Automatic dispensing equipment and method capable of balancing air pressure

Abstract

The invention discloses automatic dispensing equipment and method capable of balancing air pressure, and belongs to the field of automatic dispensing control. According to the automatic medicine dispensing device, medicine dispensing automation, especially dangerous medicine, can be achieved, manual medicine dispensing errors are reduced, and protection on medical personnel safety is improved; in the dispensing process, air pressure balance inside and outside a medicine container is achieved, when a certain amount of liquid medicine is extracted, air is supplemented into the medicine container, when a certain amount of liquid medicine is injected, rich air is exhausted from the medicine container, and therefore leakage of the medicine solution from a medicine bottle is avoided, and force control is simpler during automatic extraction and injection; the equipment has the functions of self-cleaning, cleaning and the like, and can meet the current practical application requirements with high cost performance.

Description

Technical Field

[0001] The invention relates to the field of automatic medicine dispensing control for balanced air pressure, and in particular to an automatic medicine dispensing device and method for balanced air pressure. Background Art

[0002] With the increasing number of drug types, the liquid medicines injected into patients in clinical practice are mostly a mixture of multiple liquid medicines. Existing drug dispensing is generally done manually, with high labor costs and high labor intensity. When dispensing, the patient may forget to add the medicine, which will threaten the safety of intravenous medication for patients. Automatic dispensing equipment can solve this problem. It can automatically complete the dissolution, dilution and other preparation processes of the medicine, thereby freeing medical staff from this tedious work. At the same time, the use of this device can also improve the efficiency of the dispensing operation and reduce the risk of contamination of the liquid medicine during repeated operations.

[0003] Dangerous drugs represented by chemotherapy drugs are extremely harmful to the health of medical staff who have been engaged in the preparation and transportation of such drugs for a long time. Some medical institutions have built various clean rooms, biological cabinets and other facilities to reduce the risk of drug leakage. The investment is large, but the actual promotion and application effect is not good. Automatic dispensing equipment also requires medical staff to load drugs, install or remove injection syringes, etc. The current automatic dispensing equipment is inevitably leaking medicine bottles during frequent operation, which will cause damage to the health of medical staff. At the same time, the major factor causing the leakage of medicine bottles is that when injecting liquid medicine into the medicine bottle container, high air pressure will be generated, and the liquid medicine will leak from the puncture hole of the bottle mouth, and when extracting liquid medicine from the medicine bottle container, negative air pressure will be generated, causing air to be inhaled through the puncture hole of the bottle mouth, causing the liquid medicine to be contaminated. In addition, there is also a problem in the art that the syringe cannot be reused after use because of liquid medicine contamination. How to achieve the cleaning of the syringe for the potential reuse is also a problem that needs urgent attention.

[0004] Therefore, it is necessary to develop a dispensing control method suitable for automatic dispensing equipment to solve the problem of imbalance between the air pressure of the medicine bottle and the atmosphere after dispensing and the problem of syringe cleaning. Summary of the invention

[0005] In view of the needs and deficiencies of the prior art, the purpose of the present invention is to provide an automatic dispensing device and a dispensing method, which can realize convenient and accurate automatic dispensing, while achieving functions such as air pressure balance in the drug container and fixed-point cleaning.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: An automatic medicine dispensing device (10) for balancing air pressure comprises a medicine dispensing component (20), wherein the medicine dispensing component (20) comprises at least a liquid channel puncture needle (201), an air channel puncture needle (202), a liquid containing chamber (203) and an air containing chamber (204), wherein the rear end of the liquid channel puncture needle (201) is connected to the liquid containing chamber (203), and the rear end of the air channel puncture needle (202) is connected to the air containing chamber (204).

[0007] The present invention also provides a method for dispensing medicine using the automatic dispensing device (10), comprising at least the following steps: S100, the automatic dispensing device (10) controls the front ends of the liquid channel puncture needle (201) and the airway puncture needle (202) to penetrate into the medicine container (40); S200, automatically extracting liquid medicine from the medicine container (40), or S300, automatically injecting liquid medicine into the medicine container (40); S400, the automatic dispensing device (10) controls the liquid channel puncture needle (201) and the airway puncture needle (202) to be pulled out from the medicine container (40); Step S200 includes: S201, the automatic dispensing device (10) controls the liquid chamber (203) to form a negative pressure so that the liquid in the medicine container (40) flows into the liquid chamber (203) through the liquid channel puncture needle (201), and / or, S202, the automatic dispensing device (10) controls the gas chamber (204) to form a positive pressure so that the gas in the gas chamber (204) flows into the medicine container (40) through the gas channel puncture needle (202); Step S300 includes: S301, the automatic dispensing device (10) controls the liquid chamber (203) to form a positive pressure, so that the liquid medicine in the liquid chamber (203) flows through the liquid channel puncture needle (201) to the medicine container (40), and / or, S302, the automatic dispensing device (10) controls the gas chamber (204) to form a negative pressure, so that the gas in the medicine container (40) flows through the gas channel puncture needle (202) to the gas chamber (204).

[0008] It is easy to understand that the aforementioned device and dispensing method of the present invention are applicable to various types of drug containers, such as vials, infusion bottles or infusion bags.

[0009] As a preferred embodiment, based on the above scheme, the automatic dispensing equipment includes a dispensing component moving part (11), and the step S100 specifically includes: the dispensing component moving part (11) controls the front end of the liquid channel puncture needle (201) and the airway puncture needle (202) to align with the bottle mouth of the drug container (40), and penetrate into the interior of the drug container (40).

[0010] As a preferred embodiment, based on the above scheme, the automatic dispensing equipment includes a dispensing component moving part (11), and the step S400 specifically includes: the dispensing component moving part (11) controls the front end of the liquid channel puncture needle (201) and the airway puncture needle (202) to be pulled out from the bottle mouth of the medicine container (40).

[0011] As a preferred embodiment, in the automatic dispensing device (10) of the present invention, the liquid channel puncture needle (201) and the airway puncture needle (202) are double-layer columnar structures, the outer channel of the double-layer columnar structure is the liquid channel, and the inner channel of the double-layer columnar structure is the airway; or, the liquid channel puncture needle (201) and the airway puncture needle (202) are integrated side-by-side structures; or, the liquid channel puncture needle (201) and the airway puncture needle (202) are separate side-by-side structures.

[0012] As a preferred embodiment, in the dispensing component (20) of the automatic dispensing device (10), the liquid channel puncture needle (201) and the airway puncture needle (202) are respectively connected to the first syringe (24) and the second syringe (26); the first piston rod (25) is slidably disposed in the inner cavity of the first syringe (24), and the first piston rod (25) and the first syringe (24) cooperate to form a liquid volume chamber (203) that forms a pressure difference through volume change; the second piston rod (27) is slidably disposed in the inner cavity of the second syringe (26), and the second piston rod (27) and the second syringe (26) cooperate to form an air volume chamber (204) that forms a pressure difference through volume change.

