Medicine bottle shaking device for full-automatic high-speed liquid preparation equipment and liquid preparation equipment

Abstract

The invention relates to the field of medical liquid preparation, in particular to a medicine bottle shaking-up device for full-automatic high-speed liquid preparation equipment and the liquid preparation equipment. The medicine bottle shaking-up device comprises a medicine bottle shaking-up device body and the liquid preparation equipment, and the medicine bottle shaking-up device body is provided with a translation guide rail and a clamping installation table connected to the translation guide rail in a sliding mode; the clamping mounting table is driven by a crank rocker mechanism to do translational reciprocating motion, a penicillin bottle clamping device and an ampoule bottle clamping device are arranged on the table, and stop stations for feeding a medicine bottle and injecting liquid medicine are arranged in the motion stroke; the liquid dispensing equipment comprises a rack, a medicine bottle library, a liquid bag library, a needle cylinder library and the like, and the medicine dispensing process is completed through manipulators and equipment. According to the device, liquid medicine in an ampoule bottle is automatically sucked and injected into medicine powder in a penicillin bottle, then the crank and rocker mechanism does linear reciprocating motion to achieve mixing and uniform shaking of the medicine powder and the liquid medicine in the penicillin bottle, manual uniform shaking is replaced, and technical support is provided for batch, efficient and automatic medicine dispensing.

Description

Technical Field

[0001] This invention relates to the technical field, and in particular to a bottle shaking device and a liquid preparation equipment for a fully automatic high-speed liquid preparation system. Background Technology

[0002] In the field of medical solution preparation, with the continuous advancement of medical technology and the increasing demands of patients, the efficiency and accuracy of solution preparation have become crucial. Efficient and precise solution preparation ensures the quality and safety of medications, providing strong support for patient treatment. Traditional solution preparation methods are increasingly unable to meet the needs of modern medicine; therefore, the development of fully automated high-speed solution preparation equipment has become an important direction for the industry. This not only helps improve solution preparation efficiency and reduce errors caused by manual operation, but also reduces the workload of medical staff, allowing them to devote more energy to patient care.

[0003] Previously, the problem of mixing medication bottles during solution preparation was typically solved manually. Medical staff would manually pick up the bottles and shake them to ensure thorough mixing of the liquid and powder medications. This method was simple and direct, but it required a significant amount of manpower and time. Alternatively, some simple mechanical aids were available that used pre-programmed shaking motions to mix the bottles, but these devices were often only suitable for a single type of bottle and lacked versatility. Furthermore, the operation of these devices was relatively complex, requiring considerable manual intervention and failing to meet the demands for automated and efficient solution preparation.

[0004] However, manual shaking has significant drawbacks. Firstly, it's difficult to maintain consistent force and frequency during manual operation, easily leading to uneven mixing of the liquid and powder in the vial, affecting the drug's efficacy. Secondly, manual operation is inefficient and cannot meet the needs of batch preparation, easily causing delays in busy medical environments. Traditional mechanical aids, due to their poor versatility, cannot adapt to the shaking requirements of different types of vials, limiting their application in actual drug preparation work. Summary of the Invention This invention solves the problem of uneven mixing of liquid and powder medicine in medicine bottles caused by manual operation. It proposes a medicine bottle shaking device and a dispensing device for fully automatic high-speed dispensing equipment. The device uses a crank rocker mechanism to drive the medicine bottle to make linear reciprocating motion to achieve shaking, thus achieving the effect of automatic, efficient and universal dispensing of medicine bottle shaking.

[0005] To achieve the above objectives, the following technical solution is proposed: A bottle-shaking device for a fully automated high-speed liquid dispensing equipment includes a translational guide rail and a clamping mounting platform slidably connected to the translational guide rail. The clamping mounting platform is powered by a crank-rocker mechanism to perform a translational reciprocating motion on the translational guide rail. The clamping mounting platform is equipped with a vial holder and an ampoule holder. The vial holder is used to hold the vial after it has been opened, and the ampoule holder is used to hold the ampoule after it has been opened. When the clamping mounting platform performs linear reciprocating motion, its linear motion stroke includes at least a pause for loading the vial and a pause for injecting the liquid. The workstations include a bottle-loading station for an externally mounted bottle-loading robot and an injection station for an externally mounted injection robot. The bottle-loading operation includes the externally mounted bottle-loading robot placing the opened ampoule on an ampoule holder and the opened vial on a vial holder. The injection operation includes the externally mounted injection robot holding a syringe to draw the medication from the ampoule and inject it into the vial. After the vial has been injected, it is shaken by a linear reciprocating motion.

