Liquid medicine shaking-up equipment based on linear motor and automatic medicine dispensing equipment
The linear motor-driven liquid mixing device, utilizing linear reciprocating motion and a multi-station design, solves the problems of low efficiency and poor adaptability of traditional liquid mixing equipment, achieving efficient and accurate automated drug dispensing.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- 美蓝(杭州)医药科技有限公司
- Filing Date
- 2025-12-01
- Publication Date
- 2026-04-14
AI Technical Summary
Traditional methods of mixing and dispensing medicines are inefficient, difficult to guarantee accuracy and consistency, and have poor adaptability to different medicine bottles, failing to meet the high efficiency and precision requirements of modern medical dispensing.
A linear motor drives the clamping bottle to perform linear reciprocating motion. Combined with a gripper and a robotic arm, it enables the aspiration of liquid medicine from ampoules and the mixing of powder and liquid medicine in vials. Multiple workstations are set up to ensure the clarity and accuracy of the operation process.
It improves the efficiency and effectiveness of drug solution mixing, meets the needs of automated drug preparation, reduces manual operation, lowers labor intensity, and improves drug preparation quality and efficiency.
Smart Images
Figure CN121846983A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of technology, and in particular to a liquid mixing device and an automated dispensing device based on a linear motor. Background Technology
[0002] In the medical and pharmaceutical fields, the preparation and processing of medicines is crucial, as its efficiency and quality directly affect the effectiveness of medical services and patient health. With the continuous development of the medical industry, the demand for automated and efficient medicine preparation is increasing. Traditional manual dispensing methods are not only inefficient but also prone to human error, making it difficult to meet the needs of large-scale, high-precision dispensing. Therefore, the development of advanced drug mixing and dispensing equipment has become a research hotspot in this field. The application of automated equipment can improve the accuracy and consistency of dispensing, reduce the risk of contamination from manual operation, and simultaneously increase work efficiency and reduce labor costs. This is of great significance for improving the quality and efficiency of medical services and ensuring patient medication safety.
[0003] In the past, several methods were typically used to achieve uniform mixing of medications and to prepare drugs. One method relied entirely on manual operation. Workers would manually draw the medication from ampoules into syringes, then inject it into vials, and finally shake the vials to mix the medication and powder. This method was simple, but labor-intensive, inefficient, and difficult to guarantee consistent mixing results each time. Another method used simple mechanical devices, such as rotary shakers, where the vials were fixed to a rotating device, and mixing was achieved through rotation. However, this type of device was not well-suited for vials of different sizes and shapes, and could only achieve unidirectional movement, resulting in limited mixing effectiveness. Some devices used vibration to promote mixing by shaking the vials, but the intensity and frequency of vibration were difficult to control precisely, easily leading to spillage or uneven mixing.
[0004] Existing methods for mixing and dispensing medications have significant drawbacks. Manual operation is not only inefficient but also struggles to guarantee accuracy and consistency, making it prone to human error. Traditional mechanical mixing equipment, whether rotary or vibratory, suffers from poor adaptability to different medication bottles, limited movement patterns, and ineffective mixing, failing to meet the high-efficiency and precise requirements of modern medical dispensing. These shortcomings are particularly pronounced when processing large quantities of medications, severely impacting dispensing efficiency and quality. Summary of the Invention This invention solves the problems of low efficiency and difficulty in ensuring accuracy and consistency of manual drug preparation. It proposes a drug mixing device and automated drug preparation equipment based on a linear motor. The device uses a linear motor to drive the clamped medicine bottle to perform linear reciprocating motion to mix the drug solution, thereby improving the efficiency and effect of drug mixing and meeting the needs of automated drug preparation.
