 22 to rotate during the rotation process, so that the empty sampling tube 23 can sample the medicine to be sampled. When sampling, the sampling needle 25 extends toward the medicine to be sampled. After contacting the medicine, the medicine is extracted and sent to the sampling tube 23 for storage. Then the sampling needle 25 shrinks, the limiting platform 21 rotates, and the sampling tube 23 containing the medicine is transferred to another place. At the same time, the next empty sampling tube 23 is transferred to the sampling place, and the above sampling work is repeated.

[0023] In this solution, a plurality of empty sampling tubes 23 are arranged on the limiting table 21, and each sampling tube 23 can correspond to a specific pharmaceutical sample, that is, the sampling head 2 can sample a variety of pharmaceutical samples. This design avoids the problem in the prior art that a corresponding manipulator needs to be set up for each pharmaceutical when sampling, thereby reducing the cost of drug sampling.

[0024] In this solution, the function of the air extraction hose 26 is to extract the air in the sampling tube 23, so that the inside of the sampling tube 23 is in a negative pressure state, so that the medicine can enter the sampling tube 23. In order to facilitate the control of air extraction, an air separation valve 27 is installed in the limit table 21, and a number of the sampling tubes 23 are arranged around the air separation valve 27. One end of the air extraction hose 26 is connected to the sealing plug 24, and the other end of the air extraction hose 26 is connected to the air separation valve 27. One end of the air separation valve 27 is connected to an exhaust pipe 28, and the end of the exhaust pipe 28 away from the air separation valve 27 is connected to an exhaust fan (not shown in the figure). This design ensures that the exhaust fan can extract air from each sampling tube 23, so as to facilitate the creation of a negative pressure environment in the sampling tube 23.

[0025] In the above solution, the sampling tube 23 only needs to maintain a negative pressure state during operation. After the medicine is extracted, if the air extraction hose 26 continues to extract air, the medicine in the sampling tube 23 will move along the air extraction hose 26. In order to avoid this problem, a first solenoid valve 29 is installed on the outer wall of the air extraction hose 26.

[0026] In this solution, in order to facilitate the sampling tube 23 to sample the medicine, the sampling tube 23 needs to be moved up and down to facilitate the sampling needle 25 to enter the container containing the medicine. However, the space of the limiting cavity 22 is relatively small, and the existence of the suction hose 26 hinders the upward and downward movement of the sampling tube 23. Figure 2-7As shown, in order to facilitate sampling, the sampling needle 25 in this solution includes a first section 30 and a second section 31, wherein the first section 30 is slidably arranged in the second section 31, and an elastic plug 32 is installed at one end of the first section 30 facing the limiting cavity 22, wherein the elastic plug 32 includes a through hole 33, and the two ends of the through hole 33 are respectively connected to the first section 30 and the second section 31, and an elastic ring 34 is arranged on the side wall of the elastic plug 32, wherein the elastic ring 34 is located between the elastic plug 32 and the second section 31. This design enables the first section 30 to slide in the second section 31, wherein the elastic plug 32 plays a sealing role, which makes it difficult for the medicine entering the sampling tube 23 to leak through the gap between the first section 30 and the second section 31, while ensuring the overall sealing, and facilitating the sampling needle 25 to extend into the container where the medicine sample is placed, thereby facilitating the sampling tube 23 to sample the medicine.

[0027] In order to facilitate the driving of the sampling needle 25 to extend and retract for sampling, a driving platform 35 is provided on the outer wall of the sampling needle 25, and a first motor 41 is provided on one side of the driving platform 35. The driving platform 35 includes a first plate 36 and a second plate 37. A connecting plate 38 is provided between the first plate 36 and the second plate 37. A plurality of gear protrusions 39 are provided on one end of the connecting plate 38 facing the first motor 41. A driving gear 40 is installed at the power end of the first motor 41, and the driving gear 40 is meshed and connected with the gear protrusions 39. The first plate 36 is fixedly connected with the first section 30, and the second plate 37 is slidably connected with the second section 31. The first motor 41 drives the driving gear 40 to rotate. Since the driving gear 40 is meshed and connected with the gear protrusions 39, the driving gear 40 drives the driving platform 35 to move up and down when rotating forward and reversely. Since the first plate 36 is fixedly connected to the first section 30 and the second plate 37 is slidably connected to the second section 31 , when the driving platform 35 moves up and down, it will drive the first section 30 to move up and down, thereby realizing the telescopic sampling work of the sampling needle 25 .