[0006] This application automates the dispensing of liquid medicine from ampoules into powder medicine from vials. A crank-rocker mechanism then performs linear reciprocating motion to mix the powder and liquid medicine in the vial, replacing manual mixing and providing technical support for large-scale, efficient, and automated drug dispensing. The vial and ampoule holders are mounted on a clamping platform, achieving automated dispensing of different types of vials. This is because the power output of the crank-rocker mechanism allows the clamping platform to move along a specific trajectory, and different holders can be adapted to different vials, achieving universal operation. The rapid return stroke of the crank-rocker mechanism provides instantaneous high-speed movement, enhancing the mixing force.

[0007] The translation guide rail is a fundamental track component for the device's operation. It can be a long, strip-shaped structure made of a metal material such as stainless steel, offering high strength and wear resistance. Replaceable options include guide rails made of lightweight aluminum alloy, which reduces the overall weight of the device; or self-lubricating engineering plastic guide rails to reduce friction during operation. The translation guide rail is fixed to the overall frame of the device using bolts and other connectors, providing stable support for the sliding of the clamping mounting platform.

[0008] The clamping mounting platform is a component used to mount various clamps and hold medicine bottles. It is typically a flat structure machined from sheet metal. Its surface has mounting holes for attaching vial and ampoule clamps. Replaceable features include mounting platforms made of high-strength plastic, which reduces weight and cost; and frame-type mounting platforms, which reduce material usage while maintaining strength. The clamping mounting platform is slidably connected to a translation guide rail via a slider or similar structure, allowing for flexible movement along the guide rail.

[0009] Preferably, the crank-rocker mechanism includes a driving wheel rotatably connected to the overall frame of the device. The driving wheel is driven by an encoder motor fixed to the overall frame of the device. The encoder motor can control the rotation angle of the driving wheel to stay at a specific position. An inner slider is hinged to the circumference of the driving wheel. The inner slider is locked and slides inside the rocker arm. One end of the rocker arm is hinged to one end of the driven rod. A vertical side plate is fixed to the side of the clamping mounting platform. The other end of the rocker arm is hinged to the vertical side plate. The other end of the driven rod is hinged to the overall frame of the device.

[0010] During the entire operation of the device, the encoder motor of the crank-rocker mechanism drives the drive wheel to rotate. The drive wheel causes the inner slider to slide within the rocker arm. The rocker arm, through its hinged connection with the driven rod and the vertical side plate, causes the clamping and mounting platform to perform linear reciprocating motion on the translational guide rail. During the motion, there are resting stations for loading ampoules and injecting medication. At the ampoule loading station, an external robotic arm places the opened ampoules onto the ampoule holder and the opened vials onto the vial holder. At the medication injection station, an external robotic arm performs the injection operation, injecting the medication from the ampoules into the vials. After injection, the vials continue to reciprocate linearly with the clamping and mounting platform, achieving thorough mixing of the powder and medication.

[0011] This application utilizes a crank-rocker mechanism to convert circular motion into linear reciprocating motion, achieving automated shaking of medicine bottles. Compared to traditional manual shaking methods, it ensures consistent shaking force and frequency, resulting in more uniform mixing of liquid and powder medications and improving drug efficacy. It also solves the problem of poor versatility of traditional mechanical auxiliary equipment, adapting to the shaking needs of different types of medicine bottles, such as vials and ampoules, through different clamps, greatly improving solution preparation efficiency, meeting the needs of batch solution preparation, and reducing the workload of medical staff.

[0012] Preferably, the vial holder includes a first cylinder fixed on the clamping mounting platform and a vial gripper driven by the first cylinder, and the ampoule holder includes a second cylinder fixed on the clamping mounting platform and an ampoule gripper driven by the second cylinder. The vial gripper is used to grip the vial after it has been opened, and the ampoule gripper is used to grip the ampoule after it has been opened.

