Liquid preparation robot and liquid preparation method for powdery reagent

Abstract

The invention relates to the technical field of dispensing equipment, and discloses a liquid dispensing robot and a liquid dispensing method for a powdery reagent, and the liquid dispensing robot comprises a rack, a cover opening and closing module, a puncture module and a liquid injection module. According to the liquid preparation robot disclosed by the invention, the needle head used for injecting the reagent liquid into the medicament bottle is set as a disposable component which is independent relative to the liquid injection module, so that the liquid preparation operation can be completed by utilizing the needle head corresponding to the single medicament bottle in each liquid preparation process; compared with the mode that a plurality of medicament bottles share the same needle head in the prior art, the liquid preparation efficiency is guaranteed, meanwhile, the hygiene during liquid preparation can be effectively improved, and the risk of cross infection during liquid preparation can be effectively reduced.

Description

Technical Field

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

[0002] The contents in this section merely provide background information related to the present invention and may not constitute prior art.

[0003] Currently, most coagulation detection reagents are stored in medicine bottles in the form of dry powder. Before actual use, they often need to be prepared into liquid to form a usable liquid medicine.

[0004] In the early days, the preparation of liquid was done manually. The whole preparation can be simply summarized as follows: first, the cap of the medicine bottle is unscrewed manually, and then the reagent liquid matching the coagulation detection reagent is injected into the medicine bottle manually using auxiliary instruments such as syringes, so that the reagent liquid and the coagulation detection reagent are mixed to form a usable liquid medicine. In this way, not only is the labor intensity high and the efficiency of preparation is low, but it is also very easy for the amount of reagent liquid actually injected to be inconsistent with the prescribed amount of reagent liquid, resulting in the prepared liquid medicine not meeting the specifications and poor preparation quality.

[0005] After searching, it was found that at this stage, there are also some devices that can replace manual labor to achieve automatic liquid preparation. For example, the patent document with application number "CN202211011363.6" and titled "A reagent liquid preparation robot for automatic preparation of powdered reagents" discloses a robot that can automatically prepare liquids. Although this type of liquid preparation robot can reduce manual labor intensity, improve liquid preparation efficiency and liquid preparation quality compared to manual liquid preparation, in this type of liquid preparation robot, the needle used to inject the reagent liquid is always connected to the reagent liquid source through a pipeline, making it difficult to achieve one needle for one medicine bottle. If different medicine bottles share the same needle, the hygiene is poor and cross infection is prone to occur. Summary of the invention

[0006] In view of this, the first object of the present invention is to provide a liquid preparation robot for powdered reagents, so as to at least overcome the technical problem that it is difficult for the known liquid preparation robots to correspond one medicine bottle to one needle and the hygiene is poor during liquid preparation. The second object of the present invention is to provide a liquid preparation method using the liquid preparation robot.

[0007] The purpose of the present invention is achieved through the following technical solutions:

[0008] On the one hand, the present invention discloses a liquid dispensing robot for powdered reagents, which is applied to a medicine bottle, wherein the medicine bottle comprises a bottle body, a bottle plug inserted into a bottle mouth of the bottle body, and a bottle cap removably covering the bottle mouth of the bottle body;

[0009] The liquid dispensing robot comprises:

[0010] frame;

[0011] An opening and closing cover module is arranged on the frame; the opening and closing cover module is configured to remove the bottle cap from the bottle body and close the bottle cap on the bottle mouth of the bottle body;

[0012] A puncture module is arranged on the frame; the puncture module is used to provide needles corresponding to the medicine bottles one by one; and the puncture module is configured to allow the needles to puncture the bottle stopper to be reserved on the bottle stopper, and to remove the needles reserved on the bottle stopper from the bottle stopper;

[0013] The liquid injection module is arranged on the frame; the liquid injection module is configured to inject the reagent solution into the bottle body through the needle reserved on the bottle stopper, and separate from the needle after the liquid injection is completed.

[0014] Furthermore, the needle includes a connecting portion and a puncture portion, and a connecting groove is provided at one end of the connecting portion away from the puncture portion;

[0015] The puncture module comprises a needle mounting assembly and a second linear drive; the needle assembly comprises a fixed part and a movable part arranged opposite to the fixed part, a fixed groove suitable for the connecting part to pass through is defined between the fixed part and the movable part; and the movable part and the fixed part are also configured to be able to approach or move away from each other;

[0016] The second linear drive is configured to drive the needle mounting assembly to move along the axis of the needle, and the second linear drive is disposed on the frame.

[0017] Furthermore, the needle mounting assembly also includes a limiting member, which is arranged above the fixing member, and a side of the connecting portion away from the puncture portion abuts against the limiting member.

[0018] Further, the injection module includes an injection assembly and a fourth linear drive, the fourth linear drive is configured to drive the injection assembly to move along the axis of the needle, and the fourth linear drive is disposed on the frame;

[0019] The liquid injection assembly includes at least one liquid injection head, and the liquid injection head includes a liquid injection tube;

[0020] The first end of the injection tube is connected to the reagent liquid source, and the second end of the injection tube extends along the axis of the needle and is adapted to the connecting groove.

[0021] Furthermore, the injection module further includes a connecting plate, and the connecting plate is connected to the output end of the fourth linear actuator;

[0022] The injection head further includes a mounting member, the mounting member having a first side and a second side opposite to each other, the first side of the mounting member being detachably connected to the connecting plate, and the first side of the mounting member being provided with a receiving groove in an open structure, the first end of the receiving groove penetrating through the circumferential side wall of the mounting member;

[0023] The injection pipe is positioned at the second side of the mounting member, and the first end of the injection pipe is connected to the second end of the receiving groove;

[0024] A hose is provided between the injection tube and the reagent liquid source, one end of the hose is connected to the reagent liquid source, and the other end of the hose passes through the containing tank and is inserted into the injection tube through the first end of the injection tube.

[0025] Furthermore, the liquid dispensing robot also includes a positioning module and a power module;

[0026] The positioning module is used to realize the positioning of the bottle body, and the positioning module is also configured to be able to move between the opening and closing cover module, the puncture module and the injection module;

[0027] The power module is configured to provide power for movement of the positioning module.

[0028] Furthermore, the opening and closing cover module, the puncture module and the injection module are arranged on the same straight line;

[0029] The power module includes a rack, a gear and a mobile drive motor;

[0030] The rack is fixedly arranged along the moving direction of the positioning module, the gear transmission is connected to the moving drive motor, the gear is meshed with the rack, and the moving drive motor is arranged on the positioning module.

[0031] Furthermore, the bottle cap is threadedly connected to the bottle body;

[0032] The opening and closing cover module includes a clamping and rotating mechanism and a first linear drive;

[0033] The clamping and rotating mechanism comprises two clamping jaws arranged opposite to each other, and a rotating driving assembly;

[0034] A clamping space suitable for accommodating the bottle cap is defined between the two clamping jaws, and the two clamping jaws are configured to be able to move closer to or farther from each other;

[0035] The rotary drive assembly is configured to drive the two clamping jaws to rotate around the axis of the bottle cap; the first linear drive is configured to drive the two clamping jaws to move along the axis of the bottle cap, and the first linear drive is arranged on the frame.

[0036] Further, the rotation drive assembly is arranged at the output end of the first linear drive;

[0037] The clamping and rotating mechanism further comprises a mounting seat, a transmission member corresponding to the clamping claws one by one, and a clamping drive assembly; the mounting seat is arranged at the output end of the rotating drive assembly;

[0038] The transmission member includes a first connecting rod and a second connecting rod; the first end of the first connecting rod is hingedly connected to the mounting seat to form a first hinge point, and the second end of the first connecting rod is hingedly connected to the corresponding clamping claw to form a second hinge point; the first end of the second connecting rod is hingedly connected to the mounting seat and forms a third hinge point, and the second end of the second connecting rod is hingedly connected to the corresponding clamping claw to form a fourth hinge point; wherein the first connecting rod and the second connecting rod are parallel, and the distance from the first hinge point to the second hinge point is equal to the distance from the third hinge point to the fourth hinge point;

[0039] The clamping drive assembly is configured to drive the first connecting rods of the two transmission members to rotate synchronously in opposite directions around their respective first hinge points.

