Cleaning equipment and cleaning method for residual medicine on surface of medicine mixing pot

Abstract

The invention relates to the technical field of medicine mixing pot cleaning, and discloses a device and method for cleaning residual medicine on the surface of a medicine mixing pot, a to-be-cleaned medicine mixing cylinder moves along a sliding rail assembly, a cleaning bearing frame covers the sliding rail assembly, and a cleaning assembly bearing table is located on one side of the cleaning bearing frame and used for placing a cleaning tool or device. The residual medicine cleaning structure is located above the medicine mixing cylinder and has the function of adjusting the degree of freedom in two directions. The residual medicine adsorption structure is positioned on one side of the cleaning structure and is used for rotationally sucking residues in the medicine mixing cylinder. The residual medicine is adsorbed and removed, so that the influence of medicine residues on subsequent operation or quality is avoided. And the visual inspection structure is fixed on the cleaning bearing frame and is used for inspecting the medicine mixing cylinder after positioning. Whether the medicine mixing cylinder is correctly positioned or not can be detected, and the cleaning effect is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning of medicine mixing pots, and in particular to a device and method for cleaning residual medicine on the surface of a medicine mixing pot. Background Art

[0002] The device for cleaning residual medicine on the surface of a medicine mixing pot is a special device for cleaning substances such as residual medicine, raw materials, etc. on the inner wall or surface of the medicine mixing pot. When the staff cleans the medicine mixing pot, the mixing pot is placed vertically on the ground rail or on the ground. Two operators stand inside the mixing pot and use a cleaning cloth dipped in cleaning oil to wipe the pot wall, and one operator stands outside the pot to cooperate in dealing with the residual medicine after cleaning.

[0003] Existing cleaning devices mostly adopt manual cleaning or simple wiping methods, and cannot effectively remove all the residual medicine on the inner wall and bottom of the medicine mixing pot. The adhesion of the medicine is relatively strong, especially the residue of some medicines may adhere to difficult-to-reach areas of the mixing cylinder, such as the bottom corners or the wall surface. Traditional cleaning methods are difficult to remove these stubborn residues. The cleaning tools (such as cleaning shovels, wiping parts, etc.) of the cleaning device usually do not have good cleaning and maintenance designs, resulting in the cleaning tools being easily contaminated by medicine residues after multiple uses, affecting their cleaning efficiency, and even being damaged. Summary of the Invention In order to solve the above-mentioned problems, the present invention provides a device and method for cleaning residual medicine on the surface of a medicine mixing pot.

[0004] The device and method for cleaning residual medicine on the surface of a medicine mixing pot provided by the present invention adopt the following technical solutions: In the first aspect, a device for cleaning residual medicine on the surface of a medicine mixing pot is proposed. After the medicine mixing cylinder to be cleaned moves along the slide rail assembly to the cleaning position, cleaning work is carried out, including a cleaning carrier frame covering the outside of the slide rail assembly, a cleaning component carrier platform located on one side of the cleaning carrier platform and providing a placement area for the cleaning components, a residual medicine cleaning structure located above the medicine mixing cylinder and adjusting the degrees of freedom in two directions along the cleaning carrier structure, a residual medicine adsorption structure located on one side of the residual medicine cleaning structure and rotating and sucking the residues in the medicine mixing cylinder, a visual detection structure fixed to the cleaning carrier frame and used for detecting after the medicine mixing cylinder is positioned, and cleaning components placed on the cleaning component carrier platform. The medicine mixing cylinder to be cleaned moves along the slide rail assembly to the working positions of the residual medicine adsorption structure and the residual medicine cleaning structure to carry out residual medicine cleaning.

[0005] Preferably, the cleaning carrier includes: at least four longitudinal carriers, auxiliary stabilizing frames fixed between adjacent longitudinal carriers to connect the adjacent longitudinal carriers into a whole, two mounting sliders installed between two longitudinal carriers, a mating slider installed between two mounting sliders and reciprocating along the mounting sliders, stabilizing supports fixed to the lower ends of the longitudinal carriers to improve the placement stability of the cleaning carrier, and the mounting direction of the mounting slider is the same as the moving direction of the slide rail assembly.

[0006] The movement functions of the mounting slider and the mating slider, combined with the support of the stabilizing support, ensure the efficiency and precision of the cleaning process. At the same time, the auxiliary stabilizing frames connect the longitudinal carriers, enhancing the overall rigidity and anti-interference ability of the equipment. These designs ensure that the cleaning work can be carried out smoothly and efficiently, avoiding unstable factors during operation.

[0007] Preferably, a sunken rectangular groove is formed on the upper end of the cleaning component carrier to provide an area for component placement; a wiping component is installed on one side of the cleaning component carrier; the cleaning component includes: multiple adsorbing members arranged above the cleaning component carrier, at least two cleaning shovels clamped to the cleaning component carrier, and a wiping member located on one side of the cleaning shovel, and the wiping component is fixed to one side of the cleaning component carrier to wipe the cleaning shovel.