[0013] The first cylinder can be a standard pneumatic cylinder, with its body made of aluminum alloy, which is lightweight and corrosion-resistant. Replaceable features include cylinders made of stainless steel for greater durability; hydraulic cylinders can also be used, providing greater driving force. The vial grippers are typically made of bent sheet metal with anti-slip textures on the inside for better gripping of the vials. Grippers with elastic rubber pads can be used to protect the vials from damage. The first cylinder is connected to an air source via an air tube. When air is supplied, it drives the vial grippers to open and close, clamping and releasing the vials. The second cylinder has a similar structure and material to the first cylinder. The ampoule grippers are designed according to the characteristics of ampoules and are usually smaller than the vial grippers. They can also be made of metal with an anti-slip design, or use grippers with an elastic cushioning layer. The second cylinder is connected to an air source via an air tube to control the movement of the ampoule grippers.

[0014] Preferably, a bottle placement platform is arranged parallel to one side of the translation guide rail. The bottle placement platform is located below the vial gripper and ampoule gripper and is used to place vials and ampoules at the resting station for loading the vials. The bottle placement platform is located at the resting station for injecting the drug solution and has a through-hole bottle outlet. A bottle collection box is placed below the bottle outlet.

[0015] Preferably, the bottle outlet is provided with a vial collection channel and an ampoule collection channel, the bottle collection box is provided with a vial collection box and an ampoule collection box, the vial collection channel connects the bottle outlet and the vial collection box, and the ampoule collection channel connects the bottle outlet and the ampoule collection box.

[0016] Preferably, a pair of translation guide rails are symmetrically arranged on the left and right sides of the medicine bottle placement platform, and the clamping mounting platform, crank rocker mechanism, vial holder and ampoule holder arranged on the translation guide rails are also symmetrically arranged on the left and right sides.

[0017] Preferably, the translation guide rail is provided with a timing belt on the outer side away from the medicine bottle placement platform, and the timing belt is used to clamp the inflation lines of the first cylinder and the second cylinder.

[0018] Preferably, the medicine bottle placement platform has an integrally formed first inclined step and second inclined step, the second inclined step being higher than the first inclined step, and the step surfaces of the first and second inclined steps are parallel inclined surfaces. The angle between the inclined surface and the horizontal direction is between 5° and 20°. The lower end faces of the vial gripper and ampoule gripper on the translation guide rail near the first inclined step are parallel to the step surface of the first inclined step. The clamping mounting platform on the translation guide rail near the second inclined step is raised so that the lower end faces of the vial gripper and ampoule gripper are parallel to the step surface of the second inclined step. The inclination angle of the inner clamping part of the vial gripper and ampoule gripper is consistent with the angle between the inclined surface and the horizontal direction.

[0019] A fully automatic high-speed liquid preparation device employs the aforementioned bottle shaking device for a fully automatic high-speed liquid preparation device, comprising a frame, a drug bag outlet on the frame, a discharge conveyor belt below the drug bag outlet, a drug bottle storage for storing ampoules and vials and a liquid bag storage for storing liquid bags respectively on both sides of the drug bag outlet on the frame, a liquid bag support for placing liquid bags above the drug bag outlet, a syringe storage for storing syringes on the frame near the liquid bag storage, an injection robot on the frame near the syringe storage, a drug bottle processing module on the frame, one end of the liquid shaking device near the drug bottle processing module, the other end of the liquid shaking device near the injection robot, a drug bottle robot between the drug bottle storage and the drug bottle processing module, and a liquid bag robot between the liquid bag storage and the drug bag outlet.

[0020] This equipment achieves full automation of the medication preparation process through the coordinated work of its various modules and robotic arms. From opening and capping the medicine bottles to drawing, injecting, and mixing the liquid, and then to transporting the liquid bags and outputting the prepared medication, the entire process requires minimal human intervention, greatly improving preparation efficiency and accuracy. Simultaneously, the medicine bottle mixing device ensures thorough mixing of the liquid and powder within the bottles, improving drug quality and meeting the demands of modern medicine for batch, efficient, and precise medication preparation.

[0021] Preferably, the medicine bottle processing module includes an ampoule cutting device for cutting the neck of the ampoule, an ampoule breaking device for breaking the neck of the ampoule, and a vial opening device for opening the vial.

[0022] The beneficial effects of this invention are as follows: This application converts circular motion into linear reciprocating motion through a crank-rocker mechanism, realizing automated shaking of medicine bottles. Compared with traditional manual shaking methods, it ensures consistent shaking force and frequency, resulting in more uniform mixing of liquid and powder medicines and improving drug efficacy. It also solves the problem of poor versatility of traditional mechanical auxiliary equipment; by using different clamps, it can adapt to the shaking needs of different types of medicine bottles such as vials and ampoules, greatly improving solution preparation efficiency, meeting the needs of batch solution preparation, and reducing the workload of medical staff. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the device according to the present invention.