[0040] On the other hand, the present invention discloses a liquid preparation method, using the liquid preparation robot for powdered reagents as described above, the method comprising:

[0041] Move the medicine bottle to the cover opening and closing module so as to remove the bottle cap on the bottle body through the cover opening and closing module;

[0042] The medicine bottle with the bottle cap removed is moved to the puncture module, so that the needle corresponding to the medicine bottle punctures the bottle stopper through the puncture module until the needle is connected to the inside of the bottle body; then, the puncture module is separated from the needle, so that the needle remains on the bottle stopper;

[0043] Move the medicine bottle with the needle reserved on the bottle stopper to the injection module, and the injection module injects a predetermined amount of reagent liquid into the bottle body through the needle reserved on the bottle stopper;

[0044] After the injection is completed, the injection module is separated from the needle reserved on the bottle stopper; the injected medicine bottle is moved to the puncture module again, so that the needle is removed from the bottle stopper by using the puncture module;

[0045] After the needle is removed from the bottle stopper, the medicine bottle with the needle removed is moved to the opening and closing cover module again, so that the bottle cap is closed on the bottle mouth of the bottle body by using the opening and closing cover module.

[0046] The technical solution of the embodiment of the present invention has at least the following advantages and beneficial effects:

[0047] The liquid preparation robot disclosed in the present invention, by setting the needle used to inject reagent liquid into the medicine bottle as a disposable component independent of the injection module, can use the needle corresponding to a single medicine bottle to complete the liquid preparation operation during each liquid preparation process. Compared with the method of multiple medicine bottles sharing the same needle used in the prior art, while ensuring the liquid preparation efficiency, it can effectively improve the hygiene during liquid preparation and effectively reduce the risk of cross infection during liquid preparation. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic diagram of the structure of a liquid preparation robot for powdered reagents provided in an embodiment of the present invention;

[0049] Figure 2 A schematic diagram of the structure of a clamping and rotating mechanism in an opening and closing cover module provided in an embodiment of the present invention;

[0050] Figure 3 A schematic diagram of the structure of a puncture module provided in an embodiment of the present invention;

[0051] Figure 4 for Figure 3 A magnified view of the local structure at point A in the middle;

[0052] Figure 5 A schematic diagram of the structure of a fixed part and a movable part provided in an embodiment of the present invention;

[0053] Figure 6 A schematic diagram of a partial structure of a third linear drive and a guide member at a fitting location provided by an embodiment of the present invention;

[0054] Figure 7 A schematic diagram of the structure of a liquid injection module provided in an embodiment of the present invention;

[0055] Figure 8 A schematic diagram of the structure of a liquid injection head provided in an embodiment of the present invention;

[0056] Fig. 9 for Figure 8 A cross-sectional view of the liquid injection head shown in FIG.

[0057] Fig.10 A schematic diagram of the structure of a positioning module and a power module provided in an embodiment of the present invention;

[0058] Fig.11 A schematic structural diagram of a positioning assembly provided in an embodiment of the present invention.

[0059] Icons: 10-opening and closing cover module, 11-clamping and rotating mechanism, 111-clamping claw, 1111-clamping part, 1112-anti-slip structure, 112-mounting seat, 113-transmission member, 1131-first connecting rod, 1132-second connecting rod, 1133-tooth portion, 114-clamping drive assembly, 20-puncture module, 21-needle installation assembly, 211-fixing member, 2111-plug-in part, 2112-first slot body, 212-movable member, 2121-plug-in slot, 2122-second slot body, 213-third linear drive, 2131-guide hole, 214-limiting member, 215- Fixed groove, 22-second linear drive, 23-guide member, 231-guide groove, 232-guide plate, 24-connecting seat, 30-liquid injection module, 31-fourth linear drive, 32-liquid injection head, 321-liquid injection tube, 322-mounting member, 323-accommodating groove, 33-connecting plate, 40-positioning module, 41-bearing member, 411-bearing surface, 42-positioning assembly, 421-first positioning member, 422-second positioning member, 423-fifth linear drive, 50-power module, 51-rack, 52-gear, 53-moving drive motor, 54-guide column, 60-frame. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described in conjunction with specific implementation methods below. The same figure marks in the accompanying drawings represent the same components. It should be noted that the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] Compared to the embodiments shown in the drawings, feasible embodiments within the scope of the present invention may have fewer components, other components not shown in the drawings, different components, differently arranged components, or differently connected components, etc. In addition, two or more components in the drawings may be implemented in a single component, or a single component shown in the drawings may be implemented as multiple separate components.

[0062] In order to facilitate the description of the liquid dispensing robot disclosed in the embodiment of the present invention, the following first briefly describes the medicine bottles used in the liquid dispensing process and the general liquid dispensing process.

[0063] The medicine bottle described in the embodiment of the present invention may be a medicine bottle containing a powdered coagulation detection reagent. Of course, the medicine bottle described in the embodiment of the present invention is not necessarily a medicine bottle containing a coagulation detection reagent, and may also be a medicine bottle containing other powdered medicines, which is not limited here.

[0064] The medicine bottle may include a bottle body suitable for containing powdered medicine, a bottle stopper made of elastic material, and a bottle cap. The bottle stopper is inserted into the bottle mouth of the bottle body to seal the bottle mouth, and the bottle cap is removably covered at the bottle mouth of the bottle body to further seal the bottle mouth of the bottle body and cover the bottle stopper, thereby playing a role of temporarily protecting the bottle stopper. The bottle cap may be a component threadedly connected to the bottle mouth of the bottle body, so that the bottle cap can be covered at the bottle mouth of the bottle body or removed from the bottle mouth of the bottle body in a screw-on manner. It can be understood that the structure of the medicine bottle described in this embodiment is the structure of such medicine bottles known in the prior art, and no further elaboration is made here.

[0065] Furthermore, when preparing liquid for the above-mentioned medicine bottle containing powdered medicine, the preparation process may include an opening stage, a liquid injection stage, and a closing stage. Specifically, in the opening stage, the bottle cap on the bottle body needs to be removed to expose the bottle plug at the bottle mouth, and then the liquid injection stage is entered; in the liquid injection stage, a predetermined amount of reagent liquid matching the powdered medicine in the bottle body is injected into the bottle body so that the reagent liquid and the powdered medicine are mixed to complete the preparation, and then the closing stage is entered; in the closing stage, the bottle cap is re-covered on the bottle body to cover the bottle plug again with the bottle cap, and then the medicine bottle with the prepared liquid can be placed in an incubator for standby use.

[0066] On this basis, an embodiment of the present invention discloses a liquid preparation robot for powdered reagents, which can at least realize the liquid preparation process described above, and can realize one medicine bottle corresponding to one needle, thereby improving the hygiene when preparing liquids for different medicine bottles.

[0067] Figure 1 FIG. 2 shows the overall structure of an exemplary liquid dispensing robot disclosed in an embodiment of the present invention. Figure 1 As shown, the liquid dispensing robot may include a cover opening and closing module 10 , a puncture module 20 and a liquid injection module 30 .

[0068] In some embodiments, the opening and closing cover module 10 is configured to remove the bottle cap from the bottle body in the opening stage and to cover the bottle cap on the bottle mouth of the bottle body in the closing stage. In other words, the opening and closing cover module 10 at least has the function of removing the bottle cap from the bottle body and covering the bottle cap on the bottle mouth of the bottle body. The specific structure of the opening and closing cover module 10 will be described in detail later.

[0069] In some embodiments, the puncture module 20 is mainly used to provide a needle that corresponds to the medicine bottle one by one. In addition, the puncture module 20 is also configured to allow the provided needle to pierce the bottle stopper and communicate with the inside of the bottle body, so that the needle can be reserved on the bottle stopper, and the needle reserved on the bottle stopper can be removed from the bottle stopper. That is to say, after removing the bottle cap on the bottle body by using the opening and closing cover module 10 in the opening stage, the puncture module 20 can be used to provide a needle that corresponds to the medicine bottle one by one, and the needle can pierce the bottle stopper on the bottle body under the action of the puncture module 20, and then the puncture module 20 can be separated from the needle so that the needle can be reserved on the bottle stopper, and, after the subsequent injection operation is completed, the needle reserved on the bottle stopper can be removed from the bottle stopper by using the puncture module 20, so as to facilitate the bottle cap to be re-covered at the bottle mouth of the bottle body in the closing stage. The specific structure of the puncture module 20 will be described in detail later.