[0013] As an exemplary illustration, based on the above solution, the automatic dispensing device (10) includes a pressure generating component; The step S201 specifically includes: the pressure generating component controls the piston in the first syringe to move in the direction of increasing the inner cavity volume, so that negative pressure is formed inside the first syringe; the step S202 specifically includes: the pressure generating component controls the piston in the second syringe to move in the direction of decreasing the inner cavity volume, so that positive pressure is formed inside the second syringe; The step S301 specifically includes: the pressure generating component controls the piston in the first syringe to move in the direction of reducing the inner cavity volume, so that positive pressure is formed inside the first syringe; the step S302 specifically includes: the pressure generating component controls the piston in the second syringe to move in the direction of increasing the inner cavity volume, so that negative pressure is formed inside the second syringe.

[0014] As another preferred embodiment, in the dispensing component (20) of the automatic dispensing device (10), the liquid channel puncture needle (201) is a first needle tube (21), the airway puncture needle (202) is a second needle tube (22), the rear end of the first needle tube (21) is connected to the front end of the first accommodating tube (28), the rear end of the first accommodating tube (28) is connected to the liquid storage chamber (30), the rear end of the second needle tube (22) is connected to the front end of the second accommodating tube (29), the rear end of the second accommodating tube (29) is connected to the air bag (31); the liquid storage chamber (30) and the air bag (31) serve as the liquid accommodating chamber (203) and the air accommodating chamber (204), respectively, and the first accommodating tube (28) and the second accommodating tube (29) are connecting components.

[0015] As a preferred embodiment, in the dispensing component (20) of the automatic dispensing device (10), the liquid channel puncture needle (201) and the airway puncture needle (202) are double-layer columnar structures, consisting of a first needle tube (21) and a second needle tube (22), wherein the second needle tube (22) is sleeved inside the first needle tube (21), and the cavity between the outer wall of the second needle tube (22) and the inner wall of the first needle tube (21) serves as a liquid channel and is connected to the inner cavity of the first syringe (24); the interior of the second needle tube (22) The lumen serves as an air passage and is in communication with the inner cavity of the second syringe (26); the first piston rod (25) is slidably disposed in the inner cavity of the first syringe (24); the first piston rod (25) and the first syringe (24) cooperate to form a liquid chamber (203) that forms a pressure difference through volume change; the second piston rod (27) is slidably disposed in the inner cavity of the second syringe (26); the second piston rod (27) and the second syringe (26) cooperate to form an air chamber (204) that forms a pressure difference through volume change.

[0016] As a preferred embodiment, the automatic medicine dispensing device (10) of the present invention further comprises a medicine dispensing component moving part (11), a pressure generating part (12), and a medicine bottle placing part (13); The medicine dispensing component moving part (11) comprises a moving platform (111) and a syringe clamp (112) arranged on the moving platform (111); The pressure generating component (12) is arranged on the mobile platform (111); The medicine bottle placement portion (13) comprises a medicine bottle clamp (132), which is used to clamp the medicine bottle (42); a plurality of medicine bottle clamps (132) are provided, which are circumferentially mounted on the movable wheel (133); the movable wheel (133) is rotatably arranged, and an opening of the medicine bottle clamp (132) is arranged toward the axial direction of the movable wheel (133); A bottle hanging robot and a bottle picking robot are arranged on opposite sides of the moving wheel (133), and the two robots can automatically hang the medicine bottle (42) into the medicine bottle clamp (132) or remove it; the bottle hanging robot and the bottle picking robot are provided with a scanning device; the moving wheel (133) is provided with a working position corresponding to the moving platform (111), and the working position is arranged between the bottle hanging robot and the bottle picking robot.

[0017] As a preferred embodiment, the automatic dispensing device (10) has a simple cleaning mode; there is at least one cleaning agent bottle containing cleaning agent among the medicine bottles (42), on which a corresponding information label is provided, and the bottle hanging robot uses a scanning device to scan the information label on the cleaning agent bottle, and scans the information label on the corresponding medicine bottle clamp and associates the two as a cleaning bottle; when entering the simple cleaning mode, the moving wheel (133) rotates the cleaning agent bottle to a working position corresponding to the moving platform (111), and the moving platform (111) drives the dispensing component (20) to move to the working position, and the moving platform (111) has a second scanning device, and the second scanning device scans the cleaning agent bottle and the information label on the corresponding medicine bottle clamp. If it is inconsistent with the associated information, an alarm is issued, and if it is consistent, the simple cleaning mode is entered.

[0018] Preferably, the simple cleaning mode comprises: controlling the dispensing component moving part (11) to insert the first needle tube (21) and the second needle tube (22) into the cleaning agent bottle, and then controlling the piston rod clamp (121) and the piston rod moving mechanism (122) on the pressure generating component (12) to simultaneously or alternately move the first piston rod (25) and the second piston rod (27) forward and backward along the axial direction to inhale and eject the cleaning agent; after repeating several times, the first needle tube (21) and the second needle tube (22) are withdrawn, and the cleaning agent bottle is moved to the position corresponding to the bottle picking robot, and the bottle picking robot scanning device scans the cleaning agent bottle and the information label on the corresponding bottle clamp, and if it is inconsistent with the associated information, an alarm is issued, and if it is consistent, the group of associated information is released and the cleaning agent bottle is removed.

[0019] As a preferred embodiment, the automatic dispensing device (10) includes a cleaning device, the cleaning device has a cleaning chamber, and a cleaning clamp is provided inside the cleaning chamber; in the cleaning mode, the mobile platform (111) drives the dispensing component (20) to move into the cleaning chamber, the cleaning clamp clamps and fixes the first injection cylinder (24) and the second injection cylinder (26), and controls the piston rod clamp (121) and the piston rod moving mechanism (122) to move the first piston rod (25) axially backward to disengage from the first injection cylinder (24), and to move the second piston rod (27) axially backward to disengage from the first injection cylinder (24). The second injection cylinder (26) is filled with cleaning liquid to rinse the dispensing component (20), and then a drying program is performed to dry the dispensing component (20). Then, the piston rod clamp (121) and the piston rod moving mechanism (122) are controlled to move the first piston rod (25) forward along the axial direction into the first injection cylinder (24), and the second piston rod (27) is moved forward along the axial direction into the second injection cylinder (26). The cleaning clamp releases the first injection cylinder (24) and the second injection cylinder (26), and the mobile platform (111) drives the dispensing component (20) to move out of the cleaning chamber to perform the next dispensing operation.

[0020] As a preferred embodiment, the automatic dispensing device (10) has a self-checking link. The bottle hanging robot grabs the medicine at a designated position according to a set program. Before grabbing, the scanning device of the bottle hanging robot scans the medicine information and compares it with the medicine order information pre-entered into the system. If there is inconsistency, an alarm is issued. If there is consistency, the dispensing process continues.