[0024] Figure 2 This is a side view of the device structure of the present invention.

[0025] Figure 3 This is a schematic diagram of the crank-rocker mechanism of the present invention.

[0026] Figure 4 This is a schematic diagram of the overall structure of the automated drug dispensing equipment of the present invention.

[0027] The components include: 1. Linear shaking mechanism; 2. Medicine bottle robot; 3. Medicine bottle storage; 4. Injection robot; 5. Syringe storage; 6. Ampoule; 7. Vial; 8. Syringe; 9. Liquid bag; 10. Liquid bag robot; 11. Liquid bag storage; 12. Liquid bag support; 13. Discharge conveyor belt; 101. Translation guide rail; 102. Clamping mounting platform; 103. Vial holder; 104. Ampoule holder; 105. Synchronous belt; 106. Medicine bottle placement platform; 107. Medicine bottle outlet; 108. Vertical side plate; 109. Swing rod; 110. Inner slider; 111. Driving wheel; 112. Driven rod; 131. First cylinder; 132. Vial gripper; 141. Second cylinder; 142. Ampoule gripper; 161. First inclined step; 162. Second inclined step. Detailed Implementation

[0028] Example 1: This embodiment proposes a bottle shaking device for a fully automated high-speed liquid dispensing equipment, referencing... Figure 1 The device includes a translation guide rail 101 and a clamping mounting platform 102 slidably connected to the translation guide rail 101. The clamping mounting platform 102 is powered by a crank-rocker mechanism to perform translational reciprocating motion on the translation guide rail 101. The clamping mounting platform 102 is equipped with a vial holder 103 and an ampoule holder 104. The vial holder 103 is used to hold the vial 7 after it has been opened, and the ampoule holder 104 is used to hold the ampoule 6 after it has been opened. When the clamping mounting platform 102 performs linear reciprocating motion, its linear motion stroke includes at least a pause for loading the vial and a pause for injecting the medication. The workstations include a bottle-loading station for an externally mounted bottle-loading robot 2 and an injection station for an externally mounted injection robot 4. The bottle-loading operation involves the externally mounted bottle-loading robot 2 placing the opened ampoule 6 onto the ampoule holder 104 and the opened vial 7 onto the vial holder 103. The injection operation involves the externally mounted injection robot 4 holding a syringe 8 to draw medication from the ampoule 6 and inject it into the vial 7. After the medication is injected, the vial 7 undergoes a linear reciprocating motion to mix the medication.

[0029] This application automates the dispensing of liquid medicine from ampoules into powder medicine from vials. A crank-rocker mechanism then performs linear reciprocating motion to mix the powder and liquid medicine in the vial, replacing manual mixing and providing technical support for large-scale, efficient, and automated drug dispensing. The vial and ampoule holders are mounted on a clamping platform, achieving automated dispensing of different types of vials. This is because the power output of the crank-rocker mechanism allows the clamping platform to move along a specific trajectory, and different holders can be adapted to different vials, achieving universal operation. The rapid return stroke of the crank-rocker mechanism provides instantaneous high-speed movement, enhancing the mixing force.

[0030] The translation guide rail is a fundamental track component for the device's operation. It can be a long, strip-shaped structure made of a metal material such as stainless steel, offering high strength and wear resistance. Replaceable options include guide rails made of lightweight aluminum alloy, which reduces the overall weight of the device; or self-lubricating engineering plastic guide rails to reduce friction during operation. The translation guide rail is fixed to the overall frame of the device using bolts and other connectors, providing stable support for the sliding of the clamping mounting platform.

[0031] The clamping mounting platform is a component used to mount various clamps and hold medicine bottles. It is typically a flat structure machined from sheet metal. Its surface has mounting holes for attaching vial and ampoule clamps. Replaceable features include mounting platforms made of high-strength plastic, which reduces weight and cost; and frame-type mounting platforms, which reduce material usage while maintaining strength. The clamping mounting platform is slidably connected to a translation guide rail via a slider or similar structure, allowing for flexible movement along the guide rail.