[0070] In some embodiments, the injection module 30 is configured to inject a reagent liquid matching the powdered reagent in the bottle body into the bottle body through a needle reserved on the bottle plug during the injection stage, and separate from the needle reserved on the bottle plug after the injection is completed. That is to say, after the puncture module 20 is used to pierce the bottle plug with the needle provided by it, the injection module 30 can inject the corresponding reagent liquid into the bottle body in a predetermined amount through the needle reserved on the bottle plug, so that the reagent liquid can be mixed with the powdered medicine in the bottle body to form a liquid medicine, and after completing this injection operation, the injection module 30 can be separated from the needle reserved on the bottle plug, so as to facilitate the subsequent use of the puncture module 20 to remove the needle reserved on the bottle plug from the bottle plug. The specific structure of the injection module 30 will be described in detail later.

[0071] In order to improve the automation of the liquid preparation process, continue to refer to Figure 1 The liquid dispensing robot disclosed in the embodiment of the present invention may further include a positioning module 40 and a power module 50 .

[0072] The positioning module 40 is mainly used to realize the positioning of the bottle body to ensure that the bottle body remains motionless during the entire liquid preparation process. In addition, the positioning module 40 is also configured to be able to move between the cover opening and closing module 10, the puncture module 20 and the injection module 30 to realize the transfer of the medicine bottle between the cover opening and closing module 10, the puncture module 20 and the injection module 30 according to the liquid preparation process. The specific structure of the positioning module 40 will be described in detail later.

[0073] The power module 50 is mainly used to provide power for the movement of the positioning module 40. That is, the power module 50 is used to drive the positioning module 40 to move between the opening and closing cover module 10, the puncture module 20 and the injection module 30. The specific structure of the power module 50 will be described in detail later.

[0074] In order to more clearly and intuitively understand the liquid dispensing robot disclosed in the embodiment of the present invention, the embodiment of the present invention also discloses a liquid dispensing method, which adopts the liquid dispensing robot described above. The liquid dispensing method comprises:

[0075] First, the bottle body of the medicine bottle to be prepared is positioned on the positioning module 40, and the bottle body is covered with a bottle cap. Then, the positioning module 40 is driven by the power module 50 to move the medicine bottle to the opening and closing cover module 10, so that the bottle cap on the bottle body can be removed by the opening and closing cover module 10.

[0076] Secondly, the power module 50 drives the positioning module 40 and the medicine bottle with the bottle cap removed to move to the puncture module 20, so that the needle corresponding to the medicine bottle punctures the bottle stopper on the bottle body through the puncture module 20 until the needle communicates with the inside of the bottle body. Subsequently, the puncture module 20 is separated from the needle, so that the needle is retained on the bottle stopper.

[0077] Thereafter, the power module 50 is used to drive the positioning module 40 and the medicine bottle with a needle reserved on the bottle stopper to move to the injection module 30. The injection module 30 injects a predetermined amount of reagent liquid into the bottle body through the needle reserved on the bottle stopper, so that the reagent liquid is mixed with the powdered reagent in the bottle body to form a medicine liquid.

[0078] After the injection is completed, the injection module 30 is separated from the needle reserved on the bottle stopper. Subsequently, the power module 50 drives the positioning module 40 together with the injected medicine bottle to move to the puncture module 20 again, so that the needle reserved on the bottle stopper is removed from the bottle stopper by the puncture module 20.

[0079] After the needle reserved on the bottle stopper is removed from the bottle stopper by the puncture module 20, the power module 50 drives the positioning module 40 and the medicine bottle with the needle removed to move to the opening and closing cover module 10 again, so that the bottle cap can be closed on the bottle mouth of the bottle body by the opening and closing cover module 10.

[0080] At this point, the process of preparing the liquid for a single medicine bottle is completed, and the prepared medicine bottle can then be placed in an incubator for standby use.

[0081] It is worth noting that the liquid preparation robot disclosed in the embodiment of the present invention, by setting the needle used to inject reagent liquid into the medicine bottle as a disposable component independent of the injection module 30, can use the needle corresponding to a single medicine bottle to complete the liquid preparation operation during each liquid preparation process. Compared with the method of multiple medicine bottles sharing the same needle used in the prior art, while ensuring the liquid preparation efficiency, it can effectively improve the hygiene during liquid preparation and effectively reduce the risk of cross infection during liquid preparation.

[0082] At the same time, the present invention adopts a liquid preparation method of first reserving a needle on the bottle stopper and then injecting the liquid. When the needle pierces the bottle stopper to communicate with the inside of the bottle body, the air pressure in the bottle body will be in equilibrium with the external environment. Therefore, liquid injection can be carried out directly afterwards. Compared with the liquid preparation robot disclosed in the patent document listed in the background technology of the present invention, a needle for balancing the air pressure can be saved, thereby reducing costs.

[0083] In order to more clearly and intuitively understand the liquid dispensing robot disclosed in this embodiment, the possible structures of the opening and closing cover module 10, the puncture module 20, the injection module 30, the positioning module 40 and the power module 50 will be further described below.

[0084] Specifically, when the bottle cap and the bottle body are connected together by threaded connection, the opening and closing cover module 10 can be constructed in the following manner but is not limited to the following manner to achieve reliable removal of the bottle cap from the bottle body or closing the bottle cap on the bottle mouth of the bottle body.

[0085] Specifically, combined Figure 2 As shown, the opening and closing cover module 10 may include a clamping and rotating mechanism 11 and a first linear drive (not shown in the figure).

[0086] In some embodiments, the clamping and rotating mechanism 11 may include two clamping jaws 111 disposed opposite to each other, and a clamping space suitable for accommodating the bottle cap is defined between the two clamping jaws 111. In addition, the two clamping jaws 111 are configured to be able to move closer to or farther away from each other, so that the bottle cap in the clamping space can be clamped and fixed by the two clamping jaws 111 that are closer to each other, or the bottle cap in the clamping space can be released by the two clamping jaws 111 that are farther away from each other, thereby releasing the clamping and fixing of the bottle cap.

[0087] Meanwhile, the clamping and rotating mechanism 11 further includes a rotation drive assembly (not shown in the figure), which is configured to drive the two clamping jaws 111 to rotate around the axis of the bottle cap. The rotation drive assembly may include a rotary motor, the axis of the output shaft of the rotary motor coincides with the axis of the bottle cap, and in this case, the two clamping jaws 111 may be indirectly connected to the output shaft of the rotary motor through a mounting seat 112 to be described below, so as to drive the mounting seat 112 together with the two clamping jaws 111 to rotate around the axis of the bottle cap through the rotary motor.

[0088] The first linear drive is configured to drive the two clamping jaws 111 to move along the axis of the bottle cap. The first linear drive may be a conventional linear drive such as an electric push rod, a cylinder, a hydraulic cylinder, etc., and the axis of the output shaft of the first linear drive is parallel to the axis of the bottle cap. At this time, the rotary drive assembly may be directly arranged at the output end of the first linear drive, so as to facilitate the use of the first linear drive to drive the rotary drive assembly together with the two clamping jaws 111 to move along the axis of the bottle cap. For example, a rotary motor may be arranged on the output shaft of the first linear drive.

[0089] It should be noted that, in the embodiment of the present invention, the bottle body positioned on the positioning module 40 is in a vertical state, and the bottle cap is located above the bottle body. Therefore, the above-mentioned rotation drive assembly drives the two jaws 111 to rotate around the axis of the bottle cap, which specifically refers to driving the two jaws 111 to rotate horizontally around the axis of the bottle cap. Correspondingly, the above-mentioned first linear drive drives the two jaws 111 to move along the axis of the bottle cap, which specifically refers to driving the two jaws 111 to move along the vertical direction (i.e., the z-axis).