[0021] As a preferred embodiment, the automatic dispensing device (10) further comprises a disinfection device, which can disinfect designated components and / or locations within the automatic dispensing device (10) according to a set program.

[0022] Preferably, the disinfection is carried out by spraying a disinfectant or irradiating ultraviolet rays.

[0023] As a preferred embodiment, the automatic dispensing device (10) of the present invention has a self-cleaning device and a drying device, and can run a self-cleaning mode between two dispensings as required to clean and dry the automatic dispensing device (10).

[0024] Compared with the prior art, the beneficial effects of the present invention are: it can realize the automation of drug dispensing, especially dangerous drugs, reduce manual dispensing errors, and improve the protection of medical personnel. During the dispensing process, the air pressure inside and outside the drug container is balanced. Whenever a certain amount of liquid medicine is extracted, gas will be added to the drug container. Whenever a certain amount of liquid medicine is injected, the abundant gas will be discharged from the drug container, thereby avoiding the leakage of drug solution from the medicine bottle, and the force control during automatic extraction is simpler. The equipment has self-cleaning, washing and other functions, and can meet the current practical application needs with high cost performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of a process flow of an automatic medication dispensing method for balancing air pressure according to the present invention; Figure 2 A schematic diagram of a dispensing component and a drug container according to the present invention; Figure 3 It is a schematic structural diagram of the medicine dispensing components used in the automatic medicine dispensing method capable of balancing air pressure according to the first embodiment of the present invention.

[0026] Figure 4 FIG. 1 is a structural schematic diagram I of an automatic medicine dispensing device applied to an automatic medicine dispensing method capable of balancing air pressure according to a first embodiment of the present invention.

[0027] Figure 5 FIG. 2 is a structural schematic diagram II of the automatic medicine dispensing equipment used in the automatic medicine dispensing method capable of balancing air pressure according to the first embodiment of the present invention.

[0028] Figure 6 FIG. 3 is a structural schematic diagram III of the automatic medicine dispensing equipment used in the automatic medicine dispensing method capable of balancing air pressure according to the first embodiment of the present invention.

[0029] Figure 7 It is a schematic structural diagram of an automatic medicine dispensing device (part) used in the automatic medicine dispensing method capable of balancing air pressure according to the second embodiment of the present invention.

[0030] Figure 8 It is a schematic structural diagram of the medicine dispensing components used in the automatic medicine dispensing method capable of balancing air pressure according to the third embodiment of the present invention.

[0031] Fig. 9 Schematic diagram of the structure of the medicine dispensing components used in the automatic medicine dispensing method capable of balancing air pressure according to the fourth embodiment of the present invention.

[0032] Fig.10 Schematic diagram of the structure of the medicine dispensing components used in the automatic medicine dispensing method capable of balancing air pressure according to the fifth embodiment of the present invention.

[0033] Reference numerals: 10, automatic dispensing device; 11, dispensing component moving part; 12, pressure generating component; 13, medicine bottle placing part; 111, moving platform; 112, syringe clamp; 121, piston rod clamp; 122, piston rod moving mechanism; 131, infusion bottle (bag) support; 132, medicine bottle clamp; 133, moving wheel; 134, moving track; 20, dispensing component; 21, first needle tube; 22. Second needle tube; 23. Needle seat; 24. First syringe; 25. First piston rod; 26. Second syringe; 27. Second piston rod; 28. First accommodating tube; 29. ​​Second accommodating tube; 30. Liquid storage chamber; 31. Air bag; 40. Drug container; 41. Infusion bottle (bag); 42. Medicine bottle; 201. Liquid channel puncture needle; 202. Airway puncture needle; 203. Liquid storage chamber; 204. Air storage chamber. DETAILED DESCRIPTION

[0034] In order to better illustrate the purpose, technical solutions and advantages of the present invention, the specific implementation methods of the present invention are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0035] like Figure 1 and Figure 2 As shown, an automatic dispensing method for balancing air pressure according to an embodiment of the present invention is used to control an automatic dispensing device 10 to achieve drug transmission between a dispensing component 20 and a drug container 40. The dispensing component 20 at least includes a liquid channel puncture needle 201, an air channel puncture needle 202, a liquid containing chamber 203, and an air containing chamber 204. The rear end of the liquid channel puncture needle 201 is connected to the liquid containing chamber 203, and the rear end of the air channel puncture needle 202 is connected to the air containing chamber 204.

[0036] When controlling the automatic dispensing device 10 to extract medicine, the method includes the steps of: S100 , the automatic medication dispensing device 10 controls the front ends of the liquid channel puncture needle 201 and the airway puncture needle 202 to penetrate into the interior of the medication container 40 .

[0037] S200, automatically extracting liquid medicine from the medicine container 40; specifically, step S200 includes: S201, the automatic dispensing equipment 10 controls the liquid holding chamber 203 to form a negative pressure, so that the liquid medicine in the medicine container 40 is extracted into the liquid holding chamber 203 through the liquid channel puncture needle 201, and / or, S202, the automatic dispensing equipment 10 controls the gas holding chamber 204 to form a positive pressure, so that the gas in the gas holding chamber 204 is replenished into the medicine container 40 through the gas channel puncture needle 202.

[0038] S400 , the automatic medication dispensing device 10 controls the fluid passage puncture needle 201 and the air passage puncture needle 202 to be pulled out from the medication container 40 .

[0039] When controlling the automatic dispensing device 10 to perform drug injection, the method includes the steps of: S100 , the automatic medication dispensing device 10 controls the front ends of the liquid channel puncture needle 201 and the airway puncture needle 202 to penetrate into the interior of the medication container 40 .

[0040] S300, automatically injecting liquid medicine into the medicine container 40; specifically, step S300 includes: S301, the automatic dispensing equipment 10 controls the liquid chamber 203 to form a positive pressure so that the liquid medicine in the liquid chamber 203 is injected into the medicine container 40 through the liquid channel puncture needle 201, and / or, S302, the automatic dispensing equipment 10 controls the gas chamber 204 to form a negative pressure so that the gas in the medicine container 40 is discharged into the gas chamber 204 through the airway puncture needle 202.

[0041] S400 , the automatic medication dispensing device 10 controls the fluid passage puncture needle 201 and the air passage puncture needle 202 to be pulled out from the medication container 40 .

[0042] It is worth noting that when the liquid channel puncture needle 201 and the airway puncture needle 202 penetrate into the medicine container 40, the liquid chamber 203, the liquid channel puncture needle 201, the medicine container 40, the airway puncture needle 202, and the gas chamber 204 are sequentially connected. When the liquid chamber 203 is actively controlled to form a positive pressure or a negative pressure, the gas chamber 204 will automatically inhale gas or automatically replenish gas to the medicine container 40 under the action of air pressure balance. Similarly, when the air chamber 204 is actively controlled to form a positive pressure or a negative pressure, the liquid chamber 203 will automatically inhale liquid medicine or automatically inject liquid medicine into the medicine container 40 under the action of air pressure balance.

