Full-automatic high-speed liquid preparation equipment and method

Abstract

The invention relates to the technical field of automatic medicine dispensing, in particular to full-automatic high-speed liquid dispensing equipment and method, and the full-automatic high-speed liquid dispensing equipment comprises a liquid dispensing table, a raw material storage device, a liquid bag transfer manipulator and at least two liquid medicine mixing devices. Specifically, the raw material storage devices are arranged on the two sides of the liquid preparation table; and the liquid bag transfer manipulator is used for transferring the liquid bags in the raw material storage device to the liquid preparation table. The two liquid medicine mixing devices are arranged on the two sides, different from the raw material storage device, of the liquid preparation table respectively and used for taking and opening ampoule bottles and penicillin bottles in the raw material storage device, mixing agents in the ampoule bottles and the penicillin bottles and then injecting the mixed agents into a liquid bag to form finished liquid medicine. The medicine liquid mixing device comprises a liquid mixing table, and a medicine bottle opening mechanism, a medicine bottle transfer manipulator, a needle cylinder frame and a suction and injection manipulator which are arranged on the liquid mixing table. The application has the effects of improving the dispensing efficiency and the equipment utilization rate and expanding the application scene of the equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic dispensing, in particular to a full-automatic high-speed liquid preparation device and method. BACKGROUND

[0002] Infusion is a common medical method in daily life. The infusion is to input the sterile liquid, electrolyte and drug into the body through the vein. The hospital will configure different drug solutions for patients according to the actual situation of the patients. The finished drug solution is mainly composed of mother liquor and medicament. The liquid type medicament is usually stored in an ampoule bottle, and the powder type medicament is usually stored in a penicillin bottle. When dispensing, part of the liquid type medicament or mother liquor is usually injected into the penicillin bottle to mix with the powder type medicament to form a mixed medicament, and then the mixed medicament is input into the mother liquor of the infusion bag to form the finished drug solution.

[0003] In the related art, a patent with publication number CN112741768A discloses an ampoule dispensing system, which comprises a storage module and a support. The support is provided with a bottle cutting device, a disinfection component, a rotating device, a bottle breaking device and a dispensing device. The storage module is located on the support and is used to assemble and convey the ampoules to pass through the bottle cutting device, the disinfection component, the bottle breaking device and the dispensing device in sequence. The bottle cutting device is used to cut the multiple ampoules on the storage module at the same time. The rotating device is used to fix the storage module and to rotate and change the storage module at the feeding station to the station where the bottle breaking device is located and the discharge station position in sequence. The disinfection component is used to disinfect the cutting part of the ampoule, i.e. the bottle neck, at the feeding station of the rotating device. The bottle breaking device comprises multiple push heads connected in series. The push heads correspond to the positions of the ampoules on the storage module one by one. The multiple push heads rotate and reciprocate through a driving mechanism to break the ampoule bottle head. The dispensing device is used to suck the drug solution in the broken ampoule into the infusion bag.

[0004] However, in the above related technology, the automatic dispensing is not completely realized, and the feeding of the infusion bag still needs to rely on manual operation. Moreover, the whole dispensing process is in a pipeline mode, which is affected by the process flow. When an emergency situation occurs, such as rescuing an emergency patient, it is not possible to immediately insert the queue for fast dispensing. Instead, the order after the insertion of the queue needs to wait until the order in the production line has been completed before the subsequent order can be configured, thereby limiting the application scenarios of the whole dispensing process. SUMMARY

[0005] In order to improve the dispensing efficiency and equipment utilization and expand the application scenarios of the equipment, the present application provides a full-automatic high-speed liquid preparation device and method.

[0006] The full-automatic high-speed liquid preparation device and method provided by the present application adopts the following technical scheme: A fully automated high-speed liquid preparation device and method, comprising: Solution preparation station; Raw material storage devices are located on both sides of the liquid preparation station interval and are used to store liquid bags, ampoules, and vials. A liquid bag transfer robot is used to transfer liquid bags from the raw material storage device to the liquid dispensing platform; At least two drug mixing devices are respectively located on the other two sides of the mixing platform where the raw material storage device is not installed and are spaced apart. The drug mixing device includes a mixing platform and a drug bottle opening mechanism, a drug bottle transfer robot, a syringe rack and an aspiration robot provided on the mixing platform. The vial opening mechanism is used to open ampoules or vials; the vial transfer robot is used to transfer ampoules or vials in the raw material storage device to the vial opening mechanism for opening; the syringe rack is used to store disposable syringes; the injection robot is used to obtain disposable syringes from the syringe rack and drive the disposable syringes to draw the liquid from the opened ampoule or the liquid from the liquid bag on the dispensing platform into the opened vial to form a mixed liquid, and to drive the disposable syringes to draw the mixed liquid from the opened vial into the liquid bag on the dispensing platform.

[0007] By adopting the above technical solutions, fully automated drug dispensing is achieved, improving dispensing efficiency and equipment utilization, and expanding the application scenarios of the equipment. Specifically, this dispensing equipment operates automatically from raw material feeding, bottle opening, dispensing to finished drug output, solving the problem of manual loading of infusion bags in existing technologies and reducing the occupational exposure risk for medical personnel handling high-risk drugs. Furthermore, the dispensing equipment uses a parallel architecture of one dispensing station and a robotic arm paired with multiple independent drug mixing devices. When encountering urgent dispensing orders requiring priority processing, such as those for emergency cases, there is no need to wait for all orders on the production line to be completed. Only the drug mixing device that can complete the current single dispensing task fastest can be assigned to immediately accept the urgent dispensing order. This greatly improves the flexibility and response speed of the dispensing process and expands the application scenarios of the equipment. Meanwhile, considering that in actual liquid preparation processes, the time (long cycle time) for the liquid mixing device to perform delicate actions such as opening bottles, suction, and injection is much greater than the time (short cycle time) for the liquid bag transfer robot to handle materials, this application adopts a layout where one liquid bag transfer robot serves at least two liquid mixing devices. This time-division and reuse design allows the liquid bag transfer robot to load and unload the required liquid bags for another liquid mixing device while performing mixing operations on one device, minimizing the idle waiting time of each mechanism and thus significantly improving the overall equipment utilization rate and liquid preparation output efficiency.