[0090] Based on the above arrangement, when it is necessary to remove the bottle cap from the bottle body, the bottle cap on the bottle body is first allowed to enter the clamping space between the two clamping jaws 111, and then the two clamping jaws 111 are moved closer to each other to clamp and fix the bottle cap. Subsequently, the rotary drive assembly drives the two clamping jaws 111 to rotate around the axis of the bottle cap, and at the same time, the first linear drive drives the two clamping jaws 111 to move along the axis of the bottle cap in a direction away from the bottle body (i.e., vertically upward), so that the bottle cap is separated from the bottle body, and in this embodiment, the bottle cap removed from the bottle body will continue to be clamped and fixed by the two clamping jaws 111, so that the bottle cap can be covered on the bottle body again after the subsequent operation of filling and removing the needle is completed.

[0091] Specifically, when the bottle cap needs to be closed on the bottle mouth of the bottle body, the bottle mouth of the bottle body is first aligned with the bottle cap between the two clamping jaws 111, and then the first linear drive drives the two clamping jaws 111 to move along the axis of the bottle cap toward the direction close to the bottle body (i.e. vertically downward). After the bottle cap is threadedly engaged with the bottle mouth, the rotary drive assembly drives the two clamping jaws 111 to rotate in the opposite direction around the axis of the bottle cap. At the same time, the first linear drive continues to drive the two clamping jaws 111 to move along the axis of the bottle cap toward the direction close to the bottle body, so that the bottle cap is re-closed on the opening of the bottle body.

[0092] Furthermore, the clamping and rotating mechanism 11 may be further constructed in the following manner but is not limited thereto, so as to achieve the two clamping jaws 111 moving closer to or farther away from each other.

[0093] Specifically, continue to refer to Figure 2The clamping and rotating mechanism 11 may further include a mounting seat 112, a transmission member 113 corresponding to the clamping jaws 111, and a clamping drive assembly 114. At this time, the mounting seat 112 may be connected to the output end of the aforementioned rotation drive assembly, that is, the output shaft of the rotating motor, so that the mounting seat 112 and the two clamping jaws 111 are driven to rotate synchronously through the rotating motor.

[0094] The transmission member 113 may include a first connecting rod 1131 and a second connecting rod 1132. For a single transmission member 113, a parallelogram mechanism is formed between the first connecting rod 1131, the second connecting rod 1132, the mounting seat 112 and the corresponding clamping jaw 111. Specifically, the first end of the first connecting rod 1131 is hingedly connected to the mounting seat 112 to form a first hinge point, and the second end of the first connecting rod 1131 is hingedly connected to the corresponding clamping jaw 111 to form a second hinge point; the first end of the second connecting rod 1132 is hingedly connected to the mounting seat 112 and forms a third hinge point, and the second end of the second connecting rod 1132 is hingedly connected to the corresponding clamping jaw 111 to form a fourth hinge point. Among them, the first connecting rod 1131 and the second connecting rod 1132 are parallel, and the distance from the first hinge point to the second hinge point is equal to the distance from the third hinge point to the fourth hinge point.

[0095] The clamping drive assembly 114 may be disposed on the mounting seat 112 , and the clamping drive assembly 114 is configured to drive the first connecting rods 1131 of the two transmission members 113 to rotate synchronously in opposite directions with their respective first hinge points as the center.

[0096] In this way, when the clamping drive assembly 114 drives the first connecting rods 1131 of the two transmission members 113 to rotate synchronously in opposite directions with their respective first hinge points as the center, the two jaws 111 can approach or move away from each other under the transmission action of the corresponding transmission member 113. Moreover, the transmission member 113 used in this embodiment can also make the two jaws 111 approach or move away from each other in a state of always being parallel, thereby helping to more reliably clamp and fix bottle caps with different diameters.

[0097] In some embodiments, continue to refer to Figure 2 , the first end of the first connecting rod 1131 of each transmission member 113 is provided with a tooth portion 1133, and the first connecting rods 1131 of the two transmission members 113 are meshed with each other by means of their respective tooth portions 1133. At this time, the clamping drive assembly 114 may include a clamping drive motor disposed on the mounting seat 112, and the clamping drive motor is transmission-connected to the first connecting rod 1131 of one of the transmission members 113 to drive the first connecting rod 1131 of the transmission member 113 to rotate around its first hinge point.

[0098] It can be understood that through the above-mentioned arrangement, it is possible to utilize one clamping drive motor to simultaneously drive the first connecting rods 1131 of the two transmission members 113 to rotate synchronously in opposite directions around their respective first hinge points, thereby facilitating optimization of the structural design of the entire clamping rotating mechanism 11 and reducing the manufacturing and use costs of the clamping rotating mechanism 11.

[0099] In some embodiments, continue to refer to Figure 2 The two clamping jaws 111 each include a clamping portion 1111 suitable for clamping the bottle cap, and the clamping portions 1111 of the two clamping jaws 111 are provided with an anti-slip structure 1112 on one side facing each other, so as to improve the effect of clamping and fixing the bottle cap with the two clamping jaws 111 and prevent the bottle cap from slipping when being screwed. The anti-slip structure 1112 may be anti-slip teeth, anti-slip patterns, anti-slip protrusions, etc.

[0100] In some embodiments, the needle used for injection generally includes a connecting portion and a puncture portion of an integrated structure. The connecting portion generally has a larger diameter than the puncture portion, and the connecting column is generally cylindrical, and the end of the connecting column away from the puncture portion is generally provided with a connecting groove, so that the needle can be connected to an external device (such as a pipeline, a syringe) by means of the connecting groove, and the side of the puncture portion away from the connecting portion is a sharp tip, so that the puncture portion can be inserted into the target object (such as a bottle stopper) by means of its own sharp tip.

[0101] On this basis, the puncture module 20 can be constructed in the manner described below but is not limited to the following, so that the needle with the above structure can be quickly and conveniently replaced for the preparation of different medicine bottles, and the puncture module 20 can be easily separated from the needle.

[0102] Specifically, combined Figure 3 and Figure 4 As shown, the puncture module 20 may include a needle mounting assembly 21 and a second linear drive 22 .

[0103] The needle installation assembly 21 includes a fixing member 211 and a movable member 212 arranged opposite to the fixing member 211, wherein a fixing slot 215 suitable for the connection portion of the needle to pass through is defined between the fixing member 211 and the movable member 212. In addition, the movable member 212 and the fixing member 211 are also configured to be able to approach or move away from each other, so that the connection portion passing through the fixing slot 215 can be clamped and fixed by the fixing member 211 and the movable member 212 approaching each other, or the connection portion can be released by the fixing member 211 and the movable member 212 moving away from each other, so as to release the clamping and fixing of the connection portion.

[0104] The second linear drive 22 is configured to drive the needle mounting assembly 21 to move along the axis of the needle. The second linear drive 22 may be a conventional linear drive such as an electric push rod, a cylinder, a hydraulic cylinder, etc., and the axis of the output shaft of the second linear drive 22 is parallel to the axis of the needle.

[0105] In this way, when the needle needs to be temporarily fixed on the puncture module 20, first let the connection part of the needle pass through the fixing groove 215 between the movable part 212 and the fixing part 211, and then just let the movable part 212 and the fixing part 211 approach each other to achieve clamping and fixing of the connection part of the needle. On this basis, when the needle needs to pierce the bottle stopper on the bottle body, first let the bottle stopper and the tip of the puncture part of the needle be aligned, and then use the second linear drive 22 to drive the needle installation assembly 21 together with the needle to move along the axis of the needle toward the direction of the bottle stopper, so that the puncture part of the needle can pierce the bottle stopper and communicate with the inside of the bottle body. After that, let the movable part 212 and the fixing part 211 move away from each other to release the clamping and fixing of the connection part of the needle, so as to achieve the separation of the puncture module 20 and the needle, and let the needle remain on the bottle stopper.