[0043] First specific embodiment The first specific embodiment is a specific application of the automatic medicine dispensing method based on the above-mentioned balanced air pressure.

[0044] like Figure 3As shown, the dispensing component 20 used in the dispensing process of the first specific embodiment is shown. The dispensing component 20 is composed of a first needle tube 21, a second needle tube 22, a needle seat 23, a first injection cylinder 24, a first piston rod 25, a second injection cylinder 26, and a second piston rod 27. Specifically, the rear end of the first needle tube 21 is connected to the inner cavity of the first injection cylinder 24 through the needle seat 23, the second needle tube 22 is sleeved inside the first needle tube 21, and the cavity between the outer wall of the second needle tube 22 and the inner wall of the first needle tube 21 is connected to the inner cavity of the first injection cylinder 24. It can be understood that the cavity between the inner wall of the first needle tube 21 and the outer wall of the second needle tube 22 serves as a liquid channel, and the inner tube cavity of the second needle tube 22 serves as an air channel. The first piston rod 25 is slidably disposed in the inner cavity of the first injection cylinder 24, and the first piston rod 25 and the first injection cylinder 24 cooperate to form a liquid volume chamber 203 that forms a pressure difference through volume change. The second piston rod 27 is slidably disposed in the inner cavity of the second injection cylinder 26 , and the second piston rod 27 and the second injection cylinder 26 cooperate to form an air volume chamber 204 that forms a pressure difference through volume change.

[0045] It is worth noting that, in the first specific embodiment, the side wall of the first injection cylinder 24 and the side wall of the second injection cylinder 26 are connected to each other so that the axial direction of the first injection cylinder 24 and the axial direction of the second injection cylinder 26 are fixed parallel to each other.

[0046] refer to Figure 4 , is the automatic medicine dispensing device 10 used in the medicine dispensing process of the first specific embodiment. The automatic medicine dispensing device 10 also includes a medicine dispensing component moving part 11, a pressure generating component 12 and a medicine bottle placing part 13.

[0047] Specifically, the equipment moving part 11 includes a moving platform 111 and a syringe clamp 112 disposed on the moving platform 111. The syringe clamp 112 is used to clamp the first syringe 24 and the second syringe 26 as one body, so as to fix the first syringe 24 and the second syringe 26 on the moving platform 111. The moving platform 111 is used to drive the dispensing component 20 to move between the horizontal X axis and the vertical Y axis.

[0048] Specifically, the pressure generating component 12 is arranged on the mobile platform 111. The pressure generating component 12 includes a piston rod clamp 121 and a piston rod moving mechanism 122. Two piston rod clamps 121 and two piston rod moving mechanisms 122 are respectively provided. One of the piston rod clamps 121 is used to clamp and fix the first piston rod 25, and the piston rod moving mechanism 122 is connected to the piston rod clamp 121, thereby driving the first piston rod 25 to move axially upward. The other piston rod clamp 121 is used to clamp and fix the second piston rod 27, and the piston rod moving mechanism 122 is connected to the piston rod clamp 121, thereby driving the second piston rod 27 to move axially upward.

[0049] Specifically, the medicine bottle placement part 13 includes an infusion bottle (bag) bracket 131 and a medicine bottle clamp 132. The infusion bottle (bag) bracket 131 is used to fix the infusion bottle (bag) 41 or other containers, and the medicine bottle clamp 132 is used to clamp the medicine bottle 42. In order to be suitable for the dispensing of various medicines, a plurality of medicine bottle clamps 132 are provided and are circumferentially mounted on the moving wheel 133. In order to adapt to the mobile platform 111 and facilitate the adjustment of the position of the infusion bottle (bag) 41, the infusion bottle (bag) bracket 131 is arranged on the moving track 134, and the infusion bottle (bag) bracket 131 can be rotated and adjusted in the circumferential direction.

[0050] Generally speaking, during manual operation, the preparation process of anti-tumor drugs is as follows: the syringe extracts the solvent from the infusion bottle (bag) 41, injects it into the medicine bottle 42 and mixes it with the medicine powder in the medicine bottle 42. After it is fully dissolved, the mixed solution in the medicine bottle 42 is extracted and injected into the feed pump, and the cycle is repeated several times to allow the feed pump to reach a sufficient amount.

[0051] like Figures 4 to 6 As shown, the application process of the automatic dispensing method based on the first specific embodiment is shown on the above-mentioned automatic dispensing device 10. The automatic dispensing method of this embodiment is used to control the automatic dispensing device 10, and the automatic dispensing device 10 can realize the configuration of the anti-tumor drug between the medicine bottle 42 and the infusion bottle (bag) 41 by means of the dispensing component 20.

[0052] In the pre-installation step, the medical staff installs the medicine bottle 42 to the medicine bottle placement part 13, that is, the medicine bottle 42 containing the required medicine is clamped on the medicine bottle clamp 132, and the infusion bottle (bag) 41 containing the required solvent is placed and clamped on the infusion bottle (bag) bracket 131. In other embodiments, the infusion bottle (bag) 41 and the medicine bottle 42 can also be automatically grasped and assembled by the automatic dispensing device 10 under a pre-set program.

[0053] refer to Figure 4 Taking the dispensing of the dispensing component 20 and the infusion bottle (bag) 41 as an example, the automatic dispensing method includes: (1) Control the mobile platform 111 to drive the medicine dispensing component 20 to move, so that the first needle tube 21 and the second needle tube 22 of the medicine dispensing component 20 are aligned with the infusion bottle (bag) 41, and control the mobile platform 111 to drive the medicine dispensing component 20 to move toward the infusion bottle (bag) 41 until the first needle tube 21 and the second needle tube 22 penetrate into the infusion bottle (bag) 41. That is, step S100 is executed.

[0054] (2) Control the piston rod clamp 121 and the piston rod moving mechanism 122 to move the first piston rod 25 axially backward and the second piston rod 27 axially forward. In step (2), as the first piston rod 25 moves backward, the inner cavity of the first syringe 24 will be stretched to form a negative pressure, so that the solvent in the infusion bottle (bag) 41 is drawn into the first syringe 24 through the first needle tube 21 and the needle seat 23. At the same time, in step (2), as the second piston rod 27 moves forward, the inner cavity of the second syringe 26 will be compressed to form a positive pressure, so that the gas in the second syringe 26 is replenished into the infusion bottle (bag) 41 through the needle seat 23 and the second needle tube 22. That is, step S200 is executed.

[0055] (3) Control the mobile platform 111 to drive the medicine dispensing component 20 to move, so that the medicine dispensing component 20 moves along the axis in a direction away from the infusion bottle (bag) 41. That is, step S400 is executed.