[0008] Optionally, the drug mixing device further includes a shaking assembly, which includes a slide rail, multiple slide seats, and multiple grippers; the slide rail is connected to the mixing stage, and the multiple slide seats are all driven to slide on the slide rail; the multiple grippers and the multiple slide seats are arranged in a one-to-one correspondence, and the grippers are connected to the slide seats for gripping ampoules or vials; the drug bottle transfer robot is also used to transfer opened ampoules or vials to the grippers for gripping.

[0009] By adopting the above technical solution, the reciprocating motion of the slide block on the slide rail can drive the medicine bottle held by the gripper to vibrate and mix evenly. This allows the dispensing equipment to automatically handle the dissolving and mixing process of powders or poorly soluble drugs, simulating and replacing the manual hand-cranking action. This not only improves the thoroughness and uniformity of the drug solution mixing, ensuring medication safety, but also further expands the drug application range of the dispensing equipment, enabling it to adapt to the preparation needs of various complex drug solutions.

[0010] Optionally, the mixing stage is provided with a medicine bottle collection port, which is located below the sliding path of the gripper. The gripper can clamp and deliver ampoules or vials into the medicine bottle collection port.

[0011] By adopting the above technical solution, after the solution preparation is completed, the grippers can directly send the picked-up empty ampoules or vials into the recycling port for rapid discharge and recycling. This avoids the accumulation of waste bottles on the mixing table, achieves immediate and targeted cleaning of waste bottles, and reduces the risk of cross-contamination during the preparation of different batches of medicine.

[0012] Optionally, the vial opening mechanism includes an ampoule cutting assembly, an ampoule breaking assembly, and an vial opening assembly; the ampoule cutting assembly includes a cutter and a first driving member, the cutter being rotatably configured, and the first driving member driving the cutter to rotate; the ampoule breaking assembly includes a breaking lever and a second driving member, the breaking lever being used to abut against the ampoule head, and the second driving member driving the breaking lever to move, so that the ampoule head is deflected relative to the vial body; the vial opening assembly includes a claw and a first telescopic driving member, the claw being used to engage the vial cap, and the first telescopic driving member driving the claw away from the vial body.

[0013] By adopting the above technical solution, when opening ampoules, the first driving component drives the cutter to rotate and cut the ampoule, creating scratches. Then, the second driving component drives the lever to move and abut against the ampoule head, causing the ampoule head to deflect and break off. This design transforms the complex "scratching" and "breaking" actions of manual opening into precise mechanical actions, achieving standardized simulation and replacement of manual methods, thus enabling efficient and rapid opening of ampoules. When opening vials, the jaws first engage the vial cap, then the first telescopic driving component extends, driving the jaws to move the vial cap away from the vial body. This engaging and linear pull-out method minimizes the time and stroke required for opening the vial, significantly reducing the opening time of a single vial, increasing the opening speed, and ultimately improving the overall operating efficiency of the dispensing equipment.

[0014] Optionally, the drug mixing device further includes a syringe destruction assembly, which is used to destroy disposable syringes after a single solution preparation. The syringe destruction assembly includes a support frame, cutting pliers, and a second telescopic drive. The support frame is used to support the disposable syringes after a single solution preparation, and the aspiration robot is also used to transfer the disposable syringes onto the support frame. The cutting pliers are used to cut the disposable syringes. A syringe retrieval port is provided on the mixing table, and the second telescopic drive is used to push the disposable syringes cut by the cutting pliers away from the support frame and into the syringe retrieval port.

[0015] By adopting the above technical solution, after the solution is prepared, the aspiration robot delivers the waste syringe to the support frame, where it is physically cut and deformed using shearing forceps. Finally, a second telescopic drive pushes the deformed disposable syringe away from the support frame, allowing it to automatically fall into the syringe recycling port. This design strictly adheres to medical waste management regulations, irreversibly destroying disposable medical consumables at the source, reducing the safety risks of waste syringes being reused, and simultaneously achieving unified recycling of waste syringes.

[0016] Optionally, the liquid preparation platform is further provided with multiple liquid preparation supports, each liquid preparation support including a support plate and a third driving component; the support plate is rotatably connected to the liquid preparation platform and is used to carry the liquid bag; the third driving component is used to drive the support plate to rotate; the liquid preparation platform has a discharge port, and a finished product conveying line is provided below the discharge port; when the support plate rotates to a predetermined angle, the liquid bag can detach from the support plate and fall onto the finished product conveying line through the discharge port.

[0017] By adopting the above technical solution, multiple liquid dispensing supports constitute a multi-path parallel buffer design for the liquid dispensing station. On the one hand, multiple support plates can simultaneously carry multiple liquid bags to be dispensed or already dispensed, enabling continuous and uninterrupted liquid dispensing operations in conjunction with two liquid mixing devices. On the other hand, by controlling the support plates to rotate to a predetermined angle, gravity is used to automatically drop the dispensed finished liquid bags onto the finished product conveyor line below, eliminating the need for an additional unloading robot, simplifying the mechanical structure, and improving discharge efficiency.

[0018] Optionally, the raw material storage device includes a liquid bag storage cabinet and a medicine bottle storage cabinet. The liquid bag storage cabinet is used to store liquid bags, and the medicine bottle storage cabinet is used to store ampoules and vials. The liquid bag storage cabinet is located on one side of the dispensing station, and the medicine bottle storage cabinet is located on the side of the dispensing station opposite to the liquid bag storage cabinet.

[0019] By adopting the above technical solution, the liquid bag storage cabinet and the medicine bottle storage cabinet are arranged on opposite sides of the liquid dispensing platform, respectively, thus physically separating the large-volume liquid bags and small-volume medicine bottles in terms of spatial layout. This layout naturally separates the movement trajectories of the liquid bag transfer robot and the medicine bottle transfer robot, greatly reducing the risk of collisions and interference when multiple robots work together in the same space. It also facilitates operators to replenish and manage different materials by zone.

[0020] Optionally, a marking machine is also provided next to the liquid bag storage cabinet. The marking machine is used to mark the drug dispensing information on the liquid bags. The liquid bag transfer robot is used to transfer the liquid bags in the liquid bag storage cabinet to the marking machine for marking the drug dispensing information, and then transfer the liquid bags marked with the drug dispensing information to the dispensing table.

[0021] By adopting the above technical solution, the liquid bags are labeled with medication information using a marking machine before entering the dispensing station. This gives each liquid bag a unique identifier before it enters the dispensing process, achieving a binding between the physical product and data. This facilitates verification and checks during subsequent dispensing, preventing mis-dispensing. Simultaneously, it provides a reliable data carrier for the subsequent distribution of the finished medication and for end-to-end quality traceability.