[0032] refer to Figure 3The crank-rocker mechanism includes a drive wheel 111 rotatably connected to the overall frame of the device. The drive wheel 111 is driven by an encoder motor fixed to the overall frame of the device. The encoder motor can control the rotation angle of the drive wheel 111 to stay at a specific position. An inner slider 110 is hinged to the circumference of the drive wheel 111. The inner slider 110 is locked and slides inside the rocker arm 109. One end of the rocker arm 109 is hinged to one end of the driven rod 112. A vertical side plate 108 is fixed to the side of the clamping mounting platform 102. The other end of the rocker arm 109 is hinged to the vertical side plate 108. The other end of the driven rod 112 is hinged to the overall frame of the device. The medicine bottle outlet 107 is provided with a vial collection channel and an ampoule collection channel respectively. The medicine bottle collection box is provided with a vial collection box and an ampoule collection box respectively. The vial collection channel connects the medicine bottle outlet 107 and the vial collection box, and the ampoule collection channel connects the medicine bottle outlet 107 and the ampoule collection box. A pair of translation guide rails 101 are symmetrically arranged on the left and right sides of the medicine bottle placement platform 106. The clamping mounting platform 102, crank rocker mechanism, vial holder 103 and ampoule holder 104 provided on the translation guide rails 101 are also symmetrically arranged on the left and right sides. A synchronous belt 105 is provided on the outer side of the translation guide rails 101 away from the medicine bottle placement platform 106. The synchronous belt 105 is used to clamp the inflation lines of the first cylinder 131 and the second cylinder 141.

[0033] The crank-rocker mechanism is a crucial component providing power to the clamping mounting platform. It includes a driving wheel rotatably connected to the overall frame of the device, driven by an encoder motor fixed to the frame. The encoder motor controls the rotation angle of the driving wheel to a specific position. An inner slider is hinged to the circumference of the driving wheel, sliding within a rocker arm. One end of the rocker arm is hinged to one end of a driven rod. A vertical side plate is fixed to the side of the clamping mounting platform, and the other end of the rocker arm is hinged to this plate. The other end of the driven rod is hinged to the overall frame. The driving wheel can be made of cast iron, offering good strength and stability. Replaceable options include a driving wheel made of cast steel for higher strength, or an aluminum alloy driving wheel for lighter weight. The inner slider is typically made of wear-resistant engineering plastic to reduce friction with the rocker arm; a copper alloy inner slider can be used for better wear resistance. The rocker arm and driven rod are generally metal rod-shaped structures manufactured through welding or casting processes. The entire crank-rocker mechanism, through the hinged and sliding connections of its components, converts the circular motion of the driving wheel into the linear reciprocating motion of the clamping mounting platform, thus achieving the shaking operation of the medicine bottle. During the entire operation of the device, the encoder motor of the crank-rocker mechanism drives the driving wheel to rotate. The driving wheel drives the inner slider to slide within the rocker arm. The rocker arm, through its hinged relationship with the driven rod and the vertical side plate, causes the clamping mounting platform to perform linear reciprocating motion on the translation guide rail. During the motion stroke, there are resting positions for loading medicine bottles and for injecting medication. At the medicine bottle loading resting position, the external medicine bottle robot places the opened ampoules onto the ampoule holder and the opened vials onto the vial holder. At the medication injection resting position, the external injection robot performs the injection operation, injecting the medication from the ampoules into the vials. After the vial has been injected with the medication, it continues to reciprocate in a straight line along the clamping and mounting platform, thus mixing and shaking the powder and liquid medication evenly.

[0034] This application utilizes a crank-rocker mechanism to convert circular motion into linear reciprocating motion, achieving automated shaking of medicine bottles. Compared to traditional manual shaking methods, it ensures consistent shaking force and frequency, resulting in more uniform mixing of liquid and powder medications and improving drug efficacy. It also solves the problem of poor versatility of traditional mechanical auxiliary equipment, adapting to the shaking needs of different types of medicine bottles, such as vials and ampoules, through different clamps, greatly improving solution preparation efficiency, meeting the needs of batch solution preparation, and reducing the workload of medical staff.

[0035] refer to Figure 1The vial holder 103 includes a first cylinder 131 fixed on the clamping mounting platform 102 and a vial gripper 132 driven by the first cylinder 131. The ampoule holder 104 includes a second cylinder 141 fixed on the clamping mounting platform 102 and an ampoule gripper 142 driven by the second cylinder 141. The vial gripper 132 is used to grip the vial 7 after it has been opened, and the ampoule gripper 142 is used to grip the ampoule 6 after it has been opened. A medicine bottle placement platform 106 is arranged parallel to one side of the translation guide rail 101. The medicine bottle placement platform 106 is located below the vial gripper 132 and ampoule gripper 142 for placing vials 7 and ampoules 6 at the resting position for loading medicine bottles. The medicine bottle placement platform 106 is located at the resting position for injecting medicine and has a through medicine bottle outlet 107. A medicine bottle collection box is placed below the medicine bottle outlet 107.