[0056] After the above steps (1), (2) and (3) of this embodiment, the solvent in the infusion bottle (bag) 41 is extracted into the first syringe 24. At the same time, supplementary gas from the second syringe 26 is input into the infusion bottle (bag) 41 to balance the air pressure in the bottle. The solvent will not leak from the bottle mouth of the infusion bottle (bag) 41 due to unbalanced air pressure.

[0057] like Figure 5 and Figure 6 As shown, the automatic dispensing method also includes: (4) Control the mobile platform 111 to drive the medicine dispensing component 20 to move, so that the first needle tube 21 and the second needle tube 22 of the medicine dispensing component 20 are aligned with the medicine bottle 42, and control the mobile platform 111 to drive the medicine dispensing component 20 to move toward the medicine bottle 42 until the first needle tube 21 and the second needle tube 22 penetrate into the medicine bottle 42. That is, step S100 is executed again.

[0058] (5) Control the piston rod clamp 121 and the piston rod moving mechanism 122 to move the first piston rod 25 forward in the axial direction and the second piston rod 27 backward in the axial direction. As the first piston rod 25 moves forward, the inner cavity of the first syringe 24 will be compressed to form a positive pressure, so that the solvent in the first syringe 24 will be injected into the medicine bottle 42 through the needle seat 23 and the first needle tube 21. At the same time, as the second piston rod 27 moves backward, the inner cavity of the second syringe 26 will be stretched to form a negative pressure, so that the gas in the medicine bottle 42 will be discharged into the inner cavity of the second syringe 26 through the second needle tube 22 and the needle seat 23. That is, step S300 is executed. When the solvent in the first syringe 24 enters the medicine bottle 42, it will mix with the medicine in the medicine bottle 42 to form a medicine solution.

[0059] (6) Control the piston rod clamp 121 and the piston rod moving mechanism 122 to move the first piston rod 25 axially backward and the second piston rod 27 axially forward. As the first piston rod 25 moves backward, the inner cavity of the first syringe 24 will be stretched to form a negative pressure, so that the liquid medicine in the medicine bottle 42 will be drawn into the first syringe 24 through the first needle tube 21 and the needle seat 23. At the same time, as the second piston rod 27 moves forward, the inner cavity of the second syringe 26 will be compressed to form a positive pressure, so that the gas in the inner cavity of the second syringe 26 will be replenished into the medicine bottle 42 through the second needle tube 22 and the needle seat 23. That is, step S200 is executed. As a result, the mixed liquid medicine in the medicine bottle 42 will be drawn into the first syringe 24.

[0060] (7) Control the mobile platform 111 to drive the medicine dispensing component 20 to move, so that the medicine dispensing component 20 moves along the axis in a direction away from the medicine bottle 42. That is, step S400 is executed.

[0061] After steps (4), (5), (6) and (7) of this embodiment, the solvent in the first syringe 24 is injected into the medicine bottle 42, mixed with the medicine in the medicine bottle 42 to form a liquid medicine, which is then drawn into the first syringe 24 to complete a drug dispensing. During the injection and extraction process, the air pressure in the medicine bottle 42 is balanced, and the liquid medicine will not leak from the mouth of the medicine bottle 42 due to the imbalance of air pressure.

[0062] Preferably, the automatic dispensing device includes a cleaning device, which has a cleaning chamber, and a cleaning clamp is provided inside the cleaning chamber. In the cleaning mode, the mobile platform 111 drives the dispensing component 20 to move into the cleaning chamber, the cleaning clamp clamps and fixes the first syringe 24 and the second syringe 26, controls the piston rod clamp 121 and the piston rod moving mechanism 122, moves the first piston rod 25 axially backward to disengage from the first syringe 24, moves the second piston rod 27 axially backward to disengage from the second syringe 26, flushes the dispensing component 20 with water, and then performs an air-drying procedure to dry the dispensing component 20, and then controls the piston rod clamp 121 and the piston rod moving mechanism 122, moves the first piston rod 25 axially forward to enter the first syringe 24, moves the second piston rod 27 axially forward to enter the second syringe 26, the cleaning clamp clamps and releases the first syringe 24 and the second syringe 26, and the mobile platform 111 drives the dispensing component 20 to move out of the cleaning chamber for the next dispensing operation.

[0063] The movable wheel 133 is rotatably arranged, and the opening of the medicine bottle clamp 132 is arranged axially toward the movable wheel 133. The movable wheel 133 is provided with a bottle hanging manipulator and a bottle picking manipulator on opposite sides, and the two can automatically hang the medicine bottle 42 into the medicine bottle clamp 132 or take it away. The bottle hanging manipulator and the bottle picking manipulator are provided with a scanning device, and the scanning device scans the information label on the medicine bottle 42 to obtain the drug information for operation. Each medicine bottle clamp 132 also has a corresponding information label. When the medicine bottle 42 is hung, the control device controls the scanning device of the bottle hanging manipulator to scan the information label on the medicine bottle and the corresponding medicine bottle clamp and associate the two. When the medicine bottle is taken off, the control device controls the scanning device of the bottle picking manipulator to scan the information label on the medicine bottle and the corresponding medicine bottle clamp. If it is inconsistent with the associated information, an alarm is issued. If it is consistent, the group of associated information is released and the medicine bottle is taken off.

[0064] To facilitate the operation of the mobile platform 111, the mobile wheel 133 is provided with a working position corresponding to the mobile platform 111, and the working position is preferably set at a position between the bottle hanging robot and the bottle picking robot. After receiving the dispensing information, the control device rotates the required medicine bottle to the working position according to the associated information of the medicine bottle and the medicine bottle clamp for the mobile platform 111 to approach and work. The mobile platform 111 is provided with a second scanning device, which scans the information label on the medicine bottle and the corresponding medicine bottle clamp. If it is inconsistent with the associated information, an alarm is issued, and if it is consistent, the dispensing work is carried out.

[0065] The automatic dispensing method also includes a simple cleaning mode, wherein at least one of the medicine bottles contains a cleaning agent, and a corresponding information label is provided on the cleaning agent bottle. The bottle hanging robot uses a scanning device to scan the information label on the cleaning agent bottle, and scans the information label on the corresponding medicine bottle fixture and associates the two as a cleaning bottle. When entering the simple cleaning mode, the moving wheel 133 rotates the cleaning agent bottle to a working position corresponding to the moving platform 111, and the moving platform 111 drives the dispensing component 20 to move to the working position. The second scanning device scans the cleaning agent bottle and the information label on the corresponding medicine bottle fixture. If it is inconsistent with the associated information, an alarm is issued, and if it is consistent, the simple cleaning mode is performed. The simple cleaning mode includes: controlling the dispensing component moving part 11 to insert the first needle tube 21 and the second needle tube 22 into the cleaning agent bottle, and then controlling the piston rod clamp 121 and the piston rod moving mechanism 122 to make the first piston rod 25 and the second piston rod 27 move forward and backward along the axial direction simultaneously or alternately to inhale and spray the cleaning agent; after repeating 2-5 times, the first needle tube 21 and the second needle tube 22 are pulled out, and the cleaning agent bottle is moved to the position corresponding to the bottle picking robot. The bottle picking robot scanning device scans the cleaning agent bottle and the information label on the corresponding bottle clamp. If it is inconsistent with the associated information, an alarm is issued. If it is consistent, the group of associated information is released and the cleaning agent bottle is removed.