[0008] Preferably, the wiping structure includes: a stabilizing frame fixed to the cleaning component carrier, a telescopic motor connected to one end of the stabilizing frame and extending the telescopic end to the inside of the stabilizing frame, a connecting rod structure arranged inside the stabilizing frame and driven by the telescopic motor, a wiping member installed at the end of the stabilizing frame away from the telescopic member, there are two wiping members, and the two wiping members are symmetrically arranged along the horizontal center line of the stabilizing frame. One end of the wiping member is connected to the connecting rod structure, and the connecting rod structure links the two wiping members; the telescopic movement of the telescopic motor drives the connecting rod structure to change the angle, thereby driving the angle change between the two wiping members.

[0009] Preferably, the residual drug cleaning structure includes: a robotic arm connected to the mating slider and driven by it to move, a collection box fixed under the robotic arm and used to collect residual drugs when entering the mixing cylinder. The robotic arm drives the collection box into the interior of the mixing cylinder, and the angle change of the robotic arm drives the collection box to contact the wall of the mixing cylinder to scrape the residual drugs on the wall.

[0010] Preferably, the residual drug adsorption structure includes: a rotating bearing connected to another cooperating slide and driven by it to displace; a telescopic member connected to the end of the rotating bearing away from the cooperating slide and driven by it to rotate; a suction pump fixed on one side of the rotating bearing to provide the driving force required for residual drug suction; a chuck fixed to the end of the telescopic member away from the rotating bearing, the chuck limiting the cleaning assembly, and at this time the cleaning assembly is a suction attachment, the suction attachment enters the bottom end of the mixing cylinder as the telescopic rod extends and retracts, and the suction pump operates to perform a suction action when residual drugs enter the suction attachment.

[0011] Preferably, the visual detection structure includes: a rotating motor connected to the auxiliary stabilizing frame; an L-shaped mounting bracket driven by the rotating motor; a vision camera fixed on the side of the mounting bracket away from the rotating motor for performing visual detection actions. The rotating motor drives the mounting bracket and the vision camera to move above the mixing cylinder to perform visual detection on the position of the mixing cylinder and the residual drug situation inside it.

[0012] Preferably, the slide rail assembly includes: a plurality of positioning seats fixed to the ground; two slide rails arranged symmetrically along the vertical center line of the positioning seats; a displacement positioning frame arranged inside the two slide rails to limit the position of the mixing cylinder. The plurality of positioning seats are distributed at equal intervals in sequence, and the distance between the two slide rails is adapted to the distance between the moving wheels arranged below the mixing cylinder.

[0013] In a second aspect, a cleaning method for a residual drug cleaning device on the surface of a mixing pot is proposed, including the following steps: S1. Mixing cylinder positioning and movement: The mixing cylinder to be cleaned is accurately moved to the designated cleaning position along the track through the drive of the slide rail assembly, ensuring its stability during the cleaning process. S2. Support and bearing structure: The cleaning support frame and the cleaning assembly carrier provide stable support for the cleaning device, ensuring the stability and smooth progress of the entire cleaning process. S3. Residual drug cleaning structure adjustment: The residual drug cleaning structure is adjusted in real time according to the position and shape of the mixing cylinder, enabling the cleaning work to be carried out accurately and efficiently. This structure ensures that the residues inside the mixing cylinder are cleared without dead angles. S4. Residual drug adsorption structure operation: During the cleaning process, the residual drug adsorption structure rotates and sucks the residual drugs in the mixing cylinder through the suction device, ensuring thorough cleaning of every corner and avoiding the influence of residual drugs on subsequent operations. S5. Visual detection and confirmation: The visual detection structure monitors the positioning situation of the mixing cylinder in real time and confirms the quality of the cleaning work through image recognition technology; only after confirming that the cleaning effect meets the standards will the device enter the next step. S6. After all steps are completed, the cleaning component ensures that all residual drugs are completely removed, avoiding any cross - contamination, ensuring the complete cleanliness of the equipment, and providing safety guarantee for the next use.

[0014] In summary, the present invention includes the following beneficial technical effects: 1. By introducing a residual drug cleaning structure, it is possible to precisely scrape the drug residues on the inner wall and bottom of the mixing cylinder. The adjustable angle and positioning function of the robotic arm ensure that the collection box can enter all corners of the mixing cylinder, thoroughly removing the residual drugs that are difficult to reach, and avoiding the dead corners that cannot be cleaned by traditional equipment. The cleaning equipment can be precisely adjusted according to the changes in the shape, position, etc. of the mixing cylinder, ensuring that the cleaning operation adapts to mixing cylinders of different specifications and states, and avoiding the problem of poor cleaning effect caused by poor adaptability.

[0015] 2. A wiping component and a cleaning shovel are set, and they are coordinated through a telescopic motor and a connecting rod structure to ensure that the cleaning shovel can maintain efficient and uniform cleaning during the cleaning process. The introduction of the wiping component can also effectively remove the pollutants on the cleaning shovel, ensuring the continuous high efficiency of the cleaning tool during use.