[0028] In order to reduce the leakage of medicine from the sampling tube 23 , a second solenoid valve 42 is provided between the second section 31 and the sampling tube 23 .

[0029] The above-mentioned sampling tube 23 is mainly used for liquid medicines. In order to facilitate the sampling of powder medicines, a spiral sampling barrel 43 is also vertically arranged in the limiting platform 21. The spiral sampling barrel 43 is parallel to the sampling tube 23. The sampling tube 23 is installed in a part of the limiting cavity 22, and the spiral sampling barrel 43 is arranged in another part of the limiting cavity 22; a second motor 44 is installed at one end of the spiral sampling barrel 43 facing the second arm 12, and a conical platform 45 is arranged at one end of the spiral sampling barrel 43 away from the second arm 12, and a rotating rod 46 and a sampling through hole 48 are arranged between the second motor 44 and the conical platform 45, and the power end of the second motor 44 is connected to the rotating rod 46, and a spiral blade 47 is arranged around the outer wall of the rotating rod 46, and the sampling through hole 48 is located on the side wall of the spiral sampling barrel 43.

[0030] The conical platform 45 facilitates the insertion of the spiral sampling barrel 43 into the powder medicine. When the spiral sampling barrel 43 is inserted into the powder medicine, the powder medicine enters the spiral sampling barrel 43 through the sampling hole 48. Then, the second motor 44 drives the rotating rod 46 and the spiral blade 47 to rotate. When the spiral blade 47 rotates, the powder medicine will be vertically lifted and stored in the spiral sampling barrel 43.

[0031] like Figure 8-9 As shown, in order to facilitate the driving of the spiral sampling barrel 43 to be inserted into the powder medicine, a limiting ring 49 is installed in the limiting cavity 22, and the spiral sampling barrel 43 is slidably connected to the limiting ring 49. A plurality of protrusion structures 50 are arranged on the outer wall of the spiral sampling barrel 43, and the plurality of protrusion structures 50 are evenly arranged along the length direction of the spiral sampling barrel 43. A third motor is arranged on the side of the spiral sampling barrel 43 away from the axis of the limiting platform 21, and a power gear 51 is installed at the power end of the third motor, and the power gear 51 is meshed with the protrusion structure 50. The function of the limiting ring 49 is to limit the spiral sampling barrel 43, to ensure that it can move up and down, and to prevent itself from rotating. The third motor drives the power gear 51 to rotate to drive the spiral sampling barrel 43 to move up and down.

[0032] In order to facilitate the rotation of the limit platform 21, a fourth motor 52 is installed on the side wall of the first arm 11, and a drive shaft 53 is installed at one end of the limit platform 21 facing the second arm 12. The axis of the drive shaft 53 coincides with the axis of the limit platform 21, and a drive toothed belt 54 is arranged between the drive shaft 53 and the power end of the fourth motor 52.

[0033] like Figure 4 As shown, in order to facilitate the extraction of air in the sampling tube 23, the drive shaft 53 is hollow, one end of the drive shaft 53 is connected to the air separation valve 27, and the other end of the drive shaft 53 is rotatably connected to the three-way valve 55, and the exhaust duct 28 is connected to one end of the three-way valve 55.

[0034] In this solution, the exhaust duct 28 not only extracts air, but also delivers air to the sampling tube 23. The purpose is to facilitate the sampling tube 23 to deliver the medicine inside it to the outside, so as to facilitate the subsequent detection of the medicine components.