[0066] The automatic dispensing equipment 10 has a self-checking link. The bottle hanging robot goes to the designated position of the equipment according to the set program to grab the medicines placed in advance according to the medicine order information. Before grabbing, the scanning device of the bottle hanging robot scans the medicine information and compares it with the medicine order information pre-entered into the system. If there is inconsistency, an alarm is issued. If there is consistency, the dispensing process continues.

[0067] The automatic dispensing device 10 has a disinfection device, which contains a disinfectant (such as alcohol or iodine tincture) for spraying and disinfecting designated parts or positions in the automatic dispensing device 10 according to a set program.

[0068] The automatic dispensing device 10 may also be provided with a self-cleaning device and a drying device, and a self-cleaning mode may be run between two dispensings as required to clean and dry the automatic dispensing device 10 .

[0069] Second specific embodiment The medicine dispensing component 20 is composed of a first needle tube 21, a second needle tube 22, a first accommodating tube 28, a second accommodating tube 29, a liquid storage chamber 30 and an air bag 31. The rear end of the first needle tube 21 is connected to the front end of the first accommodating tube 28, the rear end of the first accommodating tube 28 is connected to the liquid storage chamber 30, the rear end of the second needle tube 22 is connected to the front end of the second accommodating tube 29, and the rear end of the second accommodating tube 29 is connected to the air bag 31. The first needle tube 21 serves as a liquid channel puncture needle 201, the second needle tube 22 serves as an air channel puncture needle 202, the liquid storage chamber (30) and the air bag (31) serve as a liquid storage chamber (203) and an air storage chamber (204), respectively.

[0070] The automatic dispensing device 10 includes a moving part, a pressure generating component 12, and a medicine bottle placing part 13. The moving part is a mechanical arm, and the medicine bottle placing part 13 is a medicine bottle clamp, which is installed at the moving end of the mechanical arm. The first needle tube 21 and the second needle tube 22 of the dispensing component 20 are fixedly clamped. The pressure generating component 12 is a first peristaltic pump and a second peristaltic pump, the first accommodating tube 28 is installed on the first peristaltic pump, and the second accommodating tube 29 is installed on the second peristaltic pump.

[0071] refer to Figure 7 , showing the application process of an automatic dispensing method for balancing air pressure based on the second embodiment on the above-mentioned automatic dispensing equipment 10.

[0072] In the process of injecting the solvent into the medicine bottle 42, mixing and then extracting the mixed liquid medicine from the medicine bottle 42, the automatic medicine dispensing method of this embodiment includes: (1) Execute step S100, i.e., the robot arm drives the medicine bottle 42 to move so that the medicine bottle 42 is aligned with the first needle tube 21 and the second needle tube 22, and the robot arm drives the medicine bottle 42 to move toward the direction close to the medicine dispensing component 20 so that the first needle tube 21 and the second needle tube 22 pierce the medicine bottle 42.

[0073] (2) Execute steps S301 and S302, specifically, the first peristaltic pump controls the first accommodating tube 28 to peristalsize in a direction of increasing the proximal volume, so that a positive pressure is formed at the front end of the first accommodating tube 28; the second peristaltic pump controls the second accommodating tube 29 to peristalsize in a direction of decreasing the proximal volume, so that a negative pressure is formed at the front end of the second accommodating tube 29.

[0074] (3) Execute steps S201 and S202. Specifically, the first peristaltic pump controls the first accommodating tube 28 to peristalsize in a direction of decreasing the proximal volume, so that a negative pressure is formed at the front end of the first accommodating tube 28; and the second peristaltic pump controls the second accommodating tube 29 to peristalsize in a direction of increasing the proximal volume, so that a positive pressure is formed at the front end of the second accommodating tube 29.

[0075] (4) In step S400, the robot arm drives the medicine bottle 42 to move away from the medicine dispensing component 20, so that the first needle tube 21 and the second needle tube 22 exit the medicine bottle 42.

[0076] Through steps (1) to (4) of this embodiment, the solvent can be injected into the medicine bottle 42, and then the mixed liquid medicine can be extracted from the medicine bottle 42. At the same time, the air pressure in the medicine bottle 42 is balanced during the whole process.

[0077] Third specific embodiment refer to Figure 8 In the third specific embodiment, the medicine dispensing component 20 is composed of a first needle tube 21, a second needle tube 22, a needle seat 23, a first syringe 24, a first piston rod 25, a second syringe 26 and a second piston rod 27. The first needle tube 21 and the second needle tube 22 are separated and arranged side by side. The first needle tube 21 is used as a liquid channel puncture needle 201, the second needle tube 22 is used as an airway puncture needle 202, the first syringe 24 is used as a liquid storage chamber 203, and the second syringe 26 is used as an air storage chamber 204.

[0078] The third embodiment can be used in the automatic medicine dispensing device 10 as shown in the first embodiment. The automatic medicine dispensing device 10 further includes a medicine dispensing component moving part 11, a pressure generating part 12, and a medicine bottle placing part 13.

[0079] In the process of injecting the solvent into the medicine bottle 42, mixing and then extracting the mixed liquid medicine from the medicine bottle 42, the automatic medicine dispensing method of this embodiment includes: (1) Step S100 is executed. The automatic medicine dispensing device 10 controls the first needle tube 21 and the second needle tube 22 of the separate parallel structure to pierce into the medicine bottle 42 together.

[0080] (2) Execute step S300 to inject the solvent into the drug container 40; specifically, step S300 includes: S301, the automatic dispensing equipment 10 controls the first piston rod 25 to move forward, so that a positive pressure is formed inside the first syringe 24, so that the solvent in the first syringe 24 is injected into the medicine bottle 42 through the first needle tube 21, and S302, the automatic dispensing equipment 10 controls the second piston rod 27 to move backward, so that a negative pressure is formed inside the second syringe 26, so that the enriched gas in the medicine bottle 42 is discharged to the second syringe 26 through the second needle tube 22.

[0081] (3) Execute step S200 to extract the drug solution from the drug container 40; specifically, step S200 includes: S201, the automatic dispensing equipment 10 controls the first piston rod 25 to move backward, so that a negative pressure is formed inside the first syringe 24, so that the drug solution in the drug container 40 is extracted into the first syringe 24 through the first needle tube 21, and / or, S202, the automatic dispensing equipment 10 controls the second piston rod 27 to move forward, so that a positive pressure is formed inside the second syringe 26, so that the gas in the second syringe 26 is replenished into the medicine bottle 42 through the second needle tube 22.