[0016] 3. The reasonable layout of the visual detection structure and the cleaning component carrier ensures that the cleaning component is always in the correct working position and can monitor the cleaning effect in real - time during the cleaning process, avoiding the influence on the effect due to inaccurate position during the cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of a device for cleaning residual drugs on the surface of a mixing pot.

[0018] Figure 2 is a schematic structural diagram of a cleaning carrier rack.

[0019] Figure 3 is a schematic structural diagram of a cleaning component carrier.

[0020] Figure 4 is a schematic structural diagram of a wiping structure.

[0021] Figure 5 is a schematic structural diagram of a residual drug adsorption structure.

[0022] Figure 6 is a schematic structural diagram of a slide rail component.

[0023] Description of reference numerals: cleaning carrier 1, slide rail assembly 2, cleaning component carrier 3, mixing cylinder 4, residual drug cleaning structure 5, residual drug adsorption structure 6, visual inspection structure 7, wiping structure 8, longitudinal carrier 11, auxiliary stabilizing frame 12, carrying slide 13, cooperating slide 14, stabilizing support 15, positioning seat 21, slide rail 22, displacement positioning frame 23, cleaning component carrier 31, adsorbent 32, cleaning spatula 33, wiping member 34, robotic arm 51, collection box 52, telescopic member 61, rotating bearing 62, suction pump 63, chuck 64, rotating motor 71, mounting bracket 72, vision camera 73, telescopic motor 81, stabilizing frame 82, link structure 83. Detailed implementation manners

[0024] The following will further elaborate on the present invention in conjunction with the attached Figures 1-6 drawings.

[0025] Embodiment 1 An embodiment of the present invention discloses a device for cleaning residual drugs on the surface of a mixing pot. Referring to Figure 1 , it includes a cleaning carrier 1, a slide rail assembly 2, a cleaning component carrier 3, a mixing cylinder 4, a residual drug cleaning structure 5, a residual drug adsorption structure 6, and a visual inspection structure 7. The mixing cylinder 4 to be cleaned moves along the slide rail assembly 2, and the slide rail assembly 2 provides support and guidance to ensure that the mixing cylinder 4 can reach the cleaning position smoothly. The cleaning carrier 1 covers the outside of the slide rail assembly 2 and serves as support and bearing. The cleaning component carrier 3 is located on one side of the cleaning carrier 1 and is used to place cleaning tools or equipment. The residual drug cleaning structure 5 is located above the mixing cylinder 4 and has the function of adjusting degrees of freedom in two directions. The adjustment of degrees of freedom can help the cleaning device better adapt to mixing cylinders 4 of different shapes or positions, thereby effectively removing the residual drugs on the surface. The residual drug adsorption structure 6 is located on one side of the cleaning structure and rotates and sucks the residues in the mixing cylinder 4. Adsorb and remove the residual drugs to avoid the influence of drug residues on subsequent operations or quality. The visual inspection structure 7 is fixed on the cleaning carrier 1 and is used for inspection after the mixing cylinder 4 is positioned. It helps to detect whether the mixing cylinder 4 is correctly positioned and ensures the cleaning effect. The components are placed on the cleaning component carrier 3, and the cleaning components operate after the mixing cylinder 4 to be cleaned enters the working position to complete the removal of the residual drugs on the surface.

[0026] As Figure 2As shown in the figure, the cleaning carrier 1 includes: a longitudinal carrier 11, an auxiliary stabilizing frame 12, a mounting slide 13, a mating slide 14, and a stabilizing support 15. The longitudinal carrier 11 is the main support structure of the cleaning carrier 1, providing strong stability and support. At least four longitudinal carriers 11 ensure the balance of the entire structure and prevent tilting or deformation. The auxiliary stabilizing frame 12 is installed between adjacent longitudinal carriers 11 to fix their positions and connect multiple longitudinal carriers 11 into a stable whole. The main function of the auxiliary stabilizing frame 12 is to increase the rigidity of the carrier and ensure stability during the cleaning process, preventing any unnecessary shaking of the equipment during operation. The mounting slide 13 is installed between two longitudinal carriers 11 to provide cooperation and support with the slide rail 22 assembly 2. The mounting directions of the two slides are consistent with the movement direction of the slide rail 22 assembly 2, ensuring that the cleaning carrier 1 can work in coordination with the slide rail 22 assembly 2 and achieve smooth movement. The mating slide 14 is installed between two mounting slides 13 and can reciprocate along the mounting slide 13. The reciprocating movement of the mating slide 14 helps to accurately adjust the position of the cleaning carrier 1, facilitate the entry and exit of the mixing cylinder 4, and ensure that the cleaning work can be carried out at the optimal position. The stabilizing support 15 is fixed to the lower end of the longitudinal carrier 11 to ensure the stability of the cleaning carrier 1. It improves the placement stability of the cleaning carrier 1, avoids problems such as tilting and offset during the cleaning process, and maintains the accuracy and consistency of the equipment during operation.