[0005] To achieve the above objectives, the following technical solution is proposed: A liquid medicine mixing device based on a linear motor includes a linear motor and a clamping mounting platform disposed at the output end of the linear motor. The clamping mounting platform is equipped with an vial holder and an ampoule holder. The vial holder is used to hold an opened vial, and the ampoule holder is used to hold an opened ampoule. The output end of the linear motor performs linear reciprocating motion, and the linear motion stroke includes at least a stop position for loading the medicine vial and a stop position for injecting the liquid medicine. The stop position for loading the medicine vial is used for setting... An external robotic arm performs the task of loading medicine vials; the stop station for injecting the medicine is used by an external robotic arm for injection operations; the task of loading medicine vials includes the external robotic arm placing the opened ampoules onto the ampoule holder and the opened vials onto the vial holder; the injection operation includes the external robotic arm holding a syringe to draw the medicine from the ampoule and inject it into the vial, and the vial after injection is shaken by a linear reciprocating motion.
[0006] This application automates the process of drawing liquid medication from ampoules into powdered medication in vials, and then using a linear motor to perform linear reciprocating motion to mix the powder and liquid medication in the vials, replacing manual mixing and providing technical support for batch, efficient, and automated medication dispensing. This application includes a linear motor and a clamping mounting platform located at the output end of the linear motor. The clamping mounting platform is connected to the output end of the linear motor and can follow the linear reciprocating motion of the motor output end. This coordination allows the components mounted on the clamping mounting platform to move synchronously, providing the power basis for subsequent operations such as mixing the medication. The clamping mounting platform is equipped with vial holders and ampoule holders, both mounted on the platform with fixed relative positions to facilitate orderly subsequent operations. The vial holders are used to hold opened vials, and the ampoule holders are used to hold opened ampoules. This setup allows for the stable fixing of different types of medication vials on the equipment. The linear motor output performs linear reciprocating motion, and its linear stroke includes at least two stops: one for loading medicine bottles and the other for injecting medication. The loading stop is used by an external robotic arm for loading medicine bottles; the injecting stop is used by an external robotic arm for injecting medication. This setup clarifies the equipment's operation, allowing different tasks to be completed at different stops, thus improving efficiency and accuracy. The linear motor is the power source for the entire equipment and can be of various types, such as permanent magnet linear synchronous motors or linear induction motors. Permanent magnet linear synchronous motors offer high efficiency and precision, accurately controlling the linear reciprocating motion at the output; linear induction motors, on the other hand, have a simpler structure and lower cost. A linear motor typically consists of a stator and a mover. The stator is fixed to the equipment's base, and the mover moves linearly along the stator. The mover is connected to a clamping and mounting platform. When the linear motor is energized, the mover reciprocates under electromagnetic force, thus moving the clamping and mounting platform.
[0007] 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.
[0008] Preferably, a bottle placement platform is arranged parallel to one side of the linear motor. 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.
[0009] 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.
[0010] Preferably, a pair of linear motors are symmetrically arranged on the left and right sides of the medicine bottle placement platform, and the clamping mounting platform, vial holder and ampoule holder on the linear motor are also symmetrically arranged on the left and right sides.
[0011] Preferably, the linear motor 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.
[0012] 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 being parallel inclined surfaces. The angle between the inclined surfaces and the horizontal direction is between 5° and 20°. The lower end faces of the vial gripper and ampoule gripper on the linear motor near the first inclined step are parallel to the step surface of the first inclined step. The clamping mounting platform on the linear motor 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.
[0013] The purpose of setting the medicine bottle placement platform as an inclined plane in this application is to allow the syringe to be inserted vertically into the bottom of the ampoule and vial, so that the medicine can be drawn in more fully.
[0014] An automated drug dispensing device employs the aforementioned linear motor-based drug mixing device, comprising a frame, a drug bag outlet on the frame, a discharge conveyor belt below the drug bag outlet, a vial magazine for storing ampoules and vials and a liquid bag magazine 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 magazine for storing syringes on the frame near the liquid bag magazine, an injection robot near the syringe magazine on the frame, a vial processing module on the frame, one end of the drug mixing device near the vial processing module, the other end of the drug mixing device near the injection robot, a vial robot between the vial magazine and the vial processing module, and a liquid bag robot between the liquid bag magazine and the drug bag outlet.