[0035] like Figure 2 As shown, in order to avoid contamination of the reagent, we need to clean the sampling tube 23 and the spiral sampling cylinder 43 in the sampling head 2 after each use. For this purpose, the three-way valve 55 is also connected to a cleaning pipe 56, and the end of the cleaning pipe 56 away from the three-way valve 55 is connected to a cleaning water tank (not shown in the figure). The cleaning pipe 56 delivers the cleaning liquid to the sampling tube 23 through the three-way valve 55 and the air separator 27. The cleaning liquid will flush the sampling tube 23. After the flushing is completed, the cleaning liquid is discharged through the sampling needle 25. Subsequently, the exhaust pipe 28 delivers dry hot air to the sampling tube 23. The dry hot air will take away moisture during the flow process to prevent moisture accumulation from affecting the next sampling.

[0036] The sampling head 2 in this solution not only has the function of sampling, but also has the function of mixing. Figure 8-10 As shown, for this purpose, a fixed cavity 57 is further provided in the limit platform 21, and a premix test tube 58 is vertically arranged in the fixed cavity 57, and the axis of the premix test tube 58 coincides with the axis of the limit platform 21, and a secondary air extraction pipe 59 is provided between the gas separation valve 27 and the premix test tube 58, and a liquid outlet head 60 is provided at the end of the premix test tube 58 away from the gas separation valve 27, and a third solenoid valve 61 is installed on the outer wall of the liquid outlet head 60, and a fourth solenoid valve 62 is installed on the outer wall of the secondary air extraction pipe 59, and a diversion hose 63 and a fifth solenoid valve 64 are provided between the sampling tube 23 and the premix test tube 58.

[0037] When in use, one of the sampling tubes 23 will sample the drug to be tested, while the other sampling tubes 23 will extract the auxiliary agents used in drug testing. Subsequently, the drug to be tested and the auxiliary agents are sequentially sent to the premixing tube 58, and the limiting table 21 will mix the drugs in the premixing tube 58 when rotating. After the mixing is completed, the liquid discharge head 60 will send the mixed liquid to the testing equipment, waiting for the staff to test and test.

[0038] When in use, the fourth solenoid valve 62 on the secondary air extraction pipe 59 is opened, the fifth solenoid valve 64 on the diversion hose 63 is opened, the first solenoid valve 29 on the air extraction hose 26 is closed, and the second solenoid valve 42 on the second section 31 is opened. At this time, the medicine in the sampling tube 23 will be sent to the premixed test tube 58. After a certain amount of medicine is extracted, the fifth solenoid valve 64 and the fourth solenoid valve 62 are closed, and the first solenoid valve 29 is opened. At this time, the sampling tube 23 will continue to extract medicine from the external medicine container. When the medicine in the sampling tube 23 reaches a certain amount, the first solenoid valve 29 and the second solenoid valve 42 are closed. Subsequently, the limit table 21 rotates, and the next sampling tube 23 reaches the specified position and repeats the above process.

[0039] like Figure 8-10 As shown, since the present solution involves powdered medicines, in order to reduce the probability of the powdered medicines reaching the outside through the secondary exhaust pipe 59 after reaching the premixing tube 58, a conical premixing chamber 65 is provided inside the premixing tube 58, and a partial area of ​​the secondary exhaust pipe 59 extends into the premixing chamber 65.

[0040] Preferably, the length of the secondary air extraction pipe 59 in the premixing chamber 65 is a, and the height of the premixing chamber 65 is b. This design enables the premix tube 58 to form a structure similar to a rotating separator, so that the powdered medicine reaches the bottom of the premix tube to the greatest extent, reducing the probability of outflow.