[0027] The cleaning carrier 1 can be accurately positioned and moved under the guidance of the slide rail 22 assembly 2. The design of the mounting slide 13 and the mating slide 14 enables the cleaning carrier 1 to move smoothly along the movement direction of the slide rail 22 assembly 2. Since the mounting slide 13 is in the same direction as the slide rail 22 assembly 2, the entire cleaning carrier 1 can achieve precise displacement control, ensuring that the mixing cylinder 4 can accurately enter the cleaning area. Through the comprehensive design of the auxiliary stabilizing frame 12, the longitudinal carrier 11, and the stabilizing support 15, the cleaning carrier 1 can maintain extremely high stability. This helps to ensure that the equipment does not shake or shift during the cleaning process, thereby improving the cleaning effect and safety. The reciprocating displacement function of the mating slide 14 provides high-precision control for the adjustment of the equipment. The cleaning carrier 1 can accurately adjust its position during operation as needed to optimize the effect of the cleaning operation.

[0028] As Figure 6As shown in the figure, the slide rail 22 assembly 2 includes: a positioning seat 21, a slide rail 22, and a displacement positioning frame 23. The positioning seat 21 is an important supporting part of the slide rail 22 assembly 2. They are fixed to the ground and arranged at equal distances. The positioning seat 21 provides basic support for the slide rail 22 and ensures that the slide rail 22 assembly 2 remains stable, avoiding displacement or deformation caused by vibration or external force interference. The distribution method (equal-distance distribution) of the positioning seat 21 can ensure that the entire slide rail 22 assembly 2 is evenly stressed and reduce unnecessary stress concentration. Two slide rails 22 are provided, arranged along the vertical center line of the positioning seat 21, ensuring the symmetry and accuracy between the slide rails 22. The displacement positioning frame 23 is arranged inside the two slide rails 22 and is responsible for limiting the position of the mixing cylinder 4. The function of the displacement positioning frame 23 is to ensure the correct position of the mixing cylinder 4 within the slide rail 22, enabling it to move precisely along the slide rail 22 to the designated position and avoiding exceeding the predetermined working path. The distance between the two slide rails 22 is adapted to the distance of the moving wheels provided below the mixing cylinder 4, ensuring that the mixing cylinder 4 can move smoothly and stably along the slide rail 22 and avoiding unnecessary shaking or jamming during the movement.

[0029] Through the function of the displacement positioning frame 23, the slide rail 22 assembly 2 can precisely limit the movement trajectory of the mixing cylinder 4 and ensure that the mixing cylinder 4 is always in the correct position, which is crucial for the cleaning accuracy. The design of the positioning seat 21 and the slide rail 22 provides extremely high stability, avoiding any accidental movement or deviation of the equipment during the cleaning process, thus ensuring an efficient and safe cleaning operation. The distance between the two slide rails 22 is adapted to the distance of the moving wheels, ensuring that the mixing cylinder 4 can operate stably under different conditions and also improving the compatibility of the equipment to adapt to more types of mixing cylinders 4.

[0030] As Figure 3 shown in the figure, a sunken rectangular groove is formed at the upper end of the cleaning component carrier 3, providing a stable placement area for various cleaning components. The rectangular groove, as the placement area, provides sufficient space to ensure that all cleaning equipment remains in a fixed position during the cleaning operation, avoiding inconsistent cleaning effects or reduced efficiency caused by unstable positions. The wiping component is placed on one side of the cleaning component carrier 3 to facilitate the cleaning and maintenance of components such as the cleaning shovel 33. The function of the wiping component is to ensure the effectiveness of the cleaning shovel 33 during use. By wiping, it removes debris or contaminants adhering to the cleaning shovel 33 and keeps it clean. The design of the wiping component can effectively remove stains or chemical residues on the cleaning shovel 33, thereby improving the cleaning efficiency and ensuring efficient operation during the cleaning process.

[0031] In the above embodiments, the cleaning component includes: an adsorbing member 32, a cleaning spatula 33, and a wiping member 34. The adsorbing member 32: The adsorbing member 32 is disposed above the cleaning component carrier 3 and multiple adsorbing members 32 are provided. The adsorbing member 32 is for adsorbing the residual medicine at the bottom of the medicine mixing cylinder 4. They are snap-connected to the cleaning component carrier 3. The cleaning spatula 33 is an important part of the cleaning component. There are at least two cleaning spatulas 33, which are responsible for the actual cleaning action. The wiping member 34 located on one side of the cleaning spatula 33 cooperates with the wiping component. The main function of the wiping member 34 is to clean the pollutants adhered to the cleaning spatula 33 during use.