[0106] Correspondingly, in combination with the above, when the injection is completed and the needle needs to be removed from the bottle stopper, the connecting portion of the needle on the bottle stopper is first aligned with the fixing groove 215, and then the second linear drive 22 is used to drive the needle installation assembly 21 close to the bottle stopper until the connecting portion of the needle on the bottle stopper passes through the fixing groove 215. Secondly, the movable member 212 and the fixing member 211 are brought close to each other to clamp and fix the connecting portion of the needle again, and on this basis, the second linear drive 22 is used to drive the needle installation assembly 21 together with the needle to move along the axis of the needle in a direction away from the bottle stopper, so that the puncture portion of the needle can be extended from the bottle stopper, thereby achieving the removal of the needle reserved on the bottle stopper.

[0107] It should be noted that, in combination with the foregoing, based on the fact that the bottle body positioned on the positioning module 40 is in a vertical state and the bottle cap is located above the bottle body, therefore, when the needle is temporarily positioned in the fixing groove 215 of the needle mounting assembly 21, the needle is in a vertical state and the tip of the puncture portion of the needle faces downward. At this time, the second linear drive 22 drives the needle mounting assembly 21 to move along the axis of the needle, specifically driving the needle mounting assembly 21 to move along the vertical direction (that is, the z-axis).

[0108] In some embodiments, the fixed member 211 and the movable member 212 are inserted and slidably matched, for example, referring to Figure 5As shown, a plug-in portion 2111 can be provided on a side of the fixed member 211 facing the movable member 212, and a plug-in groove 2121 can be provided on a side of the movable member 212 facing the fixed member 211, and the plug-in portion 2111 can be inserted into the plug-in groove 2121 and slidably matched with the plug-in groove 2121, so as to realize the plug-in and sliding fit between the fixed member 211 and the movable member 212.

[0109] Meanwhile, a first groove body 2112 is provided on a side of the fixed member 211 facing the movable member 212 , a second groove body 2122 is provided on a side of the movable member 212 facing the fixed member 211 , and the first groove body 2112 and the second groove body 2122 together form a fixed groove 215 .

[0110] Continue to refer to Figure 3 or Figure 4 The needle mounting assembly 21 further includes a third linear actuator 213 corresponding to the movable member 212, and the third linear actuator 213 is configured to drive the movable member 212 to approach or move away from the fixed member 211. The third linear actuator 213 can be an electric push rod made of a lightweight material such as plastic to make it lighter.

[0111] Based on the above configuration, it is only necessary to reasonably control the third linear driver 213 to drive the movable part 212 to approach or move away from the fixed part 211, so as to clamp or release the connection part of the needle passing through the fixed slot 215. The third linear driver 213 moves synchronously with the movable part 212 and the fixed part 211 through the plug-in cooperation between the movable part 212 and the fixed part 211, and the third linear driver 213 has no substantial connection relationship with other parts except the movable part 212, so it is convenient to replace the movable part 212 together with the third linear driver 213.

[0112] Further, see Figure 6 As shown, the third linear drive 213 defines a guide hole 2131 extending along the moving direction of the needle mounting assembly 21 .

[0113] The puncture module 20 may further include a guide member 23 corresponding to the needle mounting assembly 21, and the position of the guide member 23 is immovable relative to the needle mounting assembly 21. The guide member 23 includes a guide shaft (not shown in the figure) and a guide groove 231, and the guide shaft and the guide groove 231 both extend along the moving direction of the needle mounting assembly 21, and the guide shaft passes through the guide hole 2131 on the third linear driver 213. At the same time, the third linear driver 213 is located in the guide groove 231 and is limited, that is, the third linear driver 213 can only move along the extension direction of the guide groove 231.

[0114] It can be understood that by further providing a guide member 23 having a guide shaft and a guide groove 231, and providing a guide hole that cooperates with the guide shaft on the third linear drive 213, while enabling the third linear drive 213 to reliably drive the movable member 212 to approach or move away from the fixed member 211, the third linear drive 213 can also play a good guiding role, which is beneficial for the movable member 212 to approach or move away from the fixed member 211 along a predetermined direction under the drive of the third linear drive 213, so as to prevent the movable member 212 from deviating during the movement as much as possible.

[0115] The guide member 23 may further include two parallel guide plates 232, and the space between the two guide plates 232 may be used as a guide groove 231 to simplify the function of the guide member 23 as much as possible. In this case, the guide shaft may be a member fixedly disposed between the two guide plates 232. Furthermore, the guide member 23 may be a member fixedly disposed on the frame 60 to be described below.

[0116] In some embodiments, reference Figure 3 or Figure 4 As shown, the needle installation assembly 21 further includes a stopper 214. The stopper 214 can be arranged above the fixing member 211, and the side of the connecting portion passing through the fixing groove 215 away from the puncture portion can abut against the stopper 214. By setting the stopper 214, the side of the connecting portion away from the puncture portion can be limited during the process of the needle piercing the bottle stopper, so as to prevent the connecting portion from falling out of the fixing groove 215.

[0117] In some embodiments, the puncture module 20 may also include a connecting seat 24, wherein the fixing member 211 and the limiting member 214 in the needle mounting assembly 21 may be fixedly disposed on the connecting seat 24, and the connecting seat 24 may be connected to the output end of the second linear drive 22, so as to utilize the second linear drive 22 to drive the connecting seat 24 and the needle mounting assembly 21 to move synchronously along the axis of the needle.

[0118] In some embodiments, when the needle has the structure described above, the injection module 30 can be constructed in the following manner but is not limited to the following manner, so that the injection module 30 can easily inject the reagent solution into the bottle body through the needle reserved on the bottle stopper.

[0119] Specifically, combined Figure 7 As shown, the injection module 30 may include an injection component and a fourth linear drive 31 .

[0120] The injection assembly may include at least one injection head 32. The injection head 32 may include an injection tube 321, which may be made of a hard material. The first end of the injection tube 321 is connected to the reagent liquid source, and the second end of the injection tube 321 extends along the axis of the needle and fits with the connection groove on the connection part, so that the second end of the injection tube 321 can be connected to the connection part of the needle reserved on the bottle stopper.

[0121] The fourth linear drive 31 is configured to drive the injection assembly to move along the axis of the needle. The fourth linear drive 31 may be a conventional linear drive such as an electric push rod, a cylinder, a hydraulic cylinder, etc., and the axis of the output shaft of the fourth linear drive 31 is parallel to the axis of the needle. The injection assembly may be fixedly arranged on the output shaft of the fourth linear drive 31.

[0122] Based on the above settings and in combination with the foregoing, after the puncture module 20 is used to reserve the needle on the bottle stopper and the medicine bottle with the needle reserved on the bottle stopper arrives at the injection module 30, first align the second end of the injection tube 321 of the corresponding injection head 32 with the connecting groove of the connecting part of the needle reserved on the bottle stopper, and then use the fourth linear drive 31 to drive the injection assembly to move along the axis of the needle in the direction close to the needle until the second end of the injection tube 321 extends into the connecting groove of the connecting part to complete the docking between the injection tube 321 and the connecting part, and thereafter, a predetermined amount of reagent liquid can be provided to the injection tube 321 through a reagent liquid source connected to the injection tube 321, so that the predetermined amount of reagent liquid enters the interior of the bottle body after flowing through the injection tube 321 and the needle.

[0123] After the injection is completed, the fourth linear drive 31 drives the injection assembly to move along the axis of the needle in a direction away from the needle, so that the injection tube 321 is removed from the connection groove of the connection part, thereby separating the injection tube 321 from the needle. At this time, the bottle body with completed injection can be moved to the puncture module 20 to facilitate the removal of the needle reserved on the bottle stopper.

[0124] It is understandable that, in actual implementation, a single injection assembly may include multiple injection heads 32, and the injection tubes 321 of the multiple injection heads 32 may be connected to different types of reagent liquid sources, so that different types of reagent liquids can be injected into the bottle body of a single medicine bottle as needed. Figure 7 FIG. 3 shows a situation where a single injection assembly includes six injection heads 32 so as to selectively inject any one of six reagent solutions into the bottle body of the medicine bottle.