[0022] As another aspect of this application, a liquid preparation method using the fully automated high-speed liquid preparation equipment described above is provided, comprising the following steps: Prepare raw materials: According to the raw material composition of the required drug solution, store the liquid bags, ampoules and vials containing the corresponding drug raw materials in the raw material storage device; Liquid bag loading: The liquid bag transfer robot takes out the liquid bag containing the required medicine from the raw material storage device and transfers it to the liquid dispensing platform according to the single dispensing information; Medicine bottle retrieval and opening: The medicine bottle transfer robot takes out the ampoule or vial containing the required medicine from the raw material storage device according to the single dispensing information, and opens the bottle through the medicine bottle opening mechanism; Mixing and dispensing: The aspiration robot arm retrieves a disposable syringe from the syringe rack and drives the disposable syringe to draw the drug solution from the opened ampoule or the liquid bag on the dispensing platform and inject it into the opened vial to form a mixed drug solution. It also drives the disposable syringe to draw the mixed drug solution from the opened vial and inject it into the liquid bag on the dispensing platform to complete the dispensing process.

[0023] By adopting the above technical solutions, the entire drug dispensing process is automated, improving dispensing efficiency and equipment utilization, and expanding the application scenarios of the equipment. Specifically, this solution dispensing method operates entirely through automated equipment from raw material loading, bottle opening, solution dispensing to finished drug output, solving the problem of manual loading of infusion bags in existing technologies and reducing the occupational exposure risk for medical personnel when handling high-risk drugs. Furthermore, by adopting a parallel architecture of one loading and unloading device (dispensing table and robotic arm) + multiple independent mixing units (drug mixing devices), when encountering urgent orders that require queuing, such as emergency cases, the system does not need to wait for all orders on the entire production line to be completed. It only needs to assign the drug mixing device that can complete the current single dispensing task the fastest to immediately accept the urgent order, improving the flexibility and responsiveness of the drug dispensing process. Meanwhile, the layout of one liquid bag transfer robot serving at least two liquid mixing devices allows the liquid bag transfer robot to load and unload the liquid bags required by the other liquid mixing device while performing the mixing operation in one liquid mixing device. This reduces the idle waiting time of each mechanism and improves the overall equipment utilization rate and liquid production efficiency.

[0024] Optionally, in the steps of retrieving and opening medicine bottles, when the single dispensing information includes both medicines stored in ampoules and medicines stored in vials, the medicine bottle transfer robot first removes the ampoule containing the required medicine from the raw material storage device and opens it via the medicine bottle opening mechanism.

[0025] By adopting the above technical solution, since ampoules typically contain solvent, prioritizing the opening of the ampoule allows the dispensing robot to immediately extract the solvent and inject it into the vial for reconstitution. Furthermore, once opened, the ampoule is completely open, while the vial remains sealed with a rubber stopper. Prioritizing the ampoule and rapidly extracting the medication minimizes the contact time between the medication and air, effectively reducing the risk of contamination by environmental microorganisms or particles.

[0026] In summary, this application includes the following beneficial technical effects: 1. Achieve fully automated medication dispensing, improve medication dispensing efficiency and equipment utilization, expand equipment application scenarios, solve the problem of reliance on manual loading of infusion bags, and reduce the occupational exposure risk of medical staff; adopt a parallel architecture to improve the flexibility and response speed of the medication dispensing process; adopt a time-division reuse design to improve the overall equipment utilization and solution production efficiency; 2. The reciprocating motion of the slide block on the slide rail drives the medicine bottle to vibrate and mix evenly, improving the thoroughness and uniformity of the drug solution mixing, ensuring medication safety, and expanding the drug application range of the solution preparation equipment; 3. The first gripper can deliver the waste medicine bottle into the recycling port, avoiding the accumulation of medicine bottles, realizing immediate and fixed-point cleaning, and reducing the risk of cross-contamination. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of this application.

[0028] Figure 2 This is an isometric view of Embodiment 1 of this application.

[0029] Figure 3 This mainly showcases the liquid preparation stent in Embodiment 1 of this application.

[0030] Figure 4 This mainly demonstrates the liquid mixing device in Embodiment 1 of this application.

[0031] Figure 5 This mainly demonstrates the medicine bottle opening mechanism in Embodiment 1 of this application.

[0032] Figure 6 This mainly showcases the syringe destruction component in Embodiment 1 of this application.

[0033] Explanation of reference numerals in the attached drawings: 1. Dispensing platform; 11. Bottle return port; 12. Syringe return port; 13. Discharge port; 2. Raw material storage device; 21. Liquid bag storage cabinet; 22. Bottle storage cabinet; 3. Liquid bag transfer robot; 31. First multi-axis robotic arm; 32. Liquid bag gripper; 4. Liquid mixing device; 40. Mixing platform; 41. Bottle opening mechanism; 411. Ampoule cutting assembly; 4111. Cutting blade; 4112. First driving component; 412. Ampoule breaking assembly; 4121. Breaking lever; 4122. Rotating disk; 4123. Second driving component; 413. Vial 4131. Opening assembly; 4132. First telescopic drive component; 42. Medicine bottle transfer robot; 421. Second multi-axis robotic arm; 422. Medicine bottle gripper; 43. Syringe holder; 44. Injection robot; 441. Third multi-axis robotic arm; 442. Syringe clamp; 45. Shaking assembly; 451. Slide rail; 452. Slide base; 453. Gripper; 46. Syringe destruction assembly; 461. Support frame; 4611. Slot; 462. Cutting pliers; 463. Second telescopic drive component; 5. Liquid dispensing support; 51. Support plate; 52. Third drive component; 6. Marking machine. Detailed Implementation

[0034] The following combination Figures 1-6 This application will be described in further detail.

[0035] Example 1 Embodiment 1 of this application discloses a fully automatic high-speed liquid preparation device.

[0036] Reference Figure 1 and Figure 2 In this embodiment, the fully automatic high-speed liquid preparation equipment includes a liquid preparation platform 1, a raw material storage device 2, a liquid bag transfer robot 3, and two liquid mixing devices 4.

[0037] The raw material storage device 2 is located on both sides of the dispensing platform 1 and is used to store liquid bags, ampoules, and vials. The liquid bag transfer robot 3 is used to transfer the liquid bags in the raw material storage device 2 to the dispensing platform 1. Two drug solution mixing devices 4 are respectively located on both sides of the dispensing platform 1, separate from the raw material storage device 2. The drug solution mixing device 4 includes a mixing platform 40 and a drug bottle opening mechanism 41, a drug bottle transfer robot 42, a syringe holder 43, and an aspiration robot 44 located on the mixing platform 40.