[0032] As Figure 4 shown, the wiping structure 8 includes: a telescopic motor 81, a stabilizing frame 82, and a link structure 83. The stabilizing frame 82 serves as the support frame of the entire wiping structure 8 and is fixedly connected to the cleaning component carrier 3. The function of the stabilizing frame 82 is to ensure the stability of the entire wiping structure 8 and prevent component displacement due to vibration or external forces during the wiping process, thereby affecting the wiping effect. One end of the telescopic motor 81 is connected to the stabilizing frame 82, and one end in the telescopic direction extends into the inner side of the stabilizing frame 82. The link structure 83 is located inside the stabilizing frame 82 and is driven by the telescopic motor 81. The linear motion of the telescopic motor 81 is converted into the angular change of the wiping member 34. The link structure 83 connects two wiping members 34, enabling the two wiping members 34 to move synchronously or cooperate with each other. This ensures the coordination of the wiping action and avoids uneven cleaning that may occur when only one wiping member 34 works alone. There are two wiping members 34, which are symmetrically arranged along the horizontal center line of the stabilizing frame 82. The symmetrical design ensures the uniformity of the cleaning operation, making the cleaning process more precise and efficient. One end of the wiping member 34 is connected to the link structure 83 and can change its angle with the movement of the link structure 83, thereby adjusting the wiping range and direction. By changing the angle between the wiping members 34, different cleaning requirements can be adapted, providing flexible wiping actions. The telescopic action of the telescopic motor 81 will drive the link structure 83 to change its angle, thereby affecting the relative angle of the wiping members 34. Thus, the wiping members 34 can adjust their working angles according to actual needs, thereby improving the cleaning efficiency and effect.

[0033] As Figure 1 and Figure 2As shown, the residual drug cleaning structure 5 includes: a robotic arm 51 and a collection box 52. The robotic arm 51 is connected to the mating slide 14 and displaces in cooperation with the slide to adjust the cleaning position. The collection box 52 is fixed below the robotic arm 51 and enters the mixing cylinder 4 to collect residual drugs. The robotic arm 51 controls the displacement to bring the collection box 52 into the interior of the mixing cylinder 4. As the angle of the robotic arm 51 changes, the collection box 52 contacts the wall of the mixing cylinder 4, thereby realizing the action of scraping residual drugs. The robotic arm 51 can not only accurately enter the cartridge but also effectively scrape the residual drugs on the cartridge wall to ensure the cleanliness inside the cartridge.

[0034] As Figure 5 shown, the residual drug adsorption structure 6 includes: a telescopic member 61, a rotating bearing 62, a suction pump 63, and a chuck 64. The rotating bearing 62 is connected to the mating slide 14. The function of the mating slide 14 is to provide a smooth movement path for the rotating bearing 62 to ensure that the entire adsorption structure can perform precise movement within the specified area. The displacement movement of the rotating bearing 62 enables other components to work flexibly inside or around the mixing cylinder 4, thus ensuring flexibility during the cleaning process. One end of the telescopic member 61 is connected to the other end of the rotating bearing 62 away from the mating slide 14. The telescopic member 61 rotates through the drive of the rotating bearing 62, thereby changing the direction and position of the adsorption component. The rotation of the telescopic member 61 is based on the drive of the rotating bearing 62, providing the necessary operating angle and movement range for the adsorbent 32. Its rotation enables the adsorbent 32 to accurately enter different parts of the mixing cylinder 4 to ensure the coverage during the cleaning process. The suction pump 63 is fixed on one side of the rotating bearing 62 to provide the driving force required for adsorption. The operation of the suction pump 63 enables the residual drugs in the mixing cylinder 4 to be effectively sucked during the cleaning process. The suction pump 63 sucks the residual drugs from the mixing cylinder 4 into the adsorbent 32 through suction to ensure that there are no residual drugs. The chuck 64 is fixed to the end of the telescopic member 61 away from the rotating bearing 62, and its function is to limit the cleaning component. The chuck 64 ensures that the adsorbent 32 always remains stable during operation, does not deviate from the correct working position, and avoids problems such as incomplete adsorption or sliding of the adsorbent 32. The chuck 64 fixes the cleaning component, that is, the adsorbent 32, enabling the adsorbent 32 to accurately contact the inner wall of the cartridge and complete the adsorption operation of the residual drugs. The adsorbent 32 is one of the key components. It can enter the bottom of the mixing cylinder 4 as the telescopic member 61 expands and contracts, and sucks the residual drugs at the bottom or other hard-to-reach areas of the mixing cylinder 4 through the drive of the suction pump 63. The adsorbent 32 can flexibly reach various parts of the cartridge as the telescopic member 61 expands and contracts to ensure comprehensive cleaning of the residual drugs. The introduction of the telescopic mechanism enhances the adaptability of the adsorbent 32, enabling it to enter the narrow or bottom area of the mixing cylinder 4 for adsorption.

[0035] As Figure 2As shown, the visual inspection structure 7 includes: a rotating motor 71, a mounting bracket 72 and a visual camera 73. The rotating motor 71 is connected to the auxiliary stabilizing frame 12. The function of the rotating motor 71 is to generate power through rotation to drive the movement of subsequent components. The rotating motor 71 provides rotational power for the entire system, and can drive the mounting bracket 72 and the visual camera 73 to the specified position to ensure accurate positioning during the visual inspection process. One end of the L-shaped mounting bracket 72 is fixed on the rotating motor 71, and the other end is fixed on the side away from the rotating motor 71. Driven by the rotating motor 71, the mounting bracket 72 can drive the visual camera 73 to move along a predetermined track or path. The visual camera 73 is used to perform visual inspection tasks, mainly to shoot and analyze the position of the mixed drug cartridge 4 and the residual drug situation inside. Through the visual camera 73, the system can monitor in real time whether the position of the mixed drug cartridge 4 is accurate, whether there is an abnormality, and whether there is residual drug inside the cartridge. The rotating motor 71 not only provides rotational power, but also drives the mounting bracket 72 so that the visual camera 73 can move along the desired path and be positioned above the mixed drug cartridge 4. This movement allows the visual camera 73 to cover the entire top and surrounding area of the mixing cartridge 4 for comprehensive inspection.