[0036] The first cylinder can be a standard pneumatic cylinder, with its body made of aluminum alloy, which is lightweight and corrosion-resistant. Replaceable features include cylinders made of stainless steel for greater durability; hydraulic cylinders can also be used, providing greater driving force. The vial grippers are typically made of bent sheet metal with anti-slip textures on the inside for better gripping of the vials. Grippers with elastic rubber pads can be used to protect the vials from damage. The first cylinder is connected to an air source via an air tube. When air is supplied, it drives the vial grippers to open and close, clamping and releasing the vials. The second cylinder has a similar structure and material to the first cylinder. The ampoule grippers are designed according to the characteristics of ampoules and are usually smaller than the vial grippers. They can also be made of metal with an anti-slip design, or use grippers with an elastic cushioning layer. The second cylinder is connected to an air source via an air tube to control the movement of the ampoule grippers.

[0037] refer to Figure 2 The medicine bottle placement platform 106 is provided with an integrally formed first inclined step 161 and second inclined step 162. The second inclined step 162 is higher than the first inclined step 161, and the step surfaces of the first inclined step 161 and the second inclined step 162 are parallel inclined surfaces. The angle between the inclined surface and the horizontal direction is between 5° and 20°. The lower end surfaces of the vial gripper 132 and ampoule gripper 142 on the translation guide rail 101 near the first inclined step 161 are parallel to the step surface of the first inclined step 161. The clamping mounting platform 102 on the translation guide rail 101 near the second inclined step 162 is raised so that the lower end surfaces of the vial gripper 132 and ampoule gripper 142 are parallel to the step surface of the second inclined step 162. The inclination angle of the inner clamping part of the vial gripper 132 and ampoule gripper 142 is consistent with the angle between the inclined surface and the horizontal direction.

[0038] Example 2: This embodiment, based on Embodiment 1, proposes a fully automated high-speed liquid preparation device, employing the aforementioned bottle shaking device for a fully automated high-speed liquid preparation device, with reference to... Figure 4 The system includes a frame with a medicine bag outlet. A discharge conveyor belt 13 is located below the medicine bag outlet. Along both sides of the medicine bag outlet, there are medicine bottle storage 3 for storing ampoules 6 and vials, and liquid bag storage 11 for storing liquid bags 9. Above the medicine bag outlet, there is a liquid bag support 12 for placing liquid bags 9. Near the liquid bag storage 11, there is a syringe storage 5 for storing syringes 8. Near the syringe storage 5, there is an injection robot 4. A medicine bottle processing module is installed on the frame. One end of a medicine liquid shaking device 1 is near the medicine bottle processing module, and the other end is near the injection robot 4. A medicine bottle robot 2 is located between the medicine bottle storage 3 and the medicine bottle processing module. A liquid bag robot 10 is located between the liquid bag storage 11 and the medicine bag outlet. The medicine bottle processing module includes an ampoule cutting device 14 for cutting the neck of the ampoule 6, an ampoule breaking device 15 for breaking the neck of the ampoule 6, and a vial opening device 16 for opening the vial 7.