[0038] The vial opening mechanism 41 is used to open ampoules or vials. The vial transfer robot 42 is used to transfer ampoules or vials in the raw material storage device 2 to the vial opening mechanism 41 for opening. The syringe rack 43 is used to store disposable syringes. The aspiration robot 44 is used to retrieve disposable syringes from the syringe rack 43 and drive the disposable syringes to draw the liquid from the opened ampoules or the liquid bag on the dispensing platform 1 into the opened vials to form a mixed liquid, and also drives the disposable syringes to draw the mixed liquid from the opened vials into the liquid bag on the dispensing platform 1.

[0039] Specifically, the liquid preparation platform 1 is a rectangular table supported on the ground, formed by splicing metal profiles and plates. The liquid bag transfer robot 3 is mounted on the supporting surface at the top of the liquid preparation platform 1. The liquid bag transfer robot 3 mainly consists of a first multi-axis robotic arm 31 and a liquid bag gripper 32. The first multi-axis robotic arm 31 is fixed to the supporting surface at the top of the liquid preparation platform 1, possessing high flexibility and a wide range of motion, capable of moving freely in three-dimensional space. The liquid bag gripper 32 is mounted on the movable end of the first multi-axis robotic arm 31 and is used to grip the liquid bag. The liquid bag gripper 32 can be a pneumatic gripper 453 or an electric gripper 453, and its gripping part shape and size are designed according to the characteristics of the liquid bag, enabling it to firmly grasp the liquid bag without damage.

[0040] The mixing table 40 is also a table supported on the ground, formed by splicing metal profiles and plates. The medicine bottle opening mechanism 41, the medicine bottle transfer robot 42, the syringe rack 43, and the aspiration robot 44 are all installed on the bearing surface on the top of the mixing table 40.

[0041] The medicine bottle transfer robot 42 mainly consists of a second multi-axis robotic arm 421 and a medicine bottle gripper 422. The second multi-axis robotic arm 421 is fixed to the bearing surface on the top of the dispensing platform 1, and it has high flexibility and range of motion, enabling it to move freely in three-dimensional space. The medicine bottle gripper 422 is installed at the movable end of the second multi-axis robotic arm 421 and is used to grip ampoules or vials. The medicine bottle gripper 422 can be a pneumatic gripper 453 or an electric gripper 453, and its gripping part shape and size are designed according to the characteristics of ampoules and vials, enabling it to firmly grip ampoules or vials without damage.

[0042] The aspiration robot 44 mainly consists of a third multi-axis robotic arm 441 and a syringe gripper 442. The third multi-axis robotic arm 441 is fixed to the bearing surface on top of the dispensing platform 1, and it has high flexibility and range of motion, enabling it to move freely in three-dimensional space. The syringe gripper 442 is installed at the movable end of the third multi-axis robotic arm 441 and is used to grip the syringe and push the piston of the syringe to move. The structure, shape, and size of the syringe gripper 442 are designed according to the characteristics of the syringe, enabling it to perform the functions of gripping the syringe and pushing the piston of the syringe to move.

[0043] The syringe holder 43 is usually made of metal and has multiple slots for inserting disposable syringes.

[0044] In other embodiments, the liquid bag transfer robot 3, the medicine bottle transfer robot 42, and the suction robot 44 can all be equipped with a visual recognition system to identify the position and posture of the target object through a camera, thereby improving the accuracy of the gripping action.

[0045] In this way, the entire process of the liquid preparation equipment, from raw material feeding, bottle opening, liquid preparation to finished drug output, is carried out by automated equipment, which solves the problem of relying on manual feeding of infusion bags in the existing technology and reduces the occupational exposure risk of medical personnel when they come into contact with high-risk drugs.

[0046] Furthermore, this solution preparation equipment employs a parallel architecture consisting of a solution preparation station 1, a robotic arm, and multiple independent drug solution mixing devices 4. When encountering urgent solution preparation orders requiring priority processing, such as those for emergency cases, the equipment does not need to wait for all in-process orders on the production line to be completed. It only needs to assign the drug solution mixing device 4 that can complete the current single solution preparation task the fastest to immediately accept the urgent solution preparation order. This improves the flexibility and response speed of the solution preparation process and expands the application scenarios of the equipment.

[0047] Meanwhile, considering that in actual liquid preparation processes, the time (long cycle time) for the liquid mixing device 4 to perform delicate actions such as opening bottles, suction, and injection is much greater than the time (short cycle time) for the liquid bag transfer robot 3 to handle materials, this application adopts a layout where one liquid bag transfer robot 3 serves at least two liquid mixing devices 4. This time-division and reuse design allows the liquid bag transfer robot 3 to load and unload the liquid bags required by another liquid mixing device 4 while performing mixing operations on one device, minimizing the idle waiting time of each mechanism and thus significantly improving the overall equipment utilization rate and liquid preparation output efficiency.

[0048] Reference Figure 2 and Figure 3 In this embodiment, the raw material storage device 2 includes a liquid bag storage cabinet 21 and a medicine bottle storage cabinet 22. The liquid bag transfer robot 3 is used to transfer the liquid bags in the liquid bag storage cabinet 21 of the raw material storage device 2 to the dispensing platform 1. The liquid bag storage cabinet 21 is usually constructed of a metal frame and plastic partitions and is used to store liquid bags. The liquid bag storage cabinet 21 is generally an open cabinet to facilitate the liquid bag transfer robot 3 to pick up and put in the liquid bags. The medicine bottle storage cabinet 22 is used to store ampoules and vials. The medicine bottle storage cabinet 22 can be a cabinet with compartments, and the size of each compartment is designed according to the size of the ampoules and vials to ensure the stability of the medicine bottles.

[0049] The liquid bag storage cabinet 21 is located on one side of the dispensing platform 1 along its length, and the medicine bottle storage cabinet 22 is located on the side of the dispensing platform 1 away from the liquid bag storage cabinet 21 along its length. Of the two medicine mixing devices 4, the first medicine mixing device 4 is located on one side of the dispensing platform 1 along its width, and the second medicine mixing device 4 is located on the side of the first medicine mixing device 4 along the width of the dispensing platform 1. Furthermore, the liquid bag transport robot is located on the bearing surface of the dispensing platform 1 near the liquid bag storage cabinet 21, and the medicine bottle transport robot 42 is located on the bearing surface of the mixing platform 40 near the medicine bottle storage cabinet 22. In other embodiments, the liquid bag storage cabinet 21 may also have a non-open cabinet opening to reduce contamination of the liquid bags.