[0036] Example 2 A method for cleaning residual medicine cleaning equipment on the surface of a medicine mixing pot, comprising the following steps: S1. Positioning and movement of the mixing barrel 4 The mixing barrel 4 is precisely moved to the cleaning position along the track by the drive of the slide rail 22 assembly 2, and the slide rail 22 assembly 2 provides strong support and guidance. The positioning seat 21 and the slide rail 22 ensure that the mixing barrel 4 does not shake or shift during the whole process. The displacement positioning frame 23 ensures that the mixing barrel 4 always maintains the correct track and position on the slide rail 22 to prevent deviation from the predetermined path. The high-precision design of the slide rail 22 assembly 2 ensures that the mixing barrel 4 can be stably and accurately moved to the cleaning area during the cleaning process. In conjunction with the structure of the slide 14 and the cleaning carrier 1, the cleaning carrier 1 can be precisely positioned according to the guidance of the slide rail 22 assembly 2, and the position of the cleaning area can be adjusted to ensure that the mixing barrel 4 is in the best cleaning position every time it enters the cleaning area.

[0037] S2. Function of the carrier: The cleaning component carrier 3 provides sufficient space to place various cleaning components. The rectangular grooves arranged on the table ensure the stable position of the cleaning tools during operation, avoiding uneven cleaning or reduced efficiency due to unstable tool position.

[0038] S3. Through precise control of the robotic arm 51 and the collection box 52 of the residual drug cleaning structure 5, the cleaning device can adapt to mixing cylinders 4 of different shapes and positions. The angle adjustment of the robotic arm 51 and the collection box 52 ensures that cleaning can reach all areas of the mixing cylinder 4, including hard-to-reach corners. The degree-of-freedom adjustment enables the device to automatically adapt to mixing cylinders 4 of different sizes and shapes, ensuring efficient and thorough cleaning. The movement and scraping actions of the robotic arm 51, combined with the precise adjustment of the cleaning carrier 1, enable the cleaning work to be effectively carried out in every corner, ensuring that no residues are left.

[0039] S4. The cooperation of the telescopic member 61 and the rotating bearing 62 in the residual drug adsorption structure 6 enables the adsorption assembly to move flexibly. With the powerful suction provided by the suction pump 63, it ensures that residual drugs can be effectively sucked into the adsorbent 32. The telescopic function of the telescopic member 61 enables the adsorption device to enter the bottom and narrow areas of the mixing cylinder 4, maximizing the removal of residual drugs. The control of the suction pump 63 ensures that the suction force is just right, which can remove residual drugs without damaging the surface of the mixing cylinder 4 or causing any secondary pollution. The rotation function of the adsorption structure enhances the comprehensiveness of the cleaning process, enabling the adsorption component to contact all angles of the mixing cylinder 4, ensuring thorough cleaning.

[0040] S5. Driven by the rotating motor 71, the mounting bracket 72 and the vision camera 73 can accurately locate and monitor the state of the mixing cylinder 4. The vision camera 73 provides real-time image data. Through image processing technology, the system can judge whether the mixing cylinder 4 is accurately positioned and whether the cleaning is comprehensive. The vision camera 73 of the system can detect the residual drug situation inside the mixing cylinder 4, ensuring that the cleaning effect meets the standards. After the cleaning is completed, the device will only enter the next operation when the system confirms that the cleaning quality meets the requirements, avoiding subsequent pollution or problems caused by incomplete cleaning.

[0041] The above vision processing process includes: The vision camera 73 uses CCD or CMOS, etc.; a light source (such as white light, infrared light, laser, etc.) is selected to ensure that the inside of the mixing cylinder 4 is clearly visible during shooting, reducing reflections, shadows, and interference.

[0042] After the vision camera 73 takes a picture, noise reduction, image enhancement, grayscale conversion, and binarization processing are performed; Edge detection algorithms (Canny, Sobel) are used to identify edge and contour information in the image; The target object is separated from the background through image segmentation techniques (threshold segmentation, segmentation based on color or shape).

[0043] Key feature points, such as corner points, straight lines, circles, etc., are identified in the image, and feature matching algorithms (such as SIFT, SURF) are used to extract and describe the features in the image.

[0044] Use the model in the prior art for object recognition and classification; in this application, a convolutional neural network (CNN) is used to identify the residual drug residues inside.