[0082] (4) Step S400 is executed. The automatic dispensing device 10 controls the first needle tube 21 and the second needle tube 22 of the separate parallel structure to be pulled out from the medicine bottle 42 together.

[0083] Through steps (1) to (4) of this embodiment, the solvent can be injected into the medicine bottle 42, and then the mixed liquid medicine can be extracted from the medicine bottle 42. At the same time, the air pressure in the medicine bottle 42 is balanced during the whole process.

[0084] Fourth specific embodiment refer to Fig. 9 In the fourth specific embodiment, the medicine dispensing component 20 is composed of a first needle tube 21, a second needle tube 22, a needle seat 23, a first syringe 24, a first piston rod 25, a second syringe 26 and a second piston rod 27. The first needle tube 21 and the second needle tube 22 are an integrated side-by-side structure. The first needle tube 21 is used as a liquid channel puncture needle 201, the second needle tube 22 is used as an airway puncture needle 202, the first syringe 24 is used as a liquid chamber 203, and the second syringe 26 is used as an air chamber 204.

[0085] refer to Fig. 9 The fourth embodiment can be used for the automatic medicine dispensing device 10 as shown in the first embodiment. The automatic medicine dispensing device 10 further includes a medicine dispensing component moving part 11, a pressure generating component 12, and a medicine bottle placing part 13.

[0086] In the process of injecting the solvent into the medicine bottle 42, mixing and then extracting the mixed medicine liquid from the medicine bottle 42, the automatic medicine dispensing method of this embodiment can be implemented with reference to the third specific embodiment mentioned above.

[0087] Fifth specific embodiment refer to Fig.10 In the fifth specific embodiment, the medicine dispensing component 20 is composed of a first needle tube 21, a second needle tube 22, a needle seat 23, a first syringe 24, a first piston rod 25, and an air bag 31. The first needle tube 21 and the second needle tube 22 can be a double-layer columnar structure, an integrated side-by-side structure, or a separated side-by-side structure. The first needle tube 21 is connected to the first syringe 24 through the needle seat 23, and the second needle tube 22 is connected to the air bag 31 through the needle seat 23.

[0088] refer to Fig.10 The fifth embodiment can be used for the automatic medicine dispensing device 10 as shown in the first embodiment. The automatic medicine dispensing device 10 further includes a medicine dispensing component moving part 11, a pressure generating part 12, and a medicine bottle placing part 13.

[0089] In the process of injecting the solvent into the medicine bottle 42, mixing and then extracting the mixed liquid medicine from the medicine bottle 42, the automatic medicine dispensing method of this embodiment includes: (1) Step S100 is executed. The automatic medicine dispensing device 10 controls the first needle tube 21 and the second needle tube 22 to penetrate into the medicine bottle 42 together.

[0090] (2) Step S300 is executed to inject the solvent into the medicine container 40; specifically, step S300 includes: S301, the automatic dispensing device 10 controls the first piston rod 25 to move forward, so that a positive pressure is formed inside the first syringe 24, so that the solvent in the first syringe 24 is injected into the medicine bottle 42 through the first needle tube 21. At this time, the rich gas in the medicine bottle flows into the air bag 31 through the second needle tube 22.

[0091] (3) Execute step S200 to automatically extract liquid medicine from the medicine container 40; specifically, step S200 includes: S201, the automatic dispensing device 10 controls the first piston rod 25 to move backward, so that negative pressure is formed inside the first syringe 24, so that the liquid medicine in the medicine container 40 is extracted into the first syringe 24 through the first needle tube 21. At this time, part of the gas in the airbag 31 flows into the medicine bottle 42 through the second needle tube 22.

[0092] (4) Step S400 is executed. The automatic medicine dispensing device 10 controls the first needle tube 21 and the second needle tube 22 to be pulled out from the medicine bottle 42 together.

[0093] Through steps (1) to (4) of this embodiment, the solvent can be injected into the medicine bottle 42, and then the mixed liquid medicine can be extracted from the medicine bottle 42. At the same time, the air pressure in the medicine bottle 42 is balanced during the whole process.

[0094] The above embodiments mainly describe the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. An automatic medicine dispensing device (10) with balanced air pressure, comprising a medicine dispensing component (20), characterized in that: The medication dispensing component (20) comprises at least a liquid channel puncture needle (201), an air channel puncture needle (202), a liquid containing chamber (203) and an air containing chamber (204), wherein the rear end of the liquid channel puncture needle (201) is connected to the liquid containing chamber (203), and the rear end of the air channel puncture needle (202) is connected to the air containing chamber (204).

2. A method for dispensing medicine using the automatic dispensing device (10) as claimed in claim 1, characterized in that: At least the following steps are included: S100, the automatic dispensing device (10) controls the front ends of the liquid channel puncture needle (201) and the airway puncture needle (202) to penetrate into the medicine container (40); S200, automatically extracting liquid medicine from the medicine container (40), or S300, automatically injecting liquid medicine into the medicine container (40); S400, the automatic dispensing device (10) controls the liquid channel puncture needle (201) and the airway puncture needle (202) to be pulled out from the medicine container (40); Step S200 includes: S201, the automatic dispensing device (10) controls the liquid chamber (203) to form a negative pressure so that the liquid in the medicine container (40) flows into the liquid chamber (203) through the liquid channel puncture needle (201), and / or, S202, the automatic dispensing device (10) controls the gas chamber (204) to form a positive pressure so that the gas in the gas chamber (204) flows into the medicine container (40) through the gas channel puncture needle (202); Step S300 includes: S301, the automatic dispensing device (10) controls the liquid chamber (203) to form a positive pressure, so that the liquid medicine in the liquid chamber (203) flows through the liquid channel puncture needle (201) to the medicine container (40), and / or, S302, the automatic dispensing device (10) controls the gas chamber (204) to form a negative pressure, so that the gas in the medicine container (40) flows through the gas channel puncture needle (202) to the gas chamber (204).

3. The method for dispensing medicine according to claim 2, characterized in that: The medicine container (40) is a vial (42), an infusion bottle (41) or an infusion bag.

4. The automatic dispensing device (10) according to claim 1, characterized in that: The liquid channel puncture needle (201) and the airway puncture needle (202) are double-layer columnar structures, the outer channel of the double-layer columnar structure is the liquid channel, and the inner channel of the double-layer columnar structure is the airway; Alternatively, the fluid passage puncture needle (201) and the airway puncture needle (202) are an integrated side-by-side structure; Alternatively, the fluid passage puncture needle (201) and the airway puncture needle (202) are separate side-by-side structures.

5. The automatic dispensing device (10) according to claim 1, characterized in that: In the dispensing component (20), the liquid channel puncture needle (201) and the airway puncture needle (202) are respectively connected to the first syringe (24) and the second syringe (26); the first piston rod (25) is slidably arranged in the inner cavity of the first syringe (24), and the first piston rod (25) and the first syringe (24) cooperate to form a liquid volume chamber (203) that forms a pressure difference through volume change; the second piston rod (27) is slidably arranged in the inner cavity of the second syringe (26), and the second piston rod (27) and the second syringe (26) cooperate to form an air volume chamber (204) that forms a pressure difference through volume change.