[0050] The mixing platform 1 is also equipped with multiple mixing supports 5. Among the multiple mixing supports 5, some of the mixing supports 5 are installed on the side of the mixing platform 1 near the first drug mixing device 4, and the other part of the mixing supports 5 are installed on the side of the mixing platform 1 near the second drug mixing device 4.

[0051] The liquid dispensing support 5 includes a support plate 51 and a third drive component 52. The support plate 51 is specifically a metal plate with a shape matching the liquid bag, used to support the liquid bag. One side of the support plate 51 is rotatably connected to the liquid dispensing platform 1, and the other side of the support plate 51 extends towards the middle of the liquid dispensing platform 1. The third drive component 52 is a servo motor, which drives the support plate 51 to rotate via gear transmission. The liquid bag transfer robot 3 can transfer the liquid bags in the liquid bag storage cabinet 21 of the raw material storage device 2 to the support plate 51 on the liquid dispensing platform 1, so that the support plate 51 can support the liquid bags.

[0052] A discharge port 13 is provided in the middle of the bearing surface of the liquid preparation platform 1. Below the discharge port 13 is a finished product conveyor line (not shown in the attached drawing) for conveying finished liquid bags. The finished product conveyor line can be a belt conveyor or a bucket conveyor. When the bearing plate 51 rotates to a predetermined angle, the liquid bag can detach from the bearing plate 51 and fall onto the finished product conveyor line through the discharge port 13. It should be noted that the bearing plate 51 is initially parallel to the horizontal plane; the "predetermined angle" means that when the bearing plate 51 is at this angle, the liquid bag can slide freely off the bearing plate 51 under the action of gravity.

[0053] In this way, the layout of the liquid bag storage cabinet 21 and the medicine bottle storage cabinet 22 naturally separates the movement trajectories of the liquid bag transfer robot 3 and the medicine bottle transfer robot 42, reducing the risk of collision and interference when multiple robots work together in the same space. It also makes it easier for operators to replenish and manage different materials in different zones.

[0054] Multiple liquid dispensing supports 5 constitute a multi-path parallel buffer design for the liquid dispensing station. On one hand, multiple support plates 51 can simultaneously carry multiple liquid bags to be dispensed or already dispensed, enabling continuous and uninterrupted liquid dispensing operations in conjunction with two liquid mixing devices 4. On the other hand, by controlling the support plates 51 to rotate to a predetermined angle, gravity is used to automatically drop the dispensed finished liquid bags onto the finished product conveyor line below, eliminating the need for an additional unloading robot, simplifying the mechanical structure, and achieving efficient discharge.

[0055] Preferably, a marking machine 6 is also provided next to the liquid bag storage cabinet 21. The marking machine 6 is used to mark the dispensing information on the liquid bags. Before the liquid bag transfer robot 3 transfers the liquid bags in the liquid bag storage cabinet 21 to the carrier plate 51, it can also transfer the liquid bags in the liquid bag storage cabinet 21 to the marking machine 6 for dispensing information marking. In this way, the dispensing information is marked on the liquid bags by the marking machine 6 before they enter the dispensing station 1. This gives each liquid bag a unique identification before it enters the dispensing process. This facilitates verification and checks in the subsequent dispensing process and prevents mis-dispensing.

[0056] Reference Figure 4 and Figure 5 In this embodiment, the medicine bottle opening mechanism 41 includes an ampoule cutting assembly 411, an ampoule breaking assembly 412, and a vial opening assembly 413.

[0057] The ampoule cutting assembly 411 includes a cutter 4111 and a first drive unit 4112. The cutter 4111 is a disc-shaped tungsten carbide cutter, which is rotatably mounted on the mixing platform 40 near the medicine bottle storage cabinet 22. It is used to cut the neck of the ampoule to create a scratch, and the rotation axis of the cutter 4111 is perpendicular to the horizontal plane. The first drive unit 4112 is a servo motor, which is mounted on the mixing platform 40 and drives the cutter 4111 to rotate through gear transmission.

[0058] The ampoule-breaking assembly 412 includes a breaking lever 4121, a rotating disk 4122, and a second drive component 4123. The rotating disk 4122 is rotatably mounted on the mixing platform 40 near the medicine bottle storage cabinet 22, and its rotation axis is perpendicular to the horizontal plane. The breaking lever 4121 is specifically a cylindrical metal rod with good strength and hardness. The breaking lever 4121 is fixed to one end face of the rotating disk 4122, offset from its central axis, and is used to abut against the ampoule tip. The extension direction of the breaking lever 4121 is parallel to the rotation axis of the rotating disk 4122. The second drive unit 4123 is also a servo motor. The second drive unit 4123 is installed on the mixing platform 40 and drives the rotating disk 4122 to rotate through gear transmission to drive the displacement of the lever 4121 so that the eccentrically rotating lever 4121 abuts against the ampoule head of the ampoule bottle, causing the ampoule head of the ampoule bottle to deflect relative to the body of the ampoule bottle.

[0059] The vial opening assembly 413 includes a claw 4131 and a first telescopic drive 4132. The first telescopic drive 4132 can be a pneumatic, hydraulic, or electric actuator. It is fixedly mounted on the mixing table 40 near the vial storage cabinet 22, and its output direction is perpendicular to the horizontal plane. The claw 4131 engages the vial cap and is fixedly mounted on the output end of the first telescopic drive 4132. The first telescopic drive 4132 drives the claw 4131 away from the vial body.

[0060] In other embodiments, the second driving member 4123 can also be a hydraulic push rod, and the lever 4121 is directly fixed to the output end of the hydraulic push rod. The hydraulic push rod drives the lever 4121 to push the ampoule head of the ampoule bottle; the cutter 4111 can also be a grinding wheel.

[0061] In this way, when opening an ampoule, the first drive component 4112 drives the cutter 4111 to rotate and cut the ampoule, creating scratches. Then, the second drive component 4123 drives the lever 4121 to move and abut against the ampoule head, causing the ampoule head to deflect and break off. This design transforms the complex "scratching" and "breaking" actions of manual opening into precise mechanical actions, achieving standardized simulation and replacement of manual methods, thus enabling efficient and rapid opening of ampoules.