[0125] Meanwhile, multiple fourth linear actuators 31 may be configured to jointly drive the injection assembly to move, so as to improve the reliability of the injection assembly when moving. For example, the drawings of the embodiment of the present invention show a situation where two fourth linear actuators 31 are arranged opposite to each other.

[0126] In some embodiments, continue to refer to Figure 7 In the case where there are multiple injection heads 32, the injection module 30 may further include a connecting plate 33. The multiple injection heads 32 of the injection assembly may be simultaneously arranged on the connecting plate 33, for example, the multiple injection heads 32 in the injection assembly are arranged in a line on the connecting plate 33, and the connecting plate 33 is connected to the output end of the fourth linear driver 31, so that the fourth linear driver 31 is used to drive the connecting plate 33 and the injection heads 32 in the injection assembly to move synchronously along the axis of the needle.

[0127] In some embodiments, in combination Figures 7 to 9 As shown in the figure, the injection head 32 may further include a mounting member 322 fixedly disposed at the bottom of the connecting plate 33. The mounting member 322 has a first side and a second side opposite to each other, the first side of the mounting member 322 is detachably connected to the connecting plate 33, and the first side of the mounting member 322 is provided with a receiving groove 323 in an open structure, the first end of the receiving groove 323 passes through the circumferential side wall of the mounting member 322. In the state where the first side of the mounting member 322 is connected to the connecting plate 33, the opening of the receiving groove 323 is blocked and covered by the connecting plate 33.

[0128] The injection pipe 321 is positioned at the second side of the mounting member 322, and the first end of the injection pipe 321 is connected to the second end of the receiving groove 323. The injection pipe 321 and the mounting member 322 may be an integrally formed structure.

[0129] At this time, in order to enable the injection tube 321 to communicate with the external reagent liquid source, a hose is provided between the injection tube 321 and the reagent liquid source, wherein one end of the hose is connected to the reagent liquid source, and the other end of the hose passes through the receiving groove 323 and is inserted into the injection tube 321 through the first end of the injection tube 321. In this way, not only the conduction between the injection tube 321 and the reagent liquid source is achieved, but also the connection between the second end of the injection tube 321 and the hose is limited to protect the connection, so as to prevent the hose from being easily separated from the injection tube 321. At the same time, this structural design is also convenient for replacing the hose or performing maintenance.

[0130] In some embodiments, considering that general medicine bottles are usually cylindrical, the positioning module 40 can be constructed in the following manner but is not limited to achieve convenient positioning of the bottle body of the medicine bottle.

[0131] Specifically, combined Fig.10 and Fig.11As shown, the positioning module 40 may include a carrier 41 and a positioning assembly 42. The carrier 41 defines a bearing surface 411 suitable for bearing the bottle body from the bottom surface of the bottle body. The carrier 41 is configured to be movable between the opening and closing cover module 10, the puncture module 20 and the injection module 30.

[0132] The positioning assembly 42 includes a first positioning member 421 and a second positioning member 422, which are arranged on the bearing surface 411 to define a positioning space suitable for accommodating a bottle body between the first positioning member 421 and the second positioning member 422. At the same time, the first positioning member 421 and the second positioning member 422 can move with the bearing member 41.

[0133] Furthermore, the first positioning member 421 and the second positioning member 422 are also configured to be able to approach or move away from each other, so that the bottle body in the positioning space can be clamped and fixed by using the first positioning member 421 and the second positioning member 422 that are close to each other, or the bottle body can be released by using the first positioning member 421 and the second positioning member 422 that are far away from each other to release the bottle body, so as to release the clamping and fixation of the bottle body.

[0134] Based on the above arrangement, when the bottle body of the medicine bottle needs to be positioned, the bottom surface of the bottle body is first supported on the supporting surface 411 of the supporting member 41, and then the bottle body can be clamped and fixed by only moving the first positioning member 421 and the second positioning member 422 closer to each other. Conversely, the clamping and fixing of the bottle body can be released by only moving the first positioning member 421 and the second positioning member 422 away from each other. On this basis, the medicine bottle can be transferred to different modules by only moving the supporting member 41 between the opening and closing cover module 10, the puncture module 20 and the injection module 30.

[0135] Furthermore, the positioning assembly 42 further includes a fifth linear drive 423, which is configured to drive the first positioning member 421 to approach or move away from the second positioning member 422. The fifth linear drive 423 may be a conventional linear drive such as an electric push rod, a cylinder, a hydraulic cylinder, etc., and the output shaft of the fifth linear drive 423 is connected to the first positioning member 421. The first positioning member 421 and the second positioning member 422 may be in the form of a plate to simplify the structure of the first positioning member 421 and the second positioning member 422 as much as possible.

[0136] In some embodiments, Figure 1 As shown, the cover opening and closing module 10, the puncture module 20 and the injection module 30 can be arranged on the same straight line. At this time, the positioning module 40 only needs to move along the straight line to transfer the medicine bottle to any one of the cover opening and closing module 10, the puncture module 20 and the injection module 30.

[0137] On this basis, the power module 50 can be constructed in the following manner but is not limited thereto, so that the positioning module 40 can more accurately drive the reagent bottle to move to a predetermined position.

[0138] Specifically, combined Fig.10 As shown, the power module 50 may include a rack 51, a gear 52, and a mobile drive motor 53. The rack 51 is fixedly arranged along the moving direction of the positioning module 40, the gear 52 is transmission-connected to the output end of the mobile drive motor 53, and the gear 52 is meshed with the rack 51. The mobile drive motor 53 is fixedly arranged on the positioning module 40, for example, on the carrier 41 of the positioning module 40. Among them, the mobile drive motor 53 may be a stepping motor with good control accuracy.

[0139] Based on the above configuration, when the mobile drive motor 53 drives the gear 52 to rotate, under the transmission cooperation between the gear 52 and the rack 51, the mobile drive motor 53 together with the positioning module 40 will move synchronously along the extension direction of the rack 51, thereby allowing the positioning module 40 to drive the medicine bottle to move between the opening and closing cover module 10, the puncture module 20 and the injection module 30.

[0140] It can be understood that the use of a power module 50 composed of a gear 52 and a rack 51 can eliminate the need to set positioning components such as sensors and position switches for locating the position of the positioning module 40 on the moving path of the positioning module 40, while ensuring that the positioning module 40 can accurately drive the reagent bottle to move to the predetermined position, thereby saving the time required for the positioning component to locate the position of the positioning module 40, helping to improve the liquid preparation efficiency while also reducing costs.

[0141] At the same time, the injection module 30 can be arranged between the cover opening and closing module 10 and the puncture module 20, so as to reduce the time required for the positioning module 40 to transfer the medicine bottle between the cover opening and closing module 10, the injection module 30 and the puncture module 20 to complete the entire liquid preparation process, and further improve the liquid preparation efficiency. For example, the inventor of the present invention has proved in practice that when the liquid preparation robot disclosed in the embodiment of the present invention is used to prepare liquid for a single medicine bottle, it takes only about 2 minutes from the start of liquid preparation to the end of liquid preparation.

[0142] For further information, please refer to Fig.10 The power module 50 may further include a guide post 54, which extends along the moving direction of the positioning module 40, that is, the guide post 54 is parallel to the rack 51. The guide post 54 passes through the bearing member 41 of the positioning module 40 and is slidably matched with the bearing member 41.

[0143] By setting the guide column 54, the supporting member 41 can be guided, thereby ensuring that when the mobile drive motor 53 is working, the mobile drive motor 53 together with the supporting member 41 can reliably move along the extension direction of the rack 51, so that the positioning module 40 can drive the medicine bottle to reliably move between the opening and closing cover module 10, the puncture module 20 and the injection module 30.

[0144] In some embodiments, the medicine bottle is also provided with an identification piece, for example, the identification piece can be provided on the outer wall of the bottle body. The identification piece is used to identify the basic information of the medicine bottle, and the basic information may include the type of powdered reagent contained in the medicine bottle, the type of reagent liquid required for the preparation of the medicine bottle, and the amount of the reagent liquid, etc. The identification piece can be in the form of, but not limited to, a QR code, a bar code, etc.