[0015] 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.
[0016] The beneficial effects of this invention are: by using a linear motor to drive the clamping medicine bottle to perform linear reciprocating motion to shake the medicine liquid, the efficiency and effect of shaking the medicine liquid are improved, thus meeting the needs of automated medicine dispensing. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the overall structure of the device according to the present invention.
[0018] Figure 2 This is a side view of the device structure of the present invention.
[0019] Figure 3 This is a schematic diagram of the overall structure of the automated dispensing equipment of the present invention.
[0020] The components include: 1. Medication mixing equipment; 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; 14. Ampoule cutting device; 15. Ampoule breaking device; 16. Vial cap opening device; 101. Linear motor; 102. Clamping mounting platform; 103. Vial holder; 104. Ampoule holder; 105. Synchronous belt; 106. Medicine bottle placement platform; 107. Medicine bottle outlet; 131. First cylinder; 132. Vial gripper; 141. Second cylinder; 142. Ampoule gripper; 161. First inclined step; 162. Second inclined step Detailed Implementation Example 1: This application provides a liquid mixing device based on a linear motor, referencing... Figure 1 The system includes a linear motor 101 and a clamping mounting platform 102 disposed at the output end of the linear motor 101. The clamping mounting platform 102 is equipped with an vial holder 103 and an ampoule holder 104. The vial holder 103 is used to hold an opened vial 7, and the ampoule holder 104 is used to hold an opened ampoule 6. The output end of the linear motor 101 performs linear reciprocating motion, and the linear motion stroke includes at least a stop position for loading the vial and a stop position for injecting the medication. The stop position for loading the vial is used to set... An external medicine bottle robot 2 performs the medicine bottle loading operation; the injection station is used for the injection operation by an external injection robot 4; the medicine bottle loading operation includes the external medicine bottle robot 2 placing the opened ampoule 6 on the ampoule holder 104 and the opened vial 7 on the vial holder 103; the injection operation includes the external injection robot 4 holding the syringe 8 to draw the medicine from the ampoule 6 and inject it into the vial 7, and the vial 7 after injection is shaken by a linear reciprocating motion.
[0021] This application automates the process of drawing liquid medication from ampoules into powdered medication in vials, and then using a linear motor to perform linear reciprocating motion to mix the powder and liquid medication in the vials, replacing manual mixing and providing technical support for batch, efficient, and automated medication dispensing. This application includes a linear motor and a clamping mounting platform located at the output end of the linear motor. The clamping mounting platform is connected to the output end of the linear motor and can follow the linear reciprocating motion of the motor output end. This coordination allows the components mounted on the clamping mounting platform to move synchronously, providing the power basis for subsequent operations such as mixing the medication. The clamping mounting platform is equipped with vial holders and ampoule holders, both mounted on the platform with fixed relative positions to facilitate orderly subsequent operations. The vial holders are used to hold opened vials, and the ampoule holders are used to hold opened ampoules. This setup allows for the stable fixing of different types of medication vials on the equipment. The linear motor output performs linear reciprocating motion, and its linear stroke includes at least two stops: one for loading medicine bottles and the other for injecting medication. The loading stop is used by an external robotic arm for loading medicine bottles; the injecting stop is used by an external robotic arm for injecting medication. This setup clarifies the equipment's operation, allowing different tasks to be completed at different stops, thus improving efficiency and accuracy. The linear motor is the power source for the entire equipment and can be of various types, such as permanent magnet linear synchronous motors or linear induction motors. Permanent magnet linear synchronous motors offer high efficiency and precision, accurately controlling the linear reciprocating motion at the output; linear induction motors, on the other hand, have a simpler structure and lower cost. A linear motor typically consists of a stator and a mover. The stator is fixed to the equipment's base, and the mover moves linearly along the stator. The mover is connected to a clamping and mounting platform. When the linear motor is energized, the mover reciprocates under electromagnetic force, thus moving the clamping and mounting platform.