[0062] When opening a vial, the cap is first engaged by the latch 4131, and then the first telescopic drive 4132 extends, driving the latch 4131 to move the cap away from the vial body. This latching and linear release method minimizes the time and stroke required for opening the vial, significantly reducing the opening time for a single vial, increasing the opening speed, and ultimately improving the overall operating efficiency of the dispensing equipment.

[0063] Reference Figure 4 and Figure 5 In this embodiment, the drug mixing device 4 further includes a shaking component 45 and a syringe destruction component 46.

[0064] The mixing assembly 45 includes a slide rail 451, multiple slide blocks 452, and multiple grippers 453. The slide rail 451 is generally a metal guide rail, connected to the center of the bearing surface of the mixing table 40 by bolts or welding. Multiple slide blocks 452 are slidably mounted on the slide rail 451. Specifically, each slide block 452 is a seat that slides with the slide rail 451 and is self-driving. The self-driving mechanism of the slide blocks 452 can be achieved by using a motor and a rack and pinion transmission. The rack is fixed to the slide rail 451 along its extension direction parallel to the slide rail 451. The gear rotates, connecting the slide block 452 and meshing with the rack, and the motor drives the gear to rotate.

[0065] The gripper 453 is fixedly mounted on the slide 452, and multiple grippers 453 are arranged one-to-one with multiple slides 452. The gripper 453 can be a pneumatic gripper or an electric gripper, and the shape and size of its gripping part are designed according to the characteristics of ampoules and vials, so as to firmly hold ampoules or vials without damage.

[0066] The medicine bottle transfer robot 42 can transfer ampoules or vials in the medicine bottle storage cabinet 22 of the raw material storage device 2 to the medicine bottle opening mechanism 41 for opening, and transfer the opened ampoules or vials to the gripper 453 for gripping.

[0067] A medicine bottle recycling port 11 is provided on the bearing surface of the mixing table 40. The medicine bottle recycling port 11 is located below the sliding path of the gripper 453. The gripper 453 can clamp and deliver ampoules or vials into the medicine bottle recycling port 11.

[0068] In other embodiments, the slide 452 can also be self-driven by a motor and a lead screw transmission pair. The motor drives the lead screw to rotate, and the nut on the lead screw is connected to the slide 452, thereby realizing the sliding of the slide 452 on the slide rail 451.

[0069] In this way, the reciprocating motion of the slide block 452 on the slide rail 451 drives the medicine bottle held by the gripper 453 to vibrate and mix evenly. This allows the dispensing equipment to automatically handle the dissolution and mixing process of powders or poorly soluble drugs, simulating and replacing the manual hand-cranking action. This not only improves the thoroughness and uniformity of the drug solution mixing, ensuring medication safety, but also further expands the drug application range of the dispensing equipment. Furthermore, after dispensing, the gripper 453 can directly send the gripped empty ampoules or vials to the recycling port for rapid discharge and recycling. This avoids the accumulation of waste medicine bottles on the mixing table 40, achieving immediate and targeted cleaning of waste medicine bottles and reducing the risk of cross-contamination during the preparation of different batches of medicine.

[0070] Reference Figure 4 and Figure 6 In this embodiment, the syringe destruction component 46 is used to destroy disposable syringes after a single solution preparation. The syringe destruction component 46 includes a support frame 461, cutting pliers 462, and a second telescopic drive component 463. The support frame 461 is used to support the disposable syringes after a single solution preparation, and the support frame 461 has a slot 4611 for accommodating the disposable syringes.

[0071] The aspiration robot 44 can also transfer the used disposable syringe to the slot 4611 on the carrier 461 after injecting the mixed medicine into the liquid bag. The cutting pliers 462 can be hydraulic or electric cutting pliers. The cutting pliers 462 are fixed on the mixing table 40 and the cutting edge of the cutting pliers 462 extends into the slot 4611 to cut the disposable syringe placed in the slot 4611 to destroy the used disposable syringe.

[0072] A syringe retrieval port 12 is provided on the bearing surface of the mixing stage 40, and the syringe retrieval port 12 is located directly below the bearing frame 461. The second telescopic drive member 463 can be one of an electric push rod, a pneumatic push rod, or a hydraulic push rod. The second telescopic drive member 463 is fixed on the mixing stage 40, and its output end extends into the slot to push the disposable syringe cut by the pliers 462 out of the bearing frame 461 and into the syringe retrieval port 12.

[0073] In this way, after the solution is prepared, the aspiration robot 44 delivers the waste syringe to the support frame 461, and uses the shearing forceps 462 to physically cut and deform it. Finally, the second telescopic drive 463 pushes the deformed disposable syringe away from the support frame 461, allowing it to automatically fall into the syringe collection port 12. This design strictly follows medical waste management regulations, irreversibly destroying disposable medical consumables at the source, reducing the safety risks of waste syringes being reused, and simultaneously achieving unified recycling of waste syringes.

[0074] The implementation principle of Embodiment 1 of this application is as follows: This liquid preparation equipment completes the entire process from raw material feeding, bottle opening, liquid preparation to finished drug output through automated equipment, solving the problem of manual feeding of infusion bags and reducing the occupational exposure risk of medical personnel to high-risk drugs. Furthermore, the parallel architecture allows for rapid response to urgent liquid preparation orders, improving the flexibility and response speed of the liquid preparation process. The layout utilizing the principle of time-division multiplexing reduces the idle waiting time of each mechanism, improving equipment utilization and liquid preparation output efficiency. The layout of the liquid bag storage cabinet 21 and the medicine bottle storage cabinet 22 separates the movement trajectory of the robotic arm, reducing the risk of collision interference and facilitating material management. The multi-path parallel buffer design of the liquid preparation support 5 enables continuous liquid preparation and efficient dispensing. The design of the medicine bottle opening mechanism 41 enables efficient opening of ampoules and vials, improving the overall operating efficiency of the liquid preparation equipment. The shaking component 45 can automatically handle the dissolution and mixing of drugs, expanding the applicable range of drugs, and can also immediately recycle waste medicine bottles, reducing the risk of cross-contamination. The syringe destruction component 46 destroys and recycles waste syringes, eliminating the risk of reuse and achieving unified waste recycling.

[0075] Example 2 Embodiment 2 of this application also discloses a liquid preparation method using the fully automated high-speed liquid preparation equipment described above, comprising the following steps: Prepare raw materials: According to the composition of the raw materials of the required drug solution, store the liquid bags, ampoules and vials containing the corresponding drug raw materials into the raw material storage device 2.