[0041] like Fig. 9 As shown, in order to facilitate the powdered medicine to reach the premixing tube 58 from the spiral sampling cylinder 43, a temporary storage box 66 is arranged between the spiral sampling cylinder 43 and the premixing tube 58, the inner cavity of the temporary storage box 66 is conical, and a sealing cover 67 is installed at the end of the temporary storage box 66 facing the second arm 12, and a sixth solenoid valve 68 is arranged at the end of the temporary storage box 66 away from the sealing cover 67, a feeding cylinder 69 is arranged between the temporary storage box 66 and the spiral sampling cylinder 43, an elastic air tube 70 is installed between the sealing cover 67 and the air separator 27, and a seventh solenoid valve 71 is installed on the outer wall of the elastic air tube 70, a feed hose 72 is arranged between the sealing cover 67 and the premixing tube 58, and an eighth solenoid valve 73 is installed on the outer wall of the feed hose 72, and a partial area of ​​the feed hose 72 extends into the inner cavity of the temporary storage box 66. The temporary storage box 66 will move up and down following the spiral sampling tube 43 , so the elastic air tube 70 and the material introduction hose 72 will leave a certain margin to avoid hindering the movement of the temporary storage box 66 .

[0042] like Figure 8-9 As shown, in order to facilitate the discharge of the powder in the temporary storage box 66 , a powder outlet 74 is provided at the bottom of the limiting shell 20 , and a discharge hose 75 is provided between the powder outlet 74 and the sixth solenoid valve 68 .

[0043] In order to facilitate the positioning of the sampling tube 23 and the spiral sampling barrel 43, a limiting opening 76 is provided at the bottom of the limiting shell 20, and the limiting opening 76 is located on the moving path of the limiting cavity 22. The aperture of the limiting opening 76 is larger than the outer diameter of the sampling needle 25 and the spiral sampling barrel 43, and its purpose is to facilitate the above two to extend for sampling.

[0044] like Figure 8 , Fig.11 As shown, in order to reduce the friction force on the limit platform 21 when it rotates, a support ring 77 is provided between the bottom of the limit shell 20 and the bottom of the limit platform 21, and the support ring 77 includes an outer ring body 78 and an inner ring body 79. A plurality of support balls 80 are provided between the outer ring body 78 and the inner ring body 79, and a part of the support balls 80 is in contact with the bottom of the limit platform 21. The support balls 80 change the surface contact between the limit platform 21 and the limit shell 20 into point contact, and the reduction in the contact area further reduces the friction force on the limit platform 21 when it rotates.

[0045] Preferably, Figure 8 , Fig.12 As shown, a positioning ring 81 is arranged between the side wall of the limiting platform 21 and the inner wall of the limiting shell 20, and the positioning ring 81 includes a first ring body 82 and a second ring body 83, and the second ring body 83 is located between the first ring body 82 and the limiting platform 21, and a rolling ball 84 is arranged between the first ring body 82 and the second ring body 83, and a part of the rolling ball 84 contacts the side wall of the limiting platform 21. This design further reduces the friction between the inner wall of the limiting shell 20 and the side wall of the limiting platform 21, slowing down the wear rate between the two.

[0046] In the present solution, the first arm 11, the second arm 12 and the third arm 13 are all connected to an external power mechanism, the purpose of which is to facilitate the swinging of the first arm 11, the second arm 12 and the third arm 13. Since this structure is a mature existing technology on the market and is not the focus of the present solution, this solution will not be elaborated in detail.