[0045] S6. Detection after cleaning: After all cleaning steps are completed, the device will perform a self-check again to ensure that all residual drugs are completely removed. The cleaning component carrier 3 and the wiping component 34 will ensure the cleanliness of the cleaning tools themselves, avoiding cross-contamination caused by any drug residues. This process further ensures the safety and cleanliness of the cleaning device during the next use. All residual drugs will be properly collected and removed, including the stubborn drug residues in the mixing cylinder 4. The tools used during the cleaning process (cleaning shovel 33) are cleaned by the wiping component to ensure that there is no drug cross-contamination between different cleaning tasks.

[0046] Embodiment 3 Based on Embodiment 1 and Embodiment 2, when the residual drug cleaning structure 5 and the residual drug adsorption structure 6 clean the mixing cylinder 4, since the residual drug cleaning structure 5 and the residual drug adsorption structure 6 are both connected to the suction attachment 32 and the cleaning shovel 33 through the chuck 64, during the cleaning process, according to the requirements, select the suction attachment 32, the cleaning shovel 33 or the collection box 52 and combine them. Replacing the residual drug cleaning structure 5 with the cleaning component below can meet multiple usage requirements.

[0047] During cleaning, the mixing cylinder 4 is displaced along the slide rail 22 of the component 2 to the cleaning position, and the displacement positioning frame 23 limits the mixing cylinder 4. At this time, first, the residual drug adsorption structure 6 performs the action of adsorbing the residual drugs inside the mixing cylinder 4. The expansion and contraction of the telescopic member 61 drive the chuck 64 and the suction attachment 32 to enter the inside of the mixing cylinder 4. The suction attachment 32 is set in a box shape with an open end face. As the rotary bearing 62 rotates, the overall telescopic member 61, the chuck 64 and the suction attachment 32 rotate 360 degrees. As it rotates, the residual drugs at the bottom of the mixing cylinder 4 enter the inside of the suction attachment 32. At this time, the suction pump 63 starts to work to adsorb the residual drugs to the external pipeline.

[0048] After the first residual drug adsorption is completed, the residual drug cleaning structure 5 replaces the collection box 52 at the working end with the cleaning shovel 33. The robotic arm 51 drives the cleaning shovel 33 to scrape the wall of the mixing cylinder 4. After scraping, the cleaning shovel 33 is replaced with the collection box 52, and the collection box 52 collects the scraped residual drugs.

[0049] After each cleaning step, the visual detection structure 7 will detect the mixing cylinder 4. After detection, then select the appropriate cleaning component to perform the cleaning action.

[0050] When there is residual internal liquid, the residual drug adsorption structure 6 is used for adsorption and suction. When the wall body remains semi-solidified, the cleaning spatula 33 is used for cleaning. After the cleaning spatula 33 finishes cleaning, the collection box 52 is used for collection, and finally the residual drug adsorption structure 6 is used for final suction.

[0051] It should be noted that after the cleaning spatula finishes cleaning, the wiping structure 8 needs to be used to clean the cleaning spatula to meet the overall cleaning performance.

[0052] Finally, the following points should be noted: First, in the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, which can be mechanical connection or electrical connection, or the communication inside two components, and can be directly connected. The terms "upper", "lower", "left", "right", etc. are only used to represent the relative position relationship. When the absolute position of the object being described changes, the relative position relationship may change; Second: In the attached drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments of the present disclosure are involved. For other structures, reference can be made to the general design. Without conflict, the same embodiment and different embodiments of the present invention can be combined with each other; Finally: The above are only the preferred embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0053] The above are all the preferred embodiments of the present invention and do not limit the protection scope of the present invention accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention shall be covered by the protection scope of the present invention.

Claims

1. A cleaning device for residual medicine on the surface of a medicine mixing pot, which performs cleaning work after the medicine mixing cylinder to be cleaned moves along the slide rail assembly to the cleaning position; characterized in that, Including: A cleaning carrier frame, covering the outside of the slide rail assembly; A cleaning component carrier, located on one side of the cleaning carrier, providing a placement area for the cleaning components; A residual drug cleaning structure, located above the mixing cylinder, and adjusted in two degrees of freedom along the cleaning carrier structure; A residual drug adsorption structure, located on one side of the residual drug cleaning structure, and rotatably sucking the residues in the mixing cylinder; A vision detection structure, fixed to the cleaning carrier frame, for detecting after the mixing cylinder is positioned; A cleaning component, placed on the cleaning component carrier; The mixing cylinder to be cleaned moves along the slide rail assembly to the working positions of the residual drug adsorption structure and the residual drug cleaning structure for residual drug cleaning.

2. The surface residual drug cleaning device for a medicine mixing pot according to claim 1, wherein, The cleaning carrier frame includes: Longitudinal carrier frames, at least four are provided; Auxiliary stabilizing frames, fixed between adjacent longitudinal carrier frames, connecting the adjacent longitudinal carrier frames to form a whole; Carrying sliders, mounted between two longitudinal carrier frames, two are provided; Cooperating sliders, mounted between two carrying sliders, reciprocatingly displacing along the carrying sliders; Stable supports, fixed to the lower ends of the longitudinal carrier frames, improving the placement stability of the cleaning carrier frame; The carrying direction of the carrying slider is the same as the movement direction of the slide rail assembly.