[0076] The steps for preparing raw materials include: According to the raw material composition of the required drug solution, place the liquid bag containing the corresponding drug raw material into the liquid bag storage cabinet 21.

[0077] According to the raw material composition of the required drug solution, place the ampoules and vials containing the corresponding drug raw materials into the drug storage cabinet 22.

[0078] Liquid bag loading: The liquid bag transfer robot 3, based on the single dispensing information, takes out the liquid bag containing the required medicine from the raw material storage device 2 and transfers it to the dispensing platform 1.

[0079] The liquid bag feeding steps include: The liquid bag transfer robot 3, based on the single dispensing information, takes out the liquid bag containing the required medicine from the liquid bag storage cabinet 21 and transfers it to the marking machine 6 for dispensing information labeling.

[0080] The liquid bag transfer robot 3 transfers the liquid bag labeled with the drug dispensing information to the carrier plate 51 for support.

[0081] Medicine bottle retrieval and opening: The medicine bottle transfer robot 42 takes out the ampoule or vial containing the required medicine from the raw material storage device 2 according to the single dispensing information, and opens the bottle through the medicine bottle opening mechanism 41.

[0082] The steps for dispensing and opening medicine bottles include: The medicine bottle transfer robot 42, based on the single dispensing information, takes out the ampoule containing the required medicine from the medicine bottle storage cabinet 22, transfers the taken out ampoule to the ampoule cutting component 411 to cut the scratches, and transfers the ampoule with the cut scratches to the ampoule breaking component 412 to break off the ampoule head.

[0083] The medicine bottle transfer robot 42 transfers the opened ampoule to the gripper 453 for clamping.

[0084] The medicine bottle transfer robot 42 takes out the vial containing the required medicine from the medicine bottle storage cabinet 22 according to the single dispensing information, and transfers the taken out vial to the vial opening assembly 413 to open the cap.

[0085] The vial transfer robot 42 transfers the opened vial to the gripper 453 for clamping.

[0086] Mixing and dispensing: The aspiration robot 44 obtains a disposable syringe from the syringe rack 43 and drives the disposable syringe to draw the drug solution from the opened ampoule or the liquid bag on the dispensing platform 1 and inject it into the opened vial to form a mixed drug solution. It also drives the disposable syringe to draw the mixed drug solution from the opened vial and inject it into the liquid bag on the dispensing platform 1 to complete the dispensing.

[0087] Waste recycling upon discharge: The third driving component 52 drives the bearing plate 51, which carries the liquid bag that has been prepared, to flip over, so that the liquid bag on the bearing plate 51 slides off and falls through the discharge port 13 onto the finished product conveyor line.

[0088] The slide block 452 drives the gripper 453 to move, conveying empty ampoule bottles and empty vials to the medicine bottle recycling port 11.

[0089] The suction robot 44 transfers the disposable syringe with the mixed drug solution already injected to the support frame 461. The cutting pliers 462 cuts the disposable syringe, and the second telescopic drive 463 pushes the cut disposable syringe away from the support frame 461, causing it to fall into the syringe recovery port 12.

[0090] Preferably, in the steps of retrieving and opening medicine bottles, when the single dispensing information includes both medicine stored in ampoules and medicine stored in vials, the medicine bottle transfer robot 42 first removes the ampoule containing the required medicine from the raw material storage device 2 and opens it via the medicine bottle opening mechanism 41.

[0091] In this way, since ampoules typically contain solvent, prioritizing the opening of ampoules allows the dispensing robot 44 to immediately extract the solvent and inject it into vials for reconstitution. Furthermore, once opened, ampoules are completely open, while vials are sealed with rubber stoppers. Prioritizing the handling of ampoules and rapidly extracting the medication minimizes the contact time between the medication and air, effectively reducing the risk of contamination by environmental microorganisms or particles.

[0092] The implementation principle of Embodiment 2 of this application is as follows: The liquid preparation method utilizes the design of time segmentation and reuse to minimize the idle waiting time of each mechanism, thereby significantly improving the equipment utilization rate and liquid preparation output efficiency of the whole machine.

[0093] Specifically, in the initial stage of the liquid preparation process, the raw materials are first sorted and prepared by placing the liquid bags containing the mother liquor and the ampoules and vials containing the medicines into separate storage units. Subsequently, the system enters a parallel flow state. On one hand, the liquid bag transfer robot 3 grasps the liquid bag based on the single dispensing information and uses the marking machine 6 to print and mark the dispensing information before placing the liquid bag on the flip-up support plate 51. On the other hand, the vial transfer robot 42 executes differentiated bottle opening procedures according to instructions. For ampoules, it performs a "cutting and scratching-mechanical breaking" opening action; for vials, it performs a "straight-pull-off" cap opening action. The opened vials are then transferred to the gripper 453 of the shaking assembly 45 for holding, preparing the body for subsequent mixing.

[0094] At the core solution preparation and logic control level, an "ampoule priority" process sequencing strategy is adopted. When the drug preparation information includes both medications stored in ampoules and medications stored in vials, the ampoules are processed first. This ensures that the aspiration robot 44 can control the disposable syringe to draw the medication from the vial and inject it into the vial for reconstitution in the shortest possible time interval, thereby minimizing the exposure time of the medication in the ampoule and reducing the risk of particulate contamination. Furthermore, the aspiration robot 44 further controls the disposable syringe to perform the aspiration and injection of the medication, achieving rapid reconstitution, mixing, and final bag filling of the medication.

[0095] In the final stage after the solution preparation is completed, the third drive unit 52 directly drives the carrier plate 51 to flip, and uses gravity to make the finished liquid bag automatically slide down to the finished product conveyor line for output. At the same time, the empty medicine bottle is sent to the recycling port for discharge by the sliding base 452 driven by the gripper 453; the waste syringe is transferred to the destruction component by the suction robot 44, and after being physically sheared and destroyed by the shearing clamp 462, it is forcibly pushed into the recycling port for discharge by the second telescopic drive unit 463.