[0039] The drug preparation process for this application is as follows: The liquid bag robot 10 takes out the liquid bag 9 containing the mother liquor from the liquid bag storage 11 and places it on the liquid bag support 12; The medicine bottle robot 2 picks up the ampoule 6 from the medicine bottle storage 3 and puts it into the medicine bottle processing module for opening. The opened ampoule 6 is then placed on the ampoule holder 104 of the medicine liquid shaking device 1. The medicine bottle robot 2 picks up the vial 7 from the medicine bottle storage 3 and puts it into the medicine bottle processing module to open the cap, and then places the opened vial 7 on the vial holder 103 of the medicine liquid shaking device 1; The crank-rocker mechanism drives the vial 7 and ampoule 6 to the suction station of the injection robot 4; The injection robot 4 takes out the syringe 8 from the syringe magazine 5, then moves the syringe 8 above the ampoule 6 to draw the liquid in the ampoule 6, and then moves it above the vial 7 to inject the liquid in the syringe 8 into the vial 7. The crank-rocker mechanism drives the vial 7, which has been injected with the medicine, to make reciprocating linear motion, so that the powder and liquid medicine in the vial 7 are mixed evenly, and then the injection robot 4 uses the syringe 8 to draw out the mixed medicine. The injection robot 4 transfers the syringe 8 containing the mixed drug solution to the liquid bag 9 on the liquid bag support 12, and the injection robot 4 injects the mixed drug solution in the syringe 8 into the liquid bag 9 to complete the drug preparation. The liquid bag robot 10 transfers the prepared liquid bag 9 from the liquid bag support 12 to the medicine bag outlet. The prepared liquid bag 9 falls through the medicine bag outlet onto the discharge conveyor belt 13, which then transports the prepared liquid bag 9 to a designated location. This equipment achieves full automation of the medication preparation process through the coordinated work of various modules and the robot. From opening and capping the medicine bottle, to drawing, injecting, and mixing the liquid, and then to transporting the liquid bag and outputting the prepared medication, the entire process requires minimal human intervention, greatly improving preparation efficiency and accuracy. Simultaneously, the medicine bottle shaking device ensures thorough mixing of the liquid and powder within the bottle, improving drug quality and meeting the modern medical demand for batch, efficient, and precise liquid preparation.

Claims

1. A medicine bottle shaking device for a full-automatic high-speed liquid preparation equipment, characterized in that, The device comprises a translation guide rail (101) and a clamping mounting table (102) connected to the translation guide rail (101), the clamping mounting table (102) is powered by a crank rocker mechanism to make a translational reciprocating motion on the translation guide rail (101), the clamping mounting table (102) is provided with a vial bottle clamping device (103) and an ampoule bottle clamping device (104), the vial bottle clamping device (103) is used for clamping an uncapped vial bottle (7), the ampoule bottle clamping device (104) is used for clamping an uncapped ampoule bottle (6), the clamping mounting table (102) makes a linear reciprocating motion, and at least includes a medicine bottle loading station and a medicine injection station in the linear motion stroke, the medicine bottle loading station is used for loading a medicine bottle by a medicine bottle mechanical arm (2) arranged outside; the medicine injection station is used for injecting medicine by an injection mechanical arm (4) arranged outside; the medicine bottle loading operation includes placing the uncapped ampoule bottle (6) on the ampoule bottle clamping device (104) and placing the uncapped vial bottle (7) on the vial bottle clamping device (103) by the medicine bottle mechanical arm (2) arranged outside; the medicine injection operation includes clamping a needle cylinder (8) by the injection mechanical arm (4) arranged outside to extract medicine from the ampoule bottle (6) and inject the medicine into the vial bottle (7), and the vial bottle (7) after injection is subjected to linear reciprocating motion for shaking.

2. The medicine bottle shaking device for the full-automatic high-speed liquid preparation equipment according to claim 1, characterized in that, The crank rocker mechanism comprises a driving round (111) rotatably connected to a whole machine frame of the device, the driving round (111) is driven by a code motor fixed to the whole machine frame of the device, the code motor can control the rotation angle of the driving round (111) to stay at a specific position, the driving round (111) is hingedly connected with an inner sliding block (110) at a circumferential position, the inner sliding block (110) is clamped to slide in an inner swing rod (109), one end of the swing rod (109) is hingedly connected to one end of a driven rod (112), a vertical side plate (108) is fixed to a side of the clamping mounting table (102), the other end of the swing rod (109) is hingedly connected to the vertical side plate (108), and the other end of the driven rod (112) is hingedly connected to the whole machine frame of the device.

3. The medicine bottle shaking device for the full-automatic high-speed liquid preparation equipment according to claim 1, characterized in that, The vial bottle clamping device (103) comprises a first air cylinder (131) fixed to the clamping mounting table (102) and a vial bottle clamping jaw (132) driven by the first air cylinder (131), and the ampoule bottle clamping device (104) comprises a second air cylinder (141) fixed to the clamping mounting table (102) and an ampoule bottle clamping jaw (142) driven by the second air cylinder (141), the vial bottle clamping jaw (132) is used for clamping an uncapped vial bottle (7), and the ampoule bottle clamping jaw (142) is used for clamping an uncapped ampoule bottle (6).