[0047] A sampling method for a drug component detection sampling manipulator comprises the following steps: S1. The sampling head 2 is sent to the top of the container containing the No. 1 medicine through the linkage of the first arm 11, the second arm 12 and the third arm 13, and the shape of the No. 1 medicine is determined. Then the limit table 21 is rotated to align the limit cavity 22 with the container; S2. On the basis of S1, when the No. 1 medicine is in liquid state, the sampling tube 23 is in the limiting cavity 22, and the first motor 41 is driven to work. The first motor 41 drives the driving platform 35 to descend through the driving gear 40. At this time, the driving platform 35 will drive the first section 30 of the sampling tube 23 to descend until the bottom of the first section 30 is wrapped by the No. 1 medicine; S3. Based on S2, the exhaust fan is started, the first solenoid valve 29 and the second solenoid valve 42 are opened, and the sampling tube 23 extracts the No. 1 medicine. After the No. 1 medicine in the sampling tube 23 reaches the set value, the first solenoid valve 29 and the second solenoid valve 42 are closed, and the first motor 41 drives the first segment 30 to move upward. After the first segment 30 is reset, the sampling head 2 stops for 3-10 seconds (waiting for the liquid medicine to drip); S4. On the basis of S1, when the first medicine is granular, the limiting cavity 22 is a spiral sampling cylinder 43, and the third motor drives the spiral sampling cylinder 43 to descend until the first medicine buries the sampling through hole 48; S5. Based on S4, the second motor 44 is started, driving the rotating rod 46 and the spiral blade 47 to rotate, and the No. 1 medicine is lifted vertically. When the No. 1 medicine in the spiral sampling cylinder 43 reaches the set value, the second motor 44 stops working, and the third motor drives the spiral sampling cylinder 43 to reset. After the spiral sampling cylinder 43 is reset, the sampling head 2 stops for 3-10 seconds (waiting for the granular medicine to fall); S6. Based on S3 or S5, the sampling head 2 moves to the top of the container containing the second medicine, and determines the form of the second medicine. If the second medicine is in liquid form, repeat S2 and S3; if the second medicine is in granular form, repeat S4 and S5; S7. After the sampling head 2 has completed sampling, the sampling head 2 is transferred to the detection and testing table, and the limiting cavity 22 is driven to align with the storage container of the detection and testing table. When the limiting cavity 22 contains the sampling tube 23, the first solenoid valve 29 and the second solenoid valve 42 are opened, the first section 30 descends, and the exhaust fan supplies air to the sampling tube 23 through the exhaust hose 26, so that the medicine in the sampling tube 23 is delivered to the storage container. After the delivery is completed, the first section 30 is reset, and the first solenoid valve 29 and the second solenoid valve 42 are closed; if the limiting cavity 22 contains the spiral sampling barrel 43, the spiral sampling barrel 43 descends, and the second motor 44 drives the rotating rod 46 to rotate in the opposite direction, and the medicine in the spiral sampling barrel 43 falls to the storage container through the sampling through hole 48. After the delivery is completed, the second motor 44 is stopped, and the spiral sampling barrel 43 is reset; S8. Repeat S7 until the medicine delivery in the sampling head 2 is completed, and then clean the sampling head 2.

[0048] S9. On the basis of S6, after the sampling is completed, a part of the liquid medicine in the sampling tube 23 is transferred to the premixing tube 58, and / or the granular medicine in the spiral sampling cylinder 43 is transferred to the temporary storage box 66 and the premixing tube 58 in sequence, and the limiting table 21 is rotated until the medicines in the premixing tube 58 are mixed to obtain a mixed medicine, and then the sampling head 2 is moved to the detection and testing table to transport the mixed medicine to the storage container of the detection and testing table; Only a portion of the medicine in the sampling tube 23 is transferred to the premix tube 58, the purpose of which is to retain a portion of the medicine for subsequent verification. After completing step S9, we also need to store the remaining medicine in the sampling tube 23 in a designated container for sample storage, for which step S10 is also included: Based on S9, S7 and S8 are repeated.

[0049] In summary, this solution has the following advantages: First, a plurality of sampling tubes 23 are stored in the limiting table 21, and each sampling tube 23 can extract a liquid medicine for storage, thereby realizing a one-time operation, being able to store samples of different medicines, facilitating operation, and reducing costs. Second, a spiral sampling barrel 43 is also provided in the limiting table 21, and the powdered medicine can be vertically transported to the spiral sampling barrel 43 for storage through the rotation of the spiral blade 47. Third, the premixed test tube 58 can mix the medicines in the sampling tube 23 and the spiral sampling barrel 43 in advance, facilitating subsequent testing and analysis.

[0050] The present invention is not limited to the above-mentioned specific implementation modes. Various changes made by ordinary technicians in this field based on the above-mentioned concepts without creative work are all within the protection scope of the present invention.