3. The surface residual drug cleaning device for a drug mixing pot according to claim 1, wherein A concave rectangular groove is formed at the upper end of the cleaning component carrier to provide a component placement area; a wiping component is installed on one side of the cleaning component carrier; The cleaning component includes: Adsorbing parts, arranged above the cleaning component carrier, multiple are provided; Cleaning shovels, clamped to the cleaning component carrier, at least two are provided; Wiping parts, located on one side of the cleaning shovels; The wiping component is fixed to one side of the cleaning component carrier for wiping the cleaning shovels.

4. The surface residual drug cleaning device for a drug mixing pot according to claim 3, wherein, The wiping structure includes: A stabilizing frame, fixed to the cleaning component carrier; A telescopic motor, connected to one end of the stabilizing frame, and the end in the telescopic direction extends to the inside of the stabilizing frame; A connecting rod structure, arranged inside the stabilizing frame, driven by the telescopic motor; Wiping parts are installed at the end of the stabilizing frame away from the telescopic motor, two wiping parts are provided, the two wiping parts are symmetrically arranged along the horizontal center line of the stabilizing frame, one end of the wiping part is connected to the connecting rod structure, and the connecting rod structure links the two wiping parts; The telescopic movement of the telescopic motor drives the connecting rod structure to change the angle, thereby driving the angle change between the two wiping parts.

5. The surface residual drug cleaning equipment for a drug mixing pot according to claim 1, wherein, The residual drug cleaning structure includes: A robotic arm, connected to the cooperating slider, and driven by it to displace; A collection box, fixed below the robotic arm, entering the mixing cylinder to collect residual drugs; The robotic arm drives the collection box into the interior of the mixing cylinder, and the angle change of the robotic arm drives the collection box to contact the wall of the mixing cylinder to scrape the residual drugs on the wall.

6. The surface residual drug cleaning device for a medicine mixing pot according to claim 1, characterized in that, The residual drug adsorption structure includes: A rotating bearing, connected to another cooperating slider, and driven by it to displace; A telescopic member, connected to the end of the rotating bearing away from the cooperating slider, and driven by it to rotate; A suction pump, fixed to one side of the rotating bearing, providing the driving force required for residual drug suction; The chuck is fixed to one end of the telescopic member away from the rotating bearing; The chuck limits the cleaning assembly. At this time, the cleaning assembly is a suction attachment. The suction attachment enters the bottom end of the mixing cylinder as the telescopic rod expands and contracts. The suction pump operates to perform a suction action when the residual medicine enters the suction attachment.

7. A cleaning device for residual medicine on the surface of a medicine mixing pot according to claim 1, characterized in that, The visual detection structure includes: A rotating motor, connected to the auxiliary stabilizing frame; A mounting bracket, driven by the rotating motor and in an L shape; A vision camera, fixed to the side of the mounting bracket away from the rotating motor for performing visual detection actions; The rotating motor drives the mounting bracket and the vision camera to move above the mixing cylinder to perform visual detection on the position of the mixing cylinder and the residual medicine situation inside.

8. The surface residual medicine cleaning device for a medicine mixing pot according to claim 1, characterized in that, The slide rail assembly includes: Positioning seats, fixed to the ground and provided in multiple numbers; Slide rails, two of which are arranged symmetrically along the vertical center line of the positioning seat; A displacement positioning frame, arranged inside the two slide rails to limit the position of the mixing cylinder; The multiple positioning seats are distributed equidistantly in sequence; The distance between the two slide rails is adapted to the distance between the moving wheels arranged below the mixing cylinder.

9. The cleaning method of a cleaning device for residual medicine on the surface of a medicine mixing pot according to any one of claims 1-8, characterized in that, It includes the following steps: S1. Mixing cylinder positioning and movement: The mixing cylinder to be cleaned is precisely moved to the designated cleaning position along the track by the drive of the slide rail assembly to ensure its stability during the cleaning process; S2. Support and bearing structure: The cleaning support frame and the cleaning assembly bearing platform provide stable support for the cleaning equipment to ensure the stability and smooth progress of the entire cleaning process; S3. Residual medicine cleaning structure adjustment: The residual medicine cleaning structure is adjusted in real time according to the position and shape of the mixing cylinder to enable the cleaning work to be carried out accurately and efficiently. This structure ensures that the residues inside the mixing cylinder are cleared without dead angles; S4. Residual medicine adsorption structure operation: During the cleaning process, the residual medicine adsorption structure rotates and sucks the residual medicine in the mixing cylinder through the suction device to ensure thorough cleaning of every corner and avoid the influence of residual medicine on subsequent operations; S5. Visual detection and confirmation: The visual detection structure monitors the positioning situation of the mixing cylinder in real time and confirms the quality of the cleaning work through image recognition technology; Only after confirming that the cleaning effect meets the standards will the equipment enter the next step; S6. After all steps are completed, the cleaning assembly ensures that all residual medicine is cleared, avoids any cross - contamination, ensures the complete cleanliness of the equipment, and provides safety guarantee for the next use.

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