[0022] The linear reciprocating motion of the linear motor output includes a stop station for loading the ampoule and a stop station for injecting the medication. The loading stop station is the point where the linear motor output pauses at a specific position. At this station, an external medication robot can place the opened ampoules onto the ampoule holder and the opened vials onto the vial holder. Medication robot arms typically employ multi-joint robotic arms, offering high flexibility and accuracy, enabling precise gripping and placement of the ampoules. The injection stop station is also a specific position reached by the linear motor output. At this station, an external injection robot can perform the injection operation. The injection robot typically consists of a robotic arm and a syringe. The robotic arm can precisely control the position and angle of the syringe, drawing the medication from the ampoule into the syringe and then injecting it into the vial.
[0023] Clamping and mounting platforms are typically made of metal materials, such as aluminum alloy or stainless steel. These materials have high strength and rigidity, capable of withstanding the weight of the vials and the impact forces during movement. The shape of the clamping and mounting platform can be designed according to actual needs, and it is generally flat with mounting holes for installing vial holders and ampoule holders.
[0024] The vial holder includes a first cylinder fixed to the clamping mounting platform and vial grippers driven by the first cylinder. The first cylinder can be a single-acting or double-acting cylinder. A single-acting cylinder is simple in structure and low in cost, but can only generate driving force in one direction; a double-acting cylinder can generate driving force in two directions, allowing for more flexible control of the opening and closing of the vial grippers. The vial grippers typically consist of two arms. Rubber or silicone pads can be placed on the inner side of the arms to increase friction with the vial and prevent slippage during clamping. The shape of the arms can be designed according to the shape of the vial, such as round or square, to ensure a tight grip.
[0025] The ampoule holder includes a second cylinder fixed to the clamping mounting platform and ampoule grippers driven by the second cylinder. The second cylinder is similar in type to the first cylinder, and can be either a single-acting or double-acting cylinder depending on the actual needs. The structure of the ampoule grippers is similar to that of vial grippers, consisting of two gripping arms. Rubber or silicone pads can be placed on the inner side of the gripping arms to increase friction with the ampoule. Due to the small size of the ampoule, the size of the ampoule grippers is also relatively small to accommodate the shape of the ampoule.
[0026] The working principle of vial and ampoule holders is to use the extension and retraction of a cylinder to drive the opening and closing of the grippers. When the cylinder extends, the grippers open, facilitating the placement of the vial; when the cylinder retracts, the grippers close, clamping the vial. This working method is simple and reliable, enabling quick and accurate clamping of vials.
[0027] The linear reciprocating motion of the linear motor output includes a stop station for loading the ampoule and a stop station for injecting the medication. The loading stop station is the point where the linear motor output pauses at a specific position. At this station, an external medication robot can place the opened ampoules onto the ampoule holder and the opened vials onto the vial holder. Medication robot arms typically employ multi-joint robotic arms, offering high flexibility and accuracy, enabling precise gripping and placement of the ampoules. The injection stop station is also a specific position reached by the linear motor output. At this station, an external injection robot can perform the injection operation. The injection robot typically consists of a robotic arm and a syringe. The robotic arm can precisely control the position and angle of the syringe, drawing the medication from the ampoule into the syringe and then injecting it into the vial.
[0028] The implementation principle of this embodiment is as follows: a linear motor drives the clamping and mounting platform to perform linear reciprocating motion, causing the vials clamped on the vial holder and ampoule holder to also perform linear reciprocating motion. This linear reciprocating motion ensures thorough mixing of the powder and liquid medication within the vials, achieving a well-mixed effect. Compared to traditional rotary or vibratory mixing devices, the linear reciprocating motion is more adaptable to vials of different sizes and shapes, offers more diverse motion patterns, and improves the mixing effect. Furthermore, by setting resting stations for both the vial placement and injection, the placement of vials and the injection of liquid medication are more orderly, improving work efficiency and accuracy. The application of this equipment can reduce manual operation, lower labor intensity, improve the quality and efficiency of medication preparation, and meet the needs of modern medical medication preparation.