Claims

1. A drug component detection sampling manipulator, comprising a fixed platform (1) and a sampling head (2), wherein a first arm (11), a second arm (12) and a third arm (13) are sequentially arranged between the fixed platform (1) and the sampling head (2), wherein both ends of the second arm (12) are respectively hinged to the first arm (11) and the third arm (13), and an end of the third arm (13) away from the second arm (12) is rotatably connected to the fixed platform (1), and the sampling head (2) is located at an end of the first arm (11) away from the second arm (12), characterized in that: The sampling head (2) comprises a limiting shell (20), a limiting platform (21) is rotatably arranged in the limiting shell (20), a plurality of limiting cavities (22) are vertically arranged in the limiting platform (21), the plurality of limiting cavities (22) are arranged around the axis of the limiting platform (21), a sampling tube (23) is arranged in the limiting cavity (22), a sealing plug (24) is arranged at one end of the sampling tube (23), a sampling needle (25) is arranged at the other end of the sampling tube (23), and the sealing plug (24) is connected to an air extraction hose (26).

2. The drug component detection sampling manipulator according to claim 1, characterized in that: An air separation valve (27) is installed in the limit platform (21), and a plurality of sampling tubes (23) are arranged around the air separation valve (27). One end of the air extraction hose (26) is connected to the sealing plug (24), and the other end of the air extraction hose (26) is connected to the air separation valve (27). One end of the air separation valve (27) is connected to an exhaust pipe (28), and the end of the exhaust pipe (28) away from the air separation valve (27) is connected to an exhaust fan.

3. The drug component detection sampling manipulator according to claim 2, characterized in that: A first solenoid valve (29) is installed on the outer wall of the air extraction hose (26).

4. The drug component detection sampling manipulator according to claim 3, characterized in that: The sampling needle (25) comprises a first section (30) and a second section (31); the first section (30) is slidably arranged in the second section (31); an elastic plug (32) is installed at one end of the first section (30) facing the limiting cavity (22); the elastic plug (32) comprises a through hole (33); two ends of the through hole (33) are respectively connected to the first section (30) and the second section (31); an elastic ring (34) is arranged on the side wall of the elastic plug (32); the elastic ring (34) is located between the elastic plug (32) and the second section (31).

5. The drug component detection sampling manipulator according to claim 4, characterized in that: A driving platform (35) is arranged on the outer wall of the sampling needle (25), and a first motor (41) is arranged on one side of the driving platform (35). The driving platform (35) comprises a first plate body (36) and a second plate body (37). A connecting plate (38) is arranged between the first plate body (36) and the second plate body (37). A plurality of gear protrusions (39) are arranged at one end of the connecting plate (38) facing the first motor (41). A driving gear (40) is installed at the power end of the first motor (41), and the driving gear (40) is meshingly connected to the gear protrusion (39). The first plate body (36) is fixedly connected to the first section body (30), and the second plate body (37) is slidably connected to the second section body (31).

6. The drug component detection sampling manipulator according to claim 5, characterized in that: A second solenoid valve (42) is provided between the second section (31) and the sampling tube (23).

7. The drug component detection sampling manipulator according to claim 6, characterized in that: A spiral sampling barrel (43) is also vertically arranged in the limiting platform (21), and the spiral sampling barrel (43) is parallel to the sampling tube (23). The sampling tube (23) is installed in a part of the limiting cavity (22), and the spiral sampling barrel (43) is arranged in another part of the limiting cavity (22). A second motor (44) is installed at one end of the spiral sampling barrel (43) facing the second support arm (12), and a conical platform (45) is arranged at one end of the spiral sampling barrel (43) away from the second support arm (12). A rotating rod (46) and a sampling through hole (48) are arranged between the second motor (44) and the conical platform (45). The power end of the second motor (44) is connected to the rotating rod (46), and a spiral blade (47) is arranged around the outer wall of the rotating rod (46). The sampling through hole (48) is located on the side wall of the spiral sampling barrel (43).