6. The automatic dispensing device (10) according to claim 1, characterized in that: In the medicine dispensing component (20), the liquid passage puncture needle (201) is a first needle tube (21), the air passage puncture needle (202) is a second needle tube (22), the rear end of the first needle tube (21) is connected to the front end of the first accommodating tube (28), the rear end of the first accommodating tube (28) is connected to the liquid storage chamber (30), the rear end of the second needle tube (22) is connected to the front end of the second accommodating tube (29), and the rear end of the second accommodating tube (29) is connected to the air bag (31); The liquid storage chamber (30) and the air bag (31) serve as the liquid containing chamber (203) and the air containing chamber (204) respectively, and the first containing tube (28) and the second containing tube (29) serve as connecting components.

7. The automatic dispensing device (10) according to claim 1, characterized in that: In the medicine dispensing component (20), the liquid channel puncture needle (201) and the airway puncture needle (202) are double-layer columnar structures, consisting of a first needle tube (21) and a second needle tube (22), wherein the second needle tube (22) is sleeved inside the first needle tube (21), and the cavity between the outer wall of the second needle tube (22) and the inner wall of the first needle tube (21) serves as a liquid channel, which is communicated with the inner cavity of the first syringe (24); the inner cavity of the second needle tube (22) serves as an air channel, which is communicated with the inner cavity of the second syringe (26); The first piston rod (25) is slidably disposed in the inner cavity of the first injection cylinder (24), and the first piston rod (25) and the first injection cylinder (24) cooperate to form a liquid chamber (203) that forms a pressure difference through volume change; the second piston rod (27) is slidably disposed in the inner cavity of the second injection cylinder (26), and the second piston rod (27) and the second injection cylinder (26) cooperate to form a gas chamber (204) that forms a pressure difference through volume change.

8. The automatic dispensing device (10) according to claim 1, characterized in that: The automatic medicine dispensing device (10) further comprises a medicine dispensing component moving part (11), a pressure generating part (12), and a medicine bottle placing part (13); The medicine dispensing component moving part (11) comprises a moving platform (111) and a syringe clamp (112) arranged on the moving platform (111); The pressure generating component (12) is arranged on the mobile platform (111); The medicine bottle placement portion (13) comprises a medicine bottle clamp (132), which is used to clamp the medicine bottle (42); a plurality of medicine bottle clamps (132) are provided, which are circumferentially mounted on the movable wheel (133); the movable wheel (133) is rotatably arranged, and an opening of the medicine bottle clamp (132) is arranged toward the axial direction of the movable wheel (133); A bottle hanging robot and a bottle picking robot are arranged on opposite sides of the moving wheel (133), and the two robots can automatically hang the medicine bottle (42) into the medicine bottle clamp (132) or remove it; the bottle hanging robot and the bottle picking robot are provided with a scanning device; the moving wheel (133) is provided with a working position corresponding to the moving platform (111), and the working position is arranged between the bottle hanging robot and the bottle picking robot.

9. The automatic dispensing device (10) according to claim 8, characterized in that: The automatic dispensing device (10) has a simple cleaning mode; the medicine bottles (42) include at least one cleaning agent bottle containing a cleaning agent, on which a corresponding information label is provided; the bottle hanging robot uses a scanning device to scan the information label on the cleaning agent bottle, and scans the information label on the corresponding medicine bottle fixture, and associates the two as a cleaning bottle; When entering the simple cleaning mode, the moving wheel (133) rotates the cleaning agent bottle to a working position corresponding to the moving platform (111), and the moving platform (111) drives the dispensing component (20) to move to the working position. The moving platform (111) has a second scanning device, and the second scanning device scans the cleaning agent bottle and the information label on the corresponding bottle clamp. If the information is inconsistent with the associated information, an alarm is issued. If the information is consistent, the simple cleaning mode is entered; The simple cleaning mode comprises: controlling the dispensing component moving part (11) to insert the first needle tube (21) and the second needle tube (22) into the cleaning agent bottle, and then controlling the piston rod clamp (121) and the piston rod moving mechanism (122) on the pressure generating component (12) to simultaneously or alternately move the first piston rod (25) and the second piston rod (27) forward and backward along the axial direction to inhale and eject the cleaning agent; after repeating several times, the first needle tube (21) and the second needle tube (22) are withdrawn, and the cleaning agent bottle is moved to the position corresponding to the bottle picking robot, and the bottle picking robot scanning device scans the cleaning agent bottle and the information label on the corresponding bottle clamp, and if it is inconsistent with the associated information, an alarm is issued, and if it is consistent, the group of associated information is released and the cleaning agent bottle is removed.

10. The automatic dispensing device (10) according to claim 8, characterized in that: The automatic dispensing device (10) further comprises a cleaning device, wherein the cleaning device comprises a cleaning chamber, and a cleaning clamp is arranged inside the cleaning chamber; In the cleaning mode, the mobile platform (111) drives the dispensing component (20) to move into the cleaning chamber, the cleaning clamp clamps and fixes the first syringe (24) and the second syringe (26), controls the piston rod clamp (121) and the piston rod moving mechanism (122), causes the first piston rod (25) to move axially backward to disengage from the first syringe (24), causes the second piston rod (27) to move axially backward to disengage from the second syringe (26), introduces cleaning liquid to rinse the dispensing component (20), then executes a drying procedure to dry the dispensing component (20), then controls the piston rod clamp (121) and the piston rod moving mechanism (122), causes the first piston rod (25) to move axially forward to enter the first syringe (24), causes the second piston rod (27) to move axially forward to enter the second syringe (26), the cleaning clamp releases the first syringe (24) and the second syringe (26), and the mobile platform (111) drives the dispensing component (20) to move out of the cleaning chamber to perform the next dispensing operation.

11. The automatic dispensing device (10) according to claim 8, characterized in that: The automatic dispensing device (10) has a self-checking link. The bottle hanging robot grabs the medicine at a designated position according to a set program. Before grabbing, the scanning device of the bottle hanging robot scans the medicine information and compares it with the medicine order information pre-entered into the system. If there is inconsistency, an alarm is issued. If there is consistency, the dispensing process continues.

12. The automatic dispensing device (10) according to claim 1, characterized in that: The automatic medicine dispensing device (10) further comprises a disinfection device for disinfecting designated parts and / or locations within the automatic medicine dispensing device (10) according to a set program.

13. The automatic dispensing device (10) according to claim 12, characterized in that: Disinfection is done by spraying disinfectant or irradiating with ultraviolet light.

14. The automatic dispensing device (10) according to claim 1, characterized in that: The automatic dispensing device (10) has a self-cleaning device and a drying device, and can run a self-cleaning mode between two dispensings as required to clean and dry the automatic dispensing device (10).

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