[0145] At this time, the liquid dispensing robot may also include a scanning module (not shown in the figure), which is at least used to identify the identification piece on the medicine bottle to obtain the basic information of the medicine bottle, and control the positioning module 40 to reach the predetermined position of the injection module 30 based on the basic information of the medicine bottle, so as to inject a predetermined type and a predetermined amount of reagent liquid into the bottle body of the medicine bottle through the injection module 30. Among them, the scanning module can be but not limited to a scanner, and the process of identifying the identification piece can be completed manually.

[0146] In addition, the scanning module should identify the identification piece on the medicine bottle before removing the bottle cap from the bottle body for the first time. That is to say, when preparing liquid, the scanning module should be used to identify the identification piece on the medicine bottle to at least determine the type and amount of the reagent liquid required for preparation, and then the medicine bottle should be positioned to the positioning module 40 to perform subsequent preparation operations such as removing the bottle cap, reserving the needle, injecting the reagent liquid, removing the needle, and closing the bottle cap.

[0147] In some embodiments, Figure 1 As shown, the liquid dispensing robot may further include a frame 60. The frame 60 is mainly used to provide a carrier for the installation of components such as the opening and closing cover module 10, the puncture module 20, the injection module 30, and the power module 50. That is, the opening and closing cover module 10, the puncture module 20, the injection module 30, and the power module 50 may be arranged on the frame 60 to form an integrated liquid dispensing robot.

[0148] For example, the first linear drive of the opening and closing cover module 10, the second linear drive 22 and the guide member 23 of the puncture module 20, the fourth linear drive 31 of the injection module 30, the rack 51 and the guide column 54 of the power module 50 and other components can be used as fixed components and arranged on the frame 60. The frame 60 can be a frame structure made of aluminum alloy material, and the weight of the frame 60 can be reduced as much as possible on the basis of ensuring that the frame 60 has a good bearing capacity.

[0149] In addition, it is worth noting that in actual implementation, the number of the positioning components 42 in the positioning module 40, the clamping and rotating mechanism 11 in the opening and closing cover module 10, the needle mounting component 21 in the puncture module 20, and the injection component in the injection module 30 can be set as needed, so that the liquid dispensing robot can dispense liquid to multiple medicine bottles at a time, thereby further improving the liquid dispensing effect. For example, the drawings of the embodiments of the present invention show that the opening and closing cover module 10 includes two clamping and rotating mechanisms 11, the puncture module 20 includes two needle mounting components 21, and the injection module 30 includes two injection components, so that the liquid dispensing robot can dispense liquid to two medicine bottles at a time.

[0150] Example 2

[0151] On the basis of Example 1, in order to facilitate the liquid dispensing robot to more efficiently continuously dispense liquid to a large number of medicine bottles, this Example 2 makes further improvements to the liquid dispensing robot. Different from Example 1, the liquid dispensing robot disclosed in Example 2 can also include a feeding module (not shown in the figure).

[0152] Among them, the feeding module is configured to provide the required needles to the puncture module 20. That is, the needles used by the puncture module 20 to puncture the bottle stopper of the medicine bottle come from the feeding module. Through the setting of the feeding module, when the liquid preparation robot completes the liquid filling of a medicine bottle and the puncture module 20 removes the needle reserved on the bottle stopper, the new needle provided by the feeding module can be loaded on the puncture module 20, so as to prepare for the preparation of the next medicine bottle.

[0153] The feeding module may include a feeding tray loaded with needles, and the feeding tray may move along a path under the conveyance of a conventional conveying mechanism, so as to convey the needles to the puncture module 20 for use through the feeding tray.

[0154] Example 3

[0155] On the basis of Example 1, considering the preparation of the medicine bottle, in addition to the need to inject the reagent liquid into the bottle body of the medicine bottle to mix with the powdered reagent, there may also be a need to shake the mixed powdered reagent and reagent liquid, and to incubate and heat the shaken powdered reagent and reagent liquid.

[0156] To this end, this embodiment 3 discloses a liquid preparation robot of another structural form. Different from the embodiment 1, the liquid preparation robot disclosed in this embodiment 3 may also include a shaking module and an incubation and heating module.

[0157] In the present embodiment 3, the shaking module is configured to shake the powdered reagent and the reagent liquid in the medicine bottle after the liquid injection is completed. That is to say, in combination with the contents described in the embodiment 1, after the liquid injection of the medicine bottle is completed, the needle reserved on the bottle plug is removed from the bottle plug by the puncture module 20, and the bottle cap is closed on the bottle mouth of the bottle body by the opening and closing cover module 10, the entire medicine bottle can be transferred to the shaking module, so that the powdered reagent and the reagent liquid in the medicine bottle can be shaken evenly by the shaking module.

[0158] The shaking module can be but is not limited to a roller mixer, such as the QW-GZ-5 roller mixer of Qiwei Instrument Co., Ltd. Such a roller mixer is a mixer with five rollers, each of which is driven by a gear system and can rotate synchronously at the same speed. When the shaking operation is actually performed, the reagent bottle is first placed on the roller of the roller mixer, and then the roller mixer is started to shake the powder reagent and the reagent liquid in the medicine bottle within a predetermined time range (e.g., 5 minutes), and the medicine bottle can be transferred to the incubation and heating module after shaking.

[0159] In this embodiment 3, the incubation and heating module is configured to incubate and heat the powdered reagent and reagent solution after being shaken in the reagent bottle to ensure that the final prepared liquid medicine meets the use requirements.

[0160] The incubation and heating module may be, but is not limited to, an incubation and heating box known in the prior art. During the incubation and heating process, the entire medicine bottle is placed in the incubation and heating box.

[0161] Example 4

[0162] On the basis of Example 1, the inventors of the present invention further discovered that in order for the needle to successfully pierce the bottle stopper and connect with the interior of the bottle body, or for the needle reserved on the bottle stopper to be separated from the bottle stopper (that is, to pull the needle out of the bottle stopper), it is necessary to reasonably control the loading force applied to the needle to make the needle move relative to the bottle stopper.

[0163] To this end, this embodiment 4 discloses a process for determining the loading force acting on the needle.

[0164] Specifically, in the process of the needle piercing the bottle stopper to reserve on the bottle stopper, the resistance encountered by the needle mainly comes from the friction of the needle in the bottle stopper and the impact shear of the bottle stopper. In the process of the needle piercing the bottle stopper, the friction resistance f between the needle and the bottle stopper gradually increases, and the relationship can be expressed as:

[0165] f=μ dyna PD

[0166] In the above formula: μ dynais the dynamic friction coefficient; P is the pressure applied by the bottle stopper to the outer wall of the needle during the puncture process; D is the puncture depth of the needle in the bottle stopper during the puncture process; d is the outer diameter of the needle, specifically the outer diameter of the puncture part.

[0167] In order for the needle to successfully pierce the bottle stopper, the loading force applied to the needle must overcome the average maximum shear strength τ of the needle during puncture. ave Taking into account that the actual shape of the tip of the piercing portion of the needle is not flat but significantly inclined, this means that the average maximum shear strength τ measured is ave It is lower than the theoretical shear strength of the needle material. Therefore, when the needle pierces the bottle stopper, the loading force F applied to the needle is load It can be expressed as:

[0168] F load >τ ave A cross +f

[0169] In the above formula: τ ave is the average maximum shear strength; A cross is the cross-sectional area of ​​the needle, specifically the cross-sectional area of ​​the puncture part; f is the friction resistance between the needle and the bottle stopper during the process of the needle piercing the bottle stopper.

[0170] Correspondingly, in the process of separating the needle reserved on the bottle stopper from the bottle stopper, the loading force applied to the needle is generally 2-3 times that of the puncture process. In this process, the only resistance to the needle is friction, and there is no shear force corresponding to the shear strength. static As well as the deepest puncture depth in the cork (i.e., the thickness of the cork), the friction force on the needle is the greatest at the beginning of the needle withdrawal process. Therefore, in the process of separating the needle reserved on the cork from the cork, the loading force F' applied to the needle is load Need to meet:

[0171] F′ load >μ static P′Td

[0172] In the above formula: μ static is the maximum static friction coefficient; P′ is the pressure applied by the bottle stopper to the outer wall of the needle during the separation of the needle and the bottle stopper; T is the thickness of the bottle stopper; d is the outer diameter of the needle, specifically the outer diameter of the puncture part.