8. The drug component detection sampling manipulator according to claim 7, characterized in that: A limiting ring (49) is installed in the limiting cavity (22), the spiral sampling barrel (43) is slidably connected to the limiting ring (49), a plurality of protrusion structures (50) are arranged on the outer wall of the spiral sampling barrel (43), and the plurality of protrusion structures (50) are evenly arranged along the length direction of the spiral sampling barrel (43), a third motor is arranged on the side of the spiral sampling barrel (43) away from the axis of the limiting platform (21), a power gear (51) is installed on the power end of the third motor, and the power gear (51) is meshingly connected with the protrusion structure (50).

9. The drug component detection sampling manipulator according to claim 1, characterized in that: A fourth motor (52) is mounted on the side wall of the first support arm (11); a drive shaft (53) is mounted on one end of the limit platform (21) facing the second support arm (12); the axis of the drive shaft (53) coincides with the axis of the limit platform (21); and a drive toothed belt (54) is arranged between the drive shaft (53) and the power end of the fourth motor (52).

10. A drug sampling method using the drug component detection sampling manipulator according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. The sampling head (2) is sent to the top of the container containing the No. 1 medicine by the linkage of the first arm (11), the second arm (12) and the third arm (13), the shape of the No. 1 medicine is determined, and then the limit table (21) is rotated to align the limit cavity (22) with the container; S2. Based on S1, when the No. 1 medicine is in liquid state, the sampling tube (23) is in the limiting cavity (22), and the first motor (41) is driven to work. The first motor (41) drives the driving platform (35) to descend through the driving gear (40). At this time, the driving platform (35) will drive the first section (30) of the sampling tube (23) to descend until the bottom of the first section (30) is wrapped by the No. 1 medicine; S3. Based on S2, the exhaust fan is started, the first solenoid valve (29) and the second solenoid valve (42) are opened, and the sampling tube (23) extracts the No. 1 medicine. After the No. 1 medicine in the sampling tube (23) reaches the set value, the first solenoid valve (29) and the second solenoid valve (42) are closed, and the first motor (41) drives the first section (30) to move upward. After the first section (30) is reset, the sampling head (2) is stagnant for 3-10 seconds; S4. On the basis of S1, when the first medicine is in granular form, the limiting cavity (22) is a spiral sampling cylinder (43), and the third motor drives the spiral sampling cylinder (43) to descend until the first medicine buries the sampling through hole (48); S5. Based on S4, the second motor (44) is started, driving the rotating rod (46) and the spiral blade (47) to rotate, and the No. 1 medicine is vertically lifted. When the No. 1 medicine in the spiral sampling cylinder (43) reaches the set value, the second motor (44) stops working, and the third motor drives the spiral sampling cylinder (43) to reset. After the spiral sampling cylinder (43) is reset, the sampling head (2) is stagnant for 3-10 seconds; S6. Based on S3 or S5, the sampling head (2) moves to the top of the container containing the second medicine, and determines the form of the second medicine. If the second medicine is in liquid form, repeat S2 and S3; if the second medicine is in granular form, repeat S4 and S5; S7. After the sampling head (2) has completed sampling, the sampling head (2) is transferred to the testing table, and the limiting cavity (22) is driven to align with the storage container of the testing table. When the limiting cavity (22) contains the sampling tube (23), the first solenoid valve (29) and the second solenoid valve (42) are opened, the first section (30) descends, and the exhaust fan supplies air to the sampling tube (23) through the exhaust hose (26), so that the medicine in the sampling tube (23) is delivered to the storage container, and the delivery After completion, the first section (30) is reset, and the first solenoid valve (29) and the second solenoid valve (42) are closed; if the limit cavity (22) contains a spiral sampling cylinder (43), the spiral sampling cylinder (43) descends, and the second motor (44) drives the rotating rod (46) to rotate in the opposite direction, so that the medicine in the spiral sampling cylinder (43) falls into the storage container through the sampling through hole (48); after the delivery is completed, the second motor (44) stops, and the spiral sampling cylinder (43) is reset; S8. Repeat S7 until the delivery of the reagent in the sampling head (2) is completed, and then clean the sampling head (2).

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