[0029] Example 2 This embodiment adds a medicine bottle placement platform 106 to embodiment 1, as shown in the reference. Figure 1 The difference from the above embodiment is that: a bottle placement platform 106 is arranged parallel to one side of the linear motor 101. The bottle placement platform 106 is located below the vial gripper 132 and ampoule gripper 142 for placing vials 7 and ampoules 6 at a resting position for loading vials. The bottle placement platform 106 has a through-hole bottle outlet 107 at the resting position for injecting medication. A bottle collection box is placed below the bottle outlet 107. The bottle outlet 107 is provided with a vial collection channel and an ampoule collection channel, respectively. The bottle collection box is provided with a vial collection box and an ampoule collection box, respectively. The vial collection channel connects the bottle outlet 107 and the vial collection box, and the ampoule collection channel connects the bottle outlet 107 and the ampoule collection box. A pair of linear motors 101 are symmetrically arranged on the left and right sides of the medicine bottle placement platform 106. The clamping mounting platform 102, vial holder 103, and ampoule holder 104 on the linear motors 101 are also symmetrically arranged on the left and right sides. A synchronous belt 105 is provided on the outer side of the linear motors 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.
[0030] A vial placement platform is installed parallel to one side of the linear motor. Located below the vial and ampoule grippers, this platform serves as a resting point for loading vials and ampoules. The platform, situated at the injection stop, has a through-hole vial outlet, below which is a vial collection box. The vial placement platform is typically made of stainless steel, offering good corrosion resistance and stability. Its surface can be designed as a smooth plane for easy placement and movement of vials. The vial outlet has separate vial and ampoule collection channels, and the vial collection boxes also have separate collection boxes for vials and ampoules. The vial collection channels connect the vial outlet and the vial collection box, and the ampoule collection channel also connects the vial outlet and the ampoule collection box. This arrangement allows for the separate collection of used vials and ampoules for subsequent processing.
[0031] The implementation principle of this embodiment is as follows: The bottle placement platform provides a stable platform for placing medicine bottles, making it easier and more accurate for the robotic arm to load them. The bottle outlet and collection box allow for timely collection of used bottles, preventing them from piling up on the equipment and affecting its normal operation. By collecting vials and ampoules separately, the efficiency of subsequent processing can be improved, and it also facilitates the classification and processing of different types of bottles. This improvement further enhances the overall performance of the equipment, making it more in line with the actual needs of modern medical dispensing.
[0032] Example 3 This application embodiment improves the medicine bottle placement platform 106 based on embodiment 2, referencing... 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 linear motor 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 linear motor 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. The purpose of setting the medicine bottle placement platform as an inclined plane in this application is to allow the syringe to be inserted vertically into the bottom of the ampoule and vial, so that the medicine can be drawn in more fully.
[0033] Example 4 The automated drug dispensing equipment provided in this application embodiment adopts the above-mentioned drug solution shaking device based on a linear motor, as described above. Figure 3The system also includes a frame with a medicine bag outlet. Below the medicine bag outlet is a discharge conveyor belt 13. 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 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 set on the frame. One end of the 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, and 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.
[0034] Specifically, the frame is the supporting structure of the entire equipment, typically using a metal frame structure, which has high strength and stability. The drug bag outlet is used to discharge the prepared liquid bags; the discharge conveyor belt transports the liquid bags to designated locations for subsequent packaging and storage. The vial and liquid bag storage are used to store vials and liquid bags respectively; they can employ a rack-style structure for easy storage and management. The syringe storage is used to store syringes, which can be neatly arranged for easy retrieval by the injection robot.
[0035] The vial handling module includes an ampoule cutting device for cutting the neck of ampoules, an ampoