Uniform mixing device for medicament mixing

Abstract

The invention relates to the technical field of medical instruments, and discloses a uniform mixing device for medicament mixing, which comprises a clamping assembly, the clamping assembly is rotatably connected with a first base, the first base is matched with a first driving assembly, the first base is rotatably connected with a second base, the second base is matched with a second driving assembly, and the second base is matched with a third base. The third base is provided with a third driving assembly in a matched mode. In the process that the needle penetrates into the penicillin bottle, the first driving assembly enables the penicillin bottle to rotate around the central axis of the penicillin bottle, the second driving assembly enables the inclination angle of the penicillin bottle relative to the horizontal plane to be changed, and the third driving assembly enables the length of the portion, stretching into the penicillin bottle, of the needle to be gradually increased. The liquid column pushed out of the needle head impacts the side wall of the penicillin bottle in the direction from the direction away from the bottle bottom of the penicillin bottle to the direction close to the bottle bottom of the penicillin bottle till the needle head stretches into the bottle bottom of the penicillin bottle; according to the device, the dissolving efficiency of the powdery medicament in the penicillin bottle can be improved, and the efficiency of extracting the powdery medicament in the penicillin bottle by the extracting device is improved.

Description

Technical Field

[0001] The invention relates to the technical field of medical devices, and in particular to a mixing device for mixing medicines. Background Art

[0002] At present, dispensing robots are often used for dispensing operations. During the dispensing process, it is usually necessary to inject the medicine in the syringe bottle into the infusion bottle. The specific operation is to use an extraction device to suck in a proper amount of liquid medicine, which can be the liquid medicine in the infusion bottle, and then use the extraction device to inject the sucked liquid medicine into the syringe bottle, so that the liquid medicine injected into the syringe bottle is mixed with the powdered medicine in the syringe bottle, so that the powdered medicine is dissolved in the liquid medicine.

[0003] Although the current medicine dispensing robot can reduce the manpower input cost and facilitate medicine dispensing compared with manual medicine dispensing, the inventors found that the current medicine dispensing robot still has some shortcomings in the actual medicine dispensing process, specifically: After the extraction device injects the liquid medicine into the vial, in order to speed up the dissolution of the powdered medicine, the vial is usually shaken after the liquid medicine is injected into the vial. For example, the automatic vial dispensing device in the Chinese patent application number CN202311428915.8, the invention name of which is a collaborative robot-based automatic vial dispensing device and method, uses a vial module to shake the stock solution to speed up the dissolution of the powdered medicine in the liquid medicine. However, in the daily dispensing process, the powdered medicine in the vial to be used may be attached to the inner wall of the vial. In the process of shaking the vial after the liquid medicine is injected into the vial, the force of shaking the vial is increased. When the temperature is low, the powdered medicine at the bottom of the vial will be dissolved while the powdered medicine attached to the side wall of the vial will not be dissolved, which will increase the powdered medicine residue in the vial; and before shaking the vial, the needle must be inserted into the vial to inject the medicine solution, then the needle must be pulled out, and the vial must be shaken again. After the shaking of the vial is completed, the needle must be inserted into the vial again to allow the extraction device to extract the medicine solution in the vial. In this way, during the process of the extraction device injecting and extracting liquid into the vial, there is also a process of separately mixing the medicine solution in the vial, which is not conducive to improving the efficiency of the extraction device in extracting the powdered medicine in the vial.

[0004] Therefore, based on the above-mentioned shortcomings, there is an urgent need to design a mixing device for mixing medicines to improve the dissolution efficiency of the powdered medicine in the vial and to improve the efficiency of the extraction device in extracting the powdered medicine in the vial. Summary of the invention

[0005] In order to solve the above-mentioned deficiencies in the prior art, the present invention provides a mixing device for mixing medicines to improve the dissolution efficiency of the powdered medicine in the vial and improve the efficiency of the extraction device in extracting the powdered medicine in the vial.

[0006] In order to achieve the above technical purpose, the technical solution adopted by the present invention is: A mixing device for mixing medicines, comprising a clamping assembly, the clamping assembly is used to clamp a vial, the central axis of the vial when clamped is collinear with the central axis of the clamping assembly, the clamping assembly is rotatably connected to a first base, the first base is adapted to be equipped with a first driving assembly, the first driving assembly is used to drive the clamping assembly to rotate relative to the first base around the central axis of the clamping assembly; The first base is rotatably connected to the second base, the second base is adapted to be equipped with a second driving assembly, the second driving assembly is used to drive the first base to rotate, and the rotation axis between the first base and the second base is perpendicular to the rotation axis between the first base and the clamping assembly, the second driving assembly drives the first base to rotate so that the clamped vial is tilted; The second base is adapted to be equipped with a third base, and the third base is adapted to be equipped with a third driving assembly, and the third driving assembly is used to drive the second base to move vertically; The first drive assembly, the second drive assembly and the third drive assembly are all electrically connected to a controller.

[0007] As the priority technical solution of the present application, the clamping assembly includes a first clamping arm and a second clamping arm, the first clamping arm includes a first clamping arm body and a first supporting member, the second clamping arm includes a second clamping arm body, the first clamping arm body and the second clamping arm body are used to clamp the side wall of the vial, and the first supporting member is used to support the bottom of the vial.

[0008] As a preferred technical solution of the present application, the clamping surfaces on the first clamp arm body and the second clamp arm body for clamping the vial are arc-shaped, and the clamping surface on the first clamp arm body and the clamping surface on the second clamp arm body have the same curvature.

[0009] As a preferred technical solution of the present application, a first slide groove is provided on the first clamp arm body, a first slider is provided on the first supporting member, the first slider is clamped in the first slide groove, the length direction of the first slide groove is in the same direction as the central axis direction of the clamp arm assembly, and the first slider can move along the length direction of the first slide groove. As a preferred technical solution of the present application, the clamping assembly also includes a first knob component, one end of which passes through the first clamp arm body and is threadedly connected to the first slider. The first knob component is rotated relative to the first slider to make the first knob component and the first clamp arm body abut or release the abutment.

[0010] As a preferred technical solution of the present application, the first driving assembly includes a first annular gear ring, a first driving gear and a first motor, the first driving gear being connected to the output shaft of the first motor, the first motor being arranged on a first base, the first annular gear ring being arranged at the lower part of the clamping assembly, the first driving gear being meshed with the first annular gear ring, and the rotation of the first motor causes the first driving gear to drive the first annular gear ring to rotate, so as to drive the clamping assembly to rotate relative to the first base around its own central axis.

[0011] As a preferred technical solution of the present application, the second drive assembly includes a second arc-shaped rack, a second drive gear and a second motor, the second drive gear is connected to the output shaft of the second motor, the second motor is arranged on the second base, the second arc-shaped rack is arranged on the first base, the second drive gear is meshed with the second arc-shaped rack, and the second motor is driven to rotate so that the second drive gear drives the second arc-shaped rack to rotate, thereby driving the first base to rotate relative to the second base.

[0012] As a preferred technical solution of the present application, the second base includes a second main base and a second sub-base, the second main base is adapted to the first base, the second sub-base is adapted to the third base, a fourth motor is arranged on the second sub-base, the output shaft of the fourth motor is connected to the second main base, and the fourth motor is driven to rotate so that the second main base rotates relative to the second sub-base around the central axis direction of the second main base.

[0013] As the priority technical solution of the present application, the third driving assembly includes a third spur rack, a third driving gear and a third motor. The third driving gear is connected to the output shaft of the third motor. The third motor is arranged on the second sub-base. The third spur rack is arranged on the third base. The third driving gear is meshed with the third spur rack. The third motor is driven to rotate so that the third driving gear rotates relative to the third spur rack, so that the second sub-base moves along the height direction of the third base.

[0014] As the preferred technical solution of the present application, the clamping assembly also includes a clamping seat, which has an annular structure and is rotatably connected to the first base. The clamping seat is provided with a first matching hole and a second matching hole, the first clamp arm body is connected to the first support arm, and the second clamp arm body is connected to the second support arm, the first matching hole matches the first support arm, and the second matching hole matches the second support arm, a first support arm slider is provided on the first support arm, and a second support arm slider is provided on the second support arm, and a lead screw is rotatably connected to the clamping seat, one end of the lead screw is threadedly matched with the first support arm slider, and the other end of the lead screw is threadedly matched with the second support arm slider, the corresponding two sections of the thread on the lead screw have opposite rotation directions, and when the lead screw rotates relative to the clamping seat, the first clamp arm body and the second clamp arm body synchronously approach or move away from the central axis of the clamping seat.

[0015] The beneficial effects of the present invention are: The mixing device for mixing medicines of the present application is provided with a clamping assembly, a first base, a second base and a third base, and corresponding first drive assemblies, a second drive assembly and a third drive assembly, so that during the process in which the needle on the extraction device penetrates into the stopper of the vial, the vial can continuously rotate around its own central axis, and the inclination angle α of the vial relative to the horizontal plane changes, while the needle on the extraction device can remain stationary, and by driving the third drive assembly, the second base is moved vertically to change the height of the second base, thereby increasing the length of the needle inserted into the vial, so that the needle gradually extends to the bottom of the vial, and during the process in which the needle gradually extends into the bottom of the bottle, the extraction device does not The broken needle injects liquid medicine into the vial, so that the liquid medicine pushed out from the needle can impact the side wall of the vial from the bottom of the vial far away from the vial to the bottom of the vial close to the vial, so as to facilitate the formed liquid column to impact the powdered medicine attached to the side wall of the vial. At the same time, with the rotation of the vial and the change of the position of the vial relative to the needle, the liquid column impacts the side wall of the vial in a spiral shape relative to the vial, so as to increase the coverage rate of the powdered medicine on the side wall for impact and dissolution, thereby improving the dissolution efficiency of the powdered medicine; and, in the process of the needle moving relative to the vial and the vial rotating, the needle on the corresponding extraction device can remain stationary, which can improve the stability of the extraction device operation. At the same time, while the extraction device is continuously injecting liquid medicine into the vial, the needle is continuously approaching the bottom of the vial, and the vial itself is continuously rotating, which further accelerates the mixing of the powdered medicine and liquid medicine in the vial. During the mixing of the medicine in the vial, there is no need to withdraw the needle from the vial, so that the mixing device of the present application does not have to separately mix the medicine in the vial during operation. The vial medicine mixing step and the liquid injection step of the extraction device are performed simultaneously, which can further shorten the dispensing time, thereby further shortening the time of the entire process of the extraction device injecting liquid medicine into the vial and extracting liquid medicine, thereby improving the efficiency of the extraction device in extracting the powdered medicine in the vial.

[0016] The mixing device for mixing medicines of the present application has a central axis of the clamping assembly inclined relative to the horizontal plane when the needle is inserted into the bottom of the vial, so that the vial clamped by the clamping assembly is inclined, and the end of the inserted needle is located at the lowest point of the bottom of the vial. In this way, after the needle reaches the bottom of the vial, the medicine liquid in the vial has been mixed. When the medicine liquid in the vial is extracted, the extraction pad is located at the lowest point of the bottom of the vial, which can greatly reduce the residual medicine liquid in the vial, thereby improving the transfer rate of the powdered medicine in the vial to the extraction device.

[0017] The mixing device for mixing medicines of the present application is provided with a second main base and a second auxiliary base, so that the second main base is adapted to the first base, and the second auxiliary base is adapted to the third base, that is, the second base is rotatably connected to the first base through the second main base, and the second base is matched with the third base through the second auxiliary base. By providing a fourth motor, when the fourth motor is driven to rotate, the second main base rotates relative to the second auxiliary base around the central axis of the second main base under its driving force, and its rotation axis passes through the part of the stopper of the syringe bottle for needle insertion; in this way, when the second auxiliary base is driven to rotate, the syringe bottle can be shaken, and the rotation axis of the syringe bottle when it is shaken under the drive of the second auxiliary base is in an intersecting or skewed state with the central axis of the syringe bottle, and the angle between the rotation axis of the syringe bottle when it is shaken under the drive of the second auxiliary base and the central axis of the syringe bottle changes at all times, which further aggravates the irregular movement of the liquid medicine in the syringe bottle when it is shaken, and further improves the mixing effect of the liquid medicine. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 This is a schematic structural diagram of one embodiment of a mixing device for mixing medicines in the present application; Figure 2 This is a schematic structural diagram of a mixing device for mixing medicines in one embodiment of the present application, located at a clamping component; Figure 3 This is a schematic structural diagram of a mixing device for mixing medicines in one embodiment of the present application, located at a first supporting member; Figure 4 This is a schematic structural diagram of a mixing device for mixing medicines in one embodiment of the present application, located at a first driving component; Figure 5 This is a schematic structural diagram of a second driving component in one embodiment of a mixing device for mixing medicines in the present application; Figure 6 This is a schematic structural diagram of a mixing device for mixing medicines in one embodiment of the present application, located at a third driving component; Figure 7 This is a schematic structural diagram of a mixing device for mixing medicines in one embodiment of the present application, in which a first base cooperates with a second base; Figure 8 This is a schematic diagram of a top view of the structure of one embodiment of a mixing device for mixing medicines in the present application.

[0020] Indications in the figure: 1-clamping assembly, 2-first base, 3-first driving assembly, 4-second base, 5-second driving assembly, 6-third base, 7-third driving assembly, 8-first clamping arm, 9-second clamping arm, 10-first clamping arm body, 11-first supporting member, 12-second clamping arm body, 13-first sliding groove, 14-first slider, 15-first knob, 16-first annular gear ring, 17-first driving gear, 18-first A motor, 19-a second arc rack, 20-a second driving gear, 21-a second motor, 22-a second main base, 23-a second sub-base, 24-a fourth motor, 25-a third spur rack, 26-a third driving gear, 27-a third motor, 28-a clamping seat, 29-a first matching hole, 30-a second matching hole, 31-a first support arm, 32-a second support arm, 33-a first support arm slider, 34-a second support arm slider, 35-a lead screw. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0022] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the invention claimed for protection, but merely represents some embodiments of the present invention. Based on the 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.

[0023] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0024] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0025] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invention product is usually placed when in use, or the orientation or positional relationship commonly understood by those skilled in the art. Such terms are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0026] Embodiment 1: This embodiment provides a mixing device for mixing medicines, see Figure 1-Figure 8 As shown, it includes a clamping assembly 1, the clamping assembly 1 is used to clamp a vial, when the vial is clamped by the clamping assembly 1, the central axis of the vial is in line with the central axis of the clamping assembly 1, the clamping assembly 1 is rotatably connected to a first base 2, the first base 2 is adapted to be equipped with a first driving assembly 3, the first driving assembly 3 is used to drive the clamping assembly 1 to rotate relative to the first base 2 around the central axis of the clamping assembly 1; The first base 2 is rotatably connected to the second base 4, and the second base 4 is adapted to be equipped with a second driving assembly 5, and the second driving assembly 5 is used to drive the first base 2 to rotate, and the rotation axis between the first base 2 and the second base 4 is perpendicular to the rotation axis between the first base 2 and the clamping assembly 1; The second base 4 is adapted to be equipped with a third base 6, and the third base 6 is adapted to be equipped with a third driving assembly 7, and the third driving assembly 7 is used to drive the second base 4 to move vertically to change the height of the second base 4; The first drive assembly 3, the second drive assembly 5 and the third drive assembly 7 are all electrically connected to a controller. Under the control of the controller, after the vial is clamped by the clamping assembly 1 and before the needle on the extraction device penetrates into the vial, the second drive assembly 5 drives the first base 2 to rotate, so that the clamped vial is tilted; in the process of the needle penetrating into the vial from the bottle stopper, the third drive assembly 7 drives the second base 4 to move vertically, the second drive assembly 5 drives the first base 2 to rotate, and the first drive assembly 3 drives the clamping assembly 1 to rotate. During this process, the vial continuously rotates around its own central axis, the inclination angle α of the vial relative to the horizontal plane changes, the length of the needle inserted into the vial gradually increases, and the liquid column pushed out from the needle impacts the side wall of the vial from the bottom of the vial to the bottom of the vial until the needle penetrates into the bottom of the vial.

[0027] In the present application, by setting a clamping assembly 1, a first base 2, a second base 4 and a third base 6, and setting corresponding first drive assemblies 3, second drive assemblies 5 and third drive assemblies 7, during the process of the needle on the extraction device piercing the stopper of the vial, the vial can continuously rotate around its own central axis, and the inclination angle α of the vial relative to the horizontal plane changes, while the needle on the extraction device can remain stationary; by driving the third drive assembly 7, the second base 4 is moved vertically to change the height of the second base 4, thereby increasing the length of the needle inserted into the vial, so that the needle gradually extends to the bottom of the vial; during the process of the needle gradually extending into the bottom of the vial, the extraction device continuously injects liquid medicine into the vial through the needle, so that the liquid medicine pushed out from the needle can impact the side wall of the vial from the bottom of the vial away from the bottom of the vial to the bottom of the vial close to the vial, thereby facilitating the formed liquid column to impact the powdered medicine attached to the side wall of the vial. At the same time, as the vial rotates and the position of the vial relative to the needle changes, the liquid column impacts the side wall of the vial in a spiral shape, thereby increasing the coverage of the impact and dissolution of the powdered medicine on the side wall, thereby improving the dissolution efficiency of the powdered medicine; and, in the process of the needle moving relative to the vial and the vial rotating, the needle on the corresponding extraction device can remain stationary, thereby improving the stability of the extraction device operation. At the same time, while the extraction device is continuously injecting liquid medicine into the vial, the needle is continuously approaching the bottom of the vial, and the vial itself is continuously rotating, which further accelerates the mixing of the powdered medicine and liquid medicine in the vial. During the mixing of the medicine in the vial, there is no need to withdraw the needle from the vial, so that the mixing device of the present application does not have to separately mix the medicine in the vial during operation. The vial medicine mixing step and the liquid injection step of the extraction device are performed simultaneously, which can further shorten the dispensing time, thereby further shortening the time of the entire process of the extraction device injecting liquid medicine into the vial and extracting liquid medicine, thereby improving the efficiency of the extraction device in extracting the powdered medicine in the vial.

[0028] As a preferred embodiment, on the basis of the above-mentioned manner, further, the clamping assembly 1 includes a first clamping arm 8 and a second clamping arm 9, the first clamping arm 8 includes a first clamping arm body 10 and a first supporting member 11, the second clamping arm 9 includes a second clamping arm body 12, the first clamping arm body 10 and the second clamping arm body 12 are used to clamp the side wall of the vial, and the first supporting member 11 is used to support the bottom of the vial. When the vial is clamped by the first clamping arm body 10 and the second clamping arm body 12, and the first supporting member 11 supports the bottom of the vial, the portion on the stopper of the vial for needle insertion can be located on the rotation axis between the first base 2 and the second base 4 and on the rotation axis between the first base 2 and the clamping assembly 1. By providing the first clamp arm 8 and the second clamp arm 9, the first clamp arm body 10 and the second clamp arm body 12 clamp the side wall of the vial, and the first supporting member 11 supports the bottom of the vial, thereby improving the stability of the vial clamped by the clamping assembly 1; at the same time, when the vial cooperates with the clamping assembly 1, the portion on the vial stopper of the vial for needle insertion is located on the rotation axis between the first base 2 and the second base 4 and on the rotation axis between the first base 2 and the clamping assembly 1, so that during the rotation of the vial, it can be ensured that the portion on the vial stopper of the vial for needle insertion is located on the rotating shaft, thereby improving the stability of the needle and the vial, and during the rotation of the vial, the needle and the vial rotate relative to each other, and during the rotation of the needle relative to the vial, it is convenient to form a gas channel between the needle and the piston of the vial, which is convenient for gas exchange inside and outside the vial, and further facilitates the injection of liquid medicine into the vial or the extraction of liquid medicine from the vial.

[0029] As a preferred embodiment, on the basis of the above-mentioned manner, further, when the extraction device cooperates with the mixing device, in the process of the needle on the extraction device piercing the vial, when the needle extends into the bottom of the vial, the central axis of the clamping assembly 1 is inclined relative to the horizontal plane, so that the vial clamped by the clamping assembly 1 is inclined, and the end of the inserted needle is located at the lowest point of the bottom of the vial. In this way, after the needle extends to the bottom of the vial, the liquid medicine in the vial has been mixed, and when the liquid medicine in the vial is extracted, because its extraction point is located at the lowest point of the bottom of the vial, the residual liquid medicine in the vial can be greatly reduced, thereby improving the transfer rate of the powdered medicine in the vial to the extraction device.

[0030] As a preferred embodiment, on the basis of the above-mentioned method, further, the clamping surfaces on the first clamp arm body 10 and the second clamp arm body 12 for clamping the vial are arc-shaped, and the clamping surface on the first clamp arm body 10 and the clamping surface on the second clamp arm body 12 have the same curvature, so as to clamp vials of different diameters, thereby improving the stability of the vial being clamped.

[0031] Embodiment 2: Based on the technical solution of embodiment 1, further, see Figure 1-Figure 8 As shown, a first slide groove 13 is provided on the first clamp arm body 10, and a first slider 14 is provided on the first supporting member 11. The first slider 14 is stuck in the first slide groove 13. The length direction of the first slide groove 13 is in the same direction as the central axis direction of the clamp arm assembly. The first slider 14 can move along the length direction of the first slide groove 13. The first slider 14 is threadedly connected with a first knob 15. By rotating the first knob 15 relative to the first slider 14, the first knob 15 is used to rotate relative to the first slider 14. When the first knob 15 and the first clamp arm body 10 are in contact or released from contact, the first slider 14 is fixed relative to the first slide groove 13; when the first knob 15 and the first clamp arm body 10 are released from contact, the first slider 14 can move along the length direction of the first slide groove 13; in this way, the position of the first slider 14 relative to the first slide groove 13 can be adjusted, and then the height of the first supporting member 11 relative to the first clamp arm body 10 can be adjusted, so that when the clamping assembly 1 clamps a vial, it is convenient for the clamping assembly 1 to adapt to vials of different heights.

[0032] As a preferred embodiment, on the basis of the above method, further, the first driving assembly 3 includes a first annular gear ring 16, a first driving gear 17 and a first motor 18, the first driving gear 17 is connected to the output shaft of the first motor 18, the first motor 18 is arranged on the first base 2, the first annular gear ring 16 is arranged at the lower part of the clamping assembly 1, the first driving gear 17 is meshed with the first annular gear ring 16, and by driving the first motor 18 to rotate, the first driving gear 17 drives the first annular gear ring 16 to rotate, so as to drive the clamping assembly 1 to rotate relative to the first base 2 around its own central axis, thereby facilitating the rotation of the syringe bottle clamped by the clamping assembly 1 around its own central axis.

[0033] As a preferred embodiment, on the basis of the above method, further, the second driving assembly 5 includes a second arc-shaped rack 19, a second driving gear 20 and a second motor 21, the second driving gear 20 is connected to the output shaft of the second motor 21, the second motor 21 is arranged on the second base 4, the second arc-shaped rack 19 is arranged on the first base 2, the second driving gear 20 is meshed with the second arc-shaped rack 19, and the second driving gear 20 drives the second arc-shaped rack 19 to rotate by driving the second motor 21 to rotate, so as to drive the first base 2 to rotate relative to the second base 4, so as to adjust the inclination angle of the vial clamped by the clamping assembly 1 relative to the horizontal plane, so as to facilitate the adjustment of the impact position of the liquid column injected from the needle on the side wall of the vial.

[0034] Embodiment 3: Based on the technical solution of Embodiment 2, further, see Figure 1-Figure 8 As shown, the second base 4 includes a second main base 22 and a second sub-base 23, the second main base 22 is adapted to the first base 2, and the second sub-base 23 is adapted to the third base 6, that is, the second base 4 is rotatably connected to the first base 2 through the second main base 22, and the second base 4 is matched with the third base 6 through the second sub-base 23, and a fourth motor 24 is arranged on the second sub-base 23, and the output shaft of the fourth motor 24 is connected to the second main base 22, and the second main base 22 is rotated relative to the second sub-base 23 around the second main base 23 by driving the fourth motor 24 to rotate. The seat 22 rotates in the direction of the central axis, and its rotation axis passes through the part on the stopper of the syringe bottle for needle insertion, so that when the second sub-base 23 is driven to rotate, the syringe bottle can be shaken, and the rotation axis of the syringe bottle when it is shaken by the second sub-base 23 is in an intersecting or skewed state with the central axis of the syringe bottle, and the angle between the rotation axis of the syringe bottle when it is shaken by the second sub-base 23 and the central axis of the syringe bottle changes at all times, which further intensifies the irregular movement of the liquid medicine in the syringe bottle when it is shaken, and further improves the mixing effect of the liquid medicine.

[0035] As a preferred embodiment, on the basis of the above-mentioned manner, further, the third driving assembly 7 includes a third spur rack 25, a third driving gear 26 and a third motor 27, the third driving gear 26 is connected to the output shaft of the third motor 27, the third motor 27 is arranged on the second sub-base 23, the third spur rack 25 is arranged on the third base 6, the third driving gear 26 is meshed with the third spur rack 25, and the third motor 27 is driven to rotate, so as to rotate the third driving gear 26 relative to the third spur rack 25, so that the second sub-base 23 moves along the height direction of the third base 6 to change the height of the second base 4, so that when the needle on the extraction device remains stationary, the height of the clamped vial can be changed under the effect of changing the height of the second base 4, so as to facilitate the needle to penetrate into the vial or the needle to be pulled out of the vial, thereby further improving the stability of the operation of the adapted extraction device.

[0036] As a preferred embodiment, on the basis of the above-mentioned method, further, the clamping assembly 1 also includes a clamping seat 28, the clamping seat 28 is annular in structure, the clamping seat 28 is rotatably connected to the first base 2, and a first matching hole 29 and a second matching hole 30 are provided on the clamping seat 28, the first clamp arm body 10 is connected to the first support arm 31, the second clamp arm body 12 is connected to the second support arm 32, the first matching hole 29 matches with the first support arm 31, the second matching hole 30 matches with the second support arm 32, and the first matching hole 29 matches with the first support arm 31, and the second matching hole 30 matches with the second support arm 32. A first arm slider 33 is provided on one arm 31, and a second arm slider 34 is provided on the second arm 32. A lead screw 35 is rotatably connected to the clamping seat 28. One section of the lead screw 35 is threadedly engaged with the first arm slider 33, and the other section of the lead screw 35 is threadedly engaged with the second arm slider 34. The threads of the two corresponding sections on the lead screw 35 have opposite rotation directions. When the lead screw 35 rotates relative to the clamping seat 28, the first clamping arm body 10 and the second clamping arm body 12 synchronously approach or move away from the central axis of the clamping seat 28. By setting the lead screw 35 and making the first arm slider 33 and the second arm slider 34 both threadably cooperate with the lead screw 35, when the lead screw 35 is rotated relative to the clamping seat 28, the first arm slider 33 and the second arm slider 34 can be moved along the length direction of the lead screw 35 under the drive of the lead screw 35, and the moving directions of the first arm slider 33 and the second arm slider 34 are opposite, and the moving distances are equal, so that the first clamp arm body 10 and the second clamp arm body 12 can be synchronously approached or moved away from the central axis of the clamping seat 28, which can improve the stability of clamping syringe bottles with different outer diameters, and can ensure that the central axis of the clamped syringe bottle is in line with the central axis of the clamping assembly 1.

[0037] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the above specific implementation methods. Therefore, any modification or equivalent replacement of the present invention; and all technical solutions and improvements thereof that do not depart from the spirit and scope of the invention are included in the scope of the claims of the present invention.

Claims

1. A mixing device for mixing medicines, characterized in that: The clamping assembly comprises a clamping assembly for clamping a vial, wherein the central axis of the vial when clamped is collinear with the central axis of the clamping assembly, the clamping assembly is rotatably connected to a first base, the first base is adapted to be equipped with a first driving assembly, and the first driving assembly is used to drive the clamping assembly to rotate relative to the first base around the central axis of the clamping assembly; The first base is rotatably connected to the second base, the second base is adapted to be equipped with a second driving assembly, the second driving assembly is used to drive the first base to rotate, and the rotation axis between the first base and the second base is perpendicular to the rotation axis between the first base and the clamping assembly, the second driving assembly drives the first base to rotate so that the clamped vial is tilted; The second base is adapted to be equipped with a third base, and the third base is adapted to be equipped with a third driving assembly, and the third driving assembly is used to drive the second base to move vertically; The first drive assembly, the second drive assembly and the third drive assembly are all electrically connected to a controller.

2. The mixing device for mixing medicines according to claim 1, characterized in that: The clamping assembly includes a first clamping arm and a second clamping arm, the first clamping arm includes a first clamping arm body and a first supporting member, the second clamping arm includes a second clamping arm body, the first clamping arm body and the second clamping arm body are used to clamp the side wall of the vial, and the first supporting member is used to support the bottom of the vial.

3. The mixing device for mixing medicines according to claim 2, characterized in that: The clamping surfaces on the first clamping arm body and the second clamping arm body for clamping the vial are arc-shaped, and the clamping surface on the first clamping arm body and the clamping surface on the second clamping arm body have the same arc.

4. The mixing device for mixing medicines according to claim 2, characterized in that: A first slide groove is provided on the first clamp arm body, and a first slider is provided on the first supporting member. The first slider is clamped in the first slide groove. The length direction of the first slide groove is in the same direction as the central axis direction of the clamp arm assembly, and the first slider can move along the length direction of the first slide groove.

5. The mixing device for mixing medicines according to claim 4, characterized in that: The clamping assembly also includes a first knob member, one end of which passes through the first clamp arm body and is threadedly connected to the first slider. The first knob member is rotated relative to the first slider to make the first knob member abut against or release the abutment with the first clamp arm body.

6. The mixing device for mixing medicines according to claim 1, characterized in that: The first driving assembly includes a first annular gear ring, a first driving gear and a first motor, wherein the first driving gear is connected to the output shaft of the first motor, the first motor is arranged on the first base, the first annular gear ring is arranged at the lower part of the clamping assembly, the first driving gear is meshed with the first annular gear ring, and the rotation of the first motor causes the first driving gear to drive the first annular gear ring to rotate, so as to drive the clamping assembly to rotate relative to the first base around its own central axis.

7. The mixing device for mixing medicines according to claim 1, characterized in that: The second driving assembly includes a second arc-shaped rack, a second driving gear and a second motor. The second driving gear is connected to the output shaft of the second motor. The second motor is arranged on the second base. The second arc-shaped rack is arranged on the first base. The second driving gear is meshed with the second arc-shaped rack. The second motor is driven to rotate so that the second driving gear drives the second arc-shaped rack to rotate, thereby driving the first base to rotate relative to the second base.

8. The mixing device for mixing medicines according to claim 1, characterized in that: The second base includes a second main base and a second sub-base, the second main base is adapted to the first base, the second sub-base is adapted to the third base, a fourth motor is arranged on the second sub-base, the output shaft of the fourth motor is connected to the second main base, and the fourth motor is driven to rotate so that the second main base rotates relative to the second sub-base around the central axis direction of the second main base.

9. The mixing device for mixing medicines according to claim 8, characterized in that: The third driving assembly includes a third spur rack, a third driving gear and a third motor. The third driving gear is connected to the output shaft of the third motor. The third motor is arranged on the second sub-base. The third spur rack is arranged on the third base. The third driving gear is meshed with the third spur rack. The third motor is driven to rotate so that the third driving gear rotates relative to the third spur rack, so that the second sub-base moves along the height direction of the third base.

10. The mixing device for mixing medicines according to claim 2, characterized in that: The clamping assembly also includes a clamping seat, which is an annular structure, and the clamping seat is rotatably connected to the first base, and the clamping seat is provided with a first matching hole and a second matching hole, the first clamp arm body is connected to the first support arm, and the second clamp arm body is connected to the second support arm, the first matching hole matches the first support arm, and the second matching hole matches the second support arm, a first support arm slider is provided on the first support arm, and a second support arm slider is provided on the second support arm, and a lead screw is rotatably connected to the clamping seat, one end of the lead screw is threadedly matched with the first support arm slider, and the other end of the lead screw is threadedly matched with the second arm slider, and the corresponding two sections of the thread on the lead screw have opposite rotation directions. When the lead screw rotates relative to the clamping seat, the first clamp arm body and the second clamp arm body synchronously approach or move away from the central axis of the clamping seat.

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