[0096] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A fully automatic high-speed liquid preparation device, characterized in that, include: Solution preparation station (1); The raw material storage device (2) is located on both sides of the liquid preparation station (1) and is used to store liquid bags, ampoules and vials. A liquid bag transfer robot (3) is used to transfer the liquid bag in the raw material storage device (2) to the liquid dispensing platform (1); At least two drug mixing devices (4) are respectively located on the other two sides of the mixing platform (1) where the raw material storage device (2) is not provided and are spaced apart. The drug mixing device (4) includes a mixing platform (40) and a drug bottle opening mechanism (41), a drug bottle transfer robot (42), a syringe rack (43) and an aspiration robot (44) provided on the mixing platform (40). The vial opening mechanism (41) is used to open ampoules or vials; the vial transfer robot (42) is used to transfer ampoules or vials in the raw material storage device (2) to the vial opening mechanism (41) for opening; the syringe rack (43) is used to store disposable syringes; the injection robot (44) is used to obtain disposable syringes from the syringe rack (43), and drive the disposable syringes to extract the liquid in the opened ampoule or the liquid in the liquid bag on the dispensing platform (1) and inject it into the opened vial to form a mixed liquid, and drive the disposable syringes to extract the mixed liquid in the opened vial and inject it into the liquid bag on the dispensing platform (1).

2. The fully automatic high-speed liquid preparation equipment according to claim 1, characterized in that: The drug mixing device (4) further includes a shaking assembly (45), which includes a slide rail (451), multiple slide seats (452), and multiple grippers (453). The slide rail (451) is connected to the mixing stage (40), and the multiple slide seats (452) are all driven to slide on the slide rail (451). The multiple grippers (453) and the multiple slide seats (452) are arranged in a one-to-one correspondence. The grippers (453) are connected to the slide seats (452) and are used to hold ampoules or vials. The drug bottle transfer robot (42) is also used to transfer opened ampoules or vials to the grippers (453) for clamping.

3. The fully automatic high-speed liquid preparation equipment according to claim 2, characterized in that: The mixing platform (40) is provided with a medicine bottle recycling port (11), which is located below the sliding path of the gripper (453). The gripper (453) can clamp and deliver ampoules or vials into the medicine bottle recycling port (11).

4. The fully automatic high-speed liquid preparation equipment according to claim 1, characterized in that: The medicine bottle opening mechanism (41) includes an ampoule cutting assembly (411), an ampoule breaking assembly (412), and a vial opening assembly (413); the ampoule cutting assembly (411) includes a cutting blade (4111) and a first driving member (4112), the cutting blade (4111) is rotatably configured, and the first driving member (4112) is used to drive the cutting blade (4111) to rotate; the ampoule breaking assembly (412) includes a breaking lever (4121) and a second driving member (4123). The lever (4121) is used to abut against the ampoule head of the ampoule, and the second drive member (4123) is used to drive the lever (4121) to move so that the ampoule head of the ampoule deflects relative to the body of the ampoule; the vial opening assembly (413) includes a claw (4131) and a first telescopic drive member (4132), the claw (4131) is used to engage the vial cap, and the first telescopic drive member (4132) is used to drive the claw (4131) away from the vial body.

5. The fully automatic high-speed liquid preparation equipment according to claim 1, characterized in that: The drug mixing device (4) further includes a syringe destruction component (46), which is used to destroy disposable syringes after a single liquid preparation. The syringe destruction component (46) includes a support frame (461), pliers (462), and a second telescopic drive (463). The support frame (461) is used to support the disposable syringes after a single liquid preparation. The aspiration robot (44) is also used to transfer the disposable syringes to the support frame (461). The pliers (462) is used to cut the disposable syringes. The mixing table (40) is provided with a syringe return port (12). The second telescopic drive (463) is used to push the disposable syringes cut by the pliers (462) away from the support frame (461) and into the syringe return port (12).

6. The fully automatic high-speed liquid preparation equipment according to claim 1, characterized in that: The liquid preparation platform (1) is also provided with multiple liquid preparation supports (5), each liquid preparation support (5) including a support plate (51) and a third driving component (52); the support plate (51) is rotatably connected to the liquid preparation platform (1) and is used to carry the liquid bag; the third driving component (52) is used to drive the support plate (51) to rotate; the liquid preparation platform (1) is provided with a discharge port (13), and a finished product conveying line is provided below the discharge port (13); when the support plate (51) rotates to a predetermined angle, the liquid bag can detach from the support plate (51) and fall onto the finished product conveying line through the discharge port (13).

7. The fully automatic high-speed liquid preparation equipment according to claim 1, characterized in that: The raw material storage device (2) includes a liquid bag storage cabinet (21) and a medicine bottle storage cabinet (22). The liquid bag storage cabinet (21) is used to store liquid bags, and the medicine bottle storage cabinet (22) is used to store ampoules and vials. The liquid bag storage cabinet (21) is located on one side of the liquid preparation station (1), and the medicine bottle storage cabinet (22) is located on the side of the liquid preparation station (1) away from the liquid bag storage cabinet (21).

8. The fully automatic high-speed liquid preparation equipment according to claim 7, characterized in that: Next to the liquid bag storage cabinet (21), there is also a marking machine (6), which is used to mark the drug dispensing information on the liquid bag; the liquid bag transfer robot (3) is used to transfer the liquid bag in the liquid bag storage cabinet (21) to the marking machine (6) for marking the drug dispensing information, and transfer the liquid bag marked with the drug dispensing information to the liquid dispensing table (1).

9. A method for dispensing solutions using the fully automated high-speed dispensing equipment as described in any one of claims 1-8, characterized in that, Includes the following steps: Prepare raw materials: According to the composition of the raw materials of the required drug solution, store the liquid bags, ampoules and vials containing the corresponding drug raw materials into the raw material storage device (2); Liquid bag loading: The liquid bag transfer robot (3) takes out the liquid bag containing the required medicine from the raw material storage device (2) and transfers it to the liquid dispensing platform (1) according to the single dispensing information; Medicine bottle retrieval and opening: The medicine bottle transfer robot (42) takes out the ampoule or vial containing the required medicine from the raw material storage device (2) according to the single dispensing information, and opens the bottle through the medicine bottle opening mechanism (41); Mixing and preparing the solution: The aspiration robot (44) obtains a disposable syringe from the syringe rack (43) and drives the disposable syringe to draw the drug solution in the opened ampoule or the drug solution in the liquid bag on the preparation table (1) and inject it into the opened vial to form a mixed drug solution, and drives the disposable syringe to draw the mixed drug solution in the opened vial and inject it into the liquid bag on the preparation table (1) to complete the preparation of the solution.

10. A solution preparation method according to claim 9, characterized in that: In the process of taking out and opening medicine bottles, when the information of a single dispensing includes both medicine stored in ampoules and medicine stored in vials, the medicine bottle transfer robot (42) first takes out the ampoule containing the required medicine from the raw material storage device (2) and opens it through the medicine bottle opening mechanism (41).

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