4. The medicine bottle shaking device for the full-automatic high-speed liquid preparation equipment according to claim 3, characterized in that, The translation guide rail (101) is provided with a parallel medicine bottle placing table (106) on one side, the medicine bottle placing table (106) is arranged below the vial clamp jaw (132) and ampoule clamp jaw (142) and is used for placing the vial (7) and ampoule (6) in the upper medicine bottle stop position, the medicine bottle placing table (106) is provided with a medicine bottle outlet (107) in the injection medicine liquid stop position, and the medicine bottle outlet (107) is provided below the medicine bottle collecting box.

5. The medicine bottle shaking device for the full-automatic high-speed liquid preparation equipment according to claim 4, characterized in that, The medicine bottle outlet (107) is provided with a vial collection channel and an ampoule collection channel, the medicine bottle collecting box is provided with a vial collecting box and an ampoule collecting box, the vial collection channel is connected with the medicine bottle outlet (107) and the vial collecting box, and the ampoule collection channel is connected with the medicine bottle outlet (107) and the ampoule collecting box.

6. The medicine bottle shaking device for the full-automatic high-speed liquid preparation equipment according to claim 4, characterized in that, The translation guide rail (101) is provided with a pair of left-right symmetrical translation guide rails (101) along the medicine bottle placing table (106), and the clamping mounting table (102), the crank rocker mechanism, the vial clamp jaw (132) and the ampoule clamp jaw (142) provided on the translation guide rail (101) are left-right symmetrical.

7. The medicine bottle shaking device for the full-automatic high-speed liquid preparation equipment according to claim 6, characterized in that, The translation guide rail (101) is provided with a synchronous belt (105) away from the outer side of the medicine bottle placing table (106), and the synchronous belt (105) is used for clamping the inflation pipeline of the first air cylinder (131) and the second air cylinder (141).

8. The medicine bottle shaking device for the full-automatic high-speed liquid preparation equipment according to claim 6, characterized in that, The medicine bottle placing table (106) is provided with a first inclined step (161) and a second inclined step (162), the second inclined step (162) is higher than the first inclined step (161), the step surfaces of the first inclined step (161) and the second inclined step (162) are parallel inclined surfaces, the included angle between the inclined surface and the horizontal direction is between 5° and 20°, the lower end surface of the vial clamp jaw (132) and the ampoule clamp jaw (142) on the translation guide rail (101) close to the first inclined step (161) is parallel to the step surface of the first inclined step (161), the clamping mounting table (102) on the translation guide rail (101) close to the second inclined step (162) is provided as a cushion, so that the lower end surface of the vial clamp jaw (132) and the ampoule clamp jaw (142) is parallel to the step surface of the second inclined step (162), and the inner clamping part of the vial clamp jaw (132) and the ampoule clamp jaw (142) is inclined at an angle consistent with the included angle between the inclined surface and the horizontal direction.

9. A device for automatically mixing liquid at high speed, characterized in that it comprises a device for automatically mixing liquid at high speed according to any one of claims 1 to 8. The device comprises a rack, a medicine bag discharge port is arranged on the rack, a discharge conveying belt (13) is arranged below the medicine bag discharge port, a medicine bottle warehouse (3) for storing ampoules (6) and a Westlin bottle is arranged on the rack along both sides of the medicine bag discharge port, a liquid bag warehouse (11) for storing liquid bags (9) is arranged on the rack, a liquid bag support (12) for placing liquid bags (9) is arranged above the medicine bag discharge port, a needle cylinder warehouse (5) for storing needle cylinders (8) is arranged on the rack close to the liquid bag warehouse (11), an injection mechanical arm (4) is arranged on the rack close to the needle cylinder warehouse (5), a medicine bottle processing module is arranged on the rack, one end of a liquid medicine shaking device (1) is close to the medicine bottle processing module, the other end of the liquid medicine shaking device (1) is close to the injection mechanical arm (4), a medicine bottle mechanical arm (2) is arranged between the medicine bottle warehouse (3) and the medicine bottle processing module, and a liquid bag mechanical arm (10) is arranged between the liquid bag warehouse (11) and the medicine bag discharge port.

10. The apparatus according to claim 9, wherein The medicine bottle processing module comprises an ampoule bottle cutting device (14) for cutting the neck of the ampoule bottle (6), an ampoule bottle breaking device (15) for breaking the neck of the ampoule bottle (6), and a Westlin bottle opening device (16) for opening the cap of the Westlin bottle (7).

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