[0173] It is worth noting that, in order to meet the requirement of applying a predetermined loading force to the needle, the second linear drive 22 in the puncture module 20 uses a high-performance linear drive so that it can provide a sufficiently large loading force to the needle. For example, the second linear drive 22 can provide a loading force of 300N when fully loaded.

[0174] At the same time, in order to avoid the bending moment that may be generated in the bottle stopper during the process of the needle piercing the bottle stopper or the needle and the bottle stopper being separated, which may cause permanent wear and deformation of the needle, thereby causing deviation of the puncture position and changing the horizontal force of the reagent bottle, the mechanical structure of the puncture module 20 (such as the fixing part 211, the movable part 212, the mounting seat 24, etc.) can be manufactured by a 3D printing process with an accuracy of 0.15mm to ensure that the tolerance of all mechanical structures is within 0.1mm. In addition, the printing material uses PC-ABS material with a high elastic modulus and brittleness. The outer diameter of the puncture portion of the needle can be 1.4mm, and the puncture portion can be made of steel material with a high elastic modulus to reduce the possibility of deformation of the needle due to the influence of bending moment.

[0175] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A liquid dispensing robot for powdered reagents, applied to a medicine bottle, wherein the medicine bottle comprises a bottle body, a bottle plug inserted into a bottle mouth of the bottle body, and a bottle cap removably covered at the bottle mouth of the bottle body, characterized in that: The liquid dispensing robot comprises: frame; An opening and closing cover module is arranged on the frame; the opening and closing cover module is configured to remove the bottle cap from the bottle body and close the bottle cap on the bottle mouth of the bottle body; A puncture module is arranged on the frame; the puncture module is used to provide needles corresponding to the medicine bottles one by one; and the puncture module is configured to allow the needles to puncture the bottle stopper to be reserved on the bottle stopper, and to remove the needles reserved on the bottle stopper from the bottle stopper; The liquid injection module is arranged on the frame; the liquid injection module is configured to inject the reagent solution into the bottle body through the needle reserved on the bottle stopper, and separate from the needle after the liquid injection is completed.

2. The liquid dispensing robot for powdered reagents according to claim 1, characterized in that: The needle head comprises a connecting portion and a puncture portion, and a connecting groove is provided at one end of the connecting portion away from the puncture portion; The puncture module comprises a needle mounting assembly and a second linear drive; the needle assembly comprises a fixed part and a movable part arranged opposite to the fixed part, a fixed groove suitable for the connecting part to pass through is defined between the fixed part and the movable part; and the movable part and the fixed part are also configured to be able to approach or move away from each other; The second linear drive is configured to drive the needle mounting assembly to move along the axis of the needle, and the second linear drive is disposed on the frame.

3. The liquid dispensing robot for powdered reagents according to claim 2, characterized in that: The needle installation assembly further comprises a limiting member, which is arranged above the fixing member, and a side of the connecting portion away from the puncture portion abuts against the limiting member.

4. The liquid dispensing robot for powdered reagents according to claim 2, characterized in that: The injection module includes an injection assembly and a fourth linear drive, wherein the fourth linear drive is configured to drive the injection assembly to move along the axis of the needle, and the fourth linear drive is disposed on the frame; The liquid injection assembly includes at least one liquid injection head, and the liquid injection head includes a liquid injection tube; The first end of the injection tube is connected to the reagent liquid source, and the second end of the injection tube extends along the axis of the needle and is adapted to the connecting groove.

5. The liquid dispensing robot for powdered reagents according to claim 4, characterized in that: The injection module further includes a connecting plate connected to an output end of the fourth linear actuator; The injection head further includes a mounting member, the mounting member having a first side and a second side opposite to each other, the first side of the mounting member being detachably connected to the connecting plate, and the first side of the mounting member being provided with a receiving groove in an open structure, the first end of the receiving groove penetrating through the circumferential side wall of the mounting member; The injection pipe is positioned at the second side of the mounting member, and the first end of the injection pipe is connected to the second end of the receiving groove; A hose is provided between the injection tube and the reagent liquid source, one end of the hose is connected to the reagent liquid source, and the other end of the hose passes through the containing tank and is inserted into the injection tube through the first end of the injection tube.

6. The liquid dispensing robot for powdered reagents according to claim 1, characterized in that: The liquid dispensing robot also includes a positioning module and a power module; The positioning module is used to realize the positioning of the bottle body, and the positioning module is also configured to be able to move between the opening and closing cover module, the puncture module and the injection module; The power module is configured to provide power for movement of the positioning module.

7. The liquid dispensing robot for powdered reagents according to claim 6, characterized in that: The opening and closing cover module, the puncture module and the injection module are arranged on the same straight line; The power module includes a rack, a gear and a mobile drive motor; The rack is fixedly arranged along the moving direction of the positioning module, the gear transmission is connected to the moving drive motor, the gear is meshed with the rack, and the moving drive motor is arranged on the positioning module.

8. The liquid dispensing robot for powdered reagents according to claim 1, characterized in that: The bottle cap is threadedly connected to the bottle body; The opening and closing cover module includes a clamping and rotating mechanism and a first linear drive; The clamping and rotating mechanism comprises two clamping jaws arranged opposite to each other, and a rotating driving assembly; A clamping space suitable for accommodating the bottle cap is defined between the two clamping jaws, and the two clamping jaws are configured to be able to move closer to or farther from each other; The rotation drive assembly is configured to drive the two clamping jaws to rotate around the axis of the bottle cap; The first linear drive is configured to drive the two clamping jaws to move along the axis of the bottle cap, and the first linear drive is disposed on the frame.

9. The liquid dispensing robot for powdered reagents according to claim 8, characterized in that: The rotary drive assembly is arranged at the output end of the first linear drive; The clamping and rotating mechanism further comprises a mounting seat, a transmission member corresponding to the clamping claws one by one, and a clamping drive assembly; the mounting seat is arranged at the output end of the rotating drive assembly; The transmission member includes a first connecting rod and a second connecting rod; the first end of the first connecting rod is hingedly connected to the mounting seat to form a first hinge point, and the second end of the first connecting rod is hingedly connected to the corresponding clamping claw to form a second hinge point; the first end of the second connecting rod is hingedly connected to the mounting seat and forms a third hinge point, and the second end of the second connecting rod is hingedly connected to the corresponding clamping claw to form a fourth hinge point; wherein the first connecting rod and the second connecting rod are parallel, and the distance from the first hinge point to the second hinge point is equal to the distance from the third hinge point to the fourth hinge point; The clamping drive assembly is configured to drive the first connecting rods of the two transmission members to rotate synchronously in opposite directions around their respective first hinge points.

10. A liquid preparation method, characterized in that: Using the liquid preparation robot for powdered reagents as described in any one of claims 1 to 9, the method comprises: Move the medicine bottle to the cover opening and closing module so as to remove the bottle cap on the bottle body through the cover opening and closing module; The medicine bottle with the bottle cap removed is moved to the puncture module, so that the needle corresponding to the medicine bottle punctures the bottle stopper through the puncture module until the needle is connected to the inside of the bottle body; then, the puncture module is separated from the needle, so that the needle remains on the bottle stopper; Move the medicine bottle with the needle reserved on the bottle stopper to the injection module, and the injection module injects a predetermined amount of reagent liquid into the bottle body through the needle reserved on the bottle stopper; After the injection is completed, the injection module is separated from the needle reserved on the bottle stopper; the injected medicine bottle is moved to the puncture module again, so that the needle is removed from the bottle stopper by using the puncture module; After the needle is removed from the bottle stopper, the medicine bottle with the needle removed is moved to the opening and closing cover module again, so that the bottle cap is closed on the bottle mouth of the bottle body by using the opening and closing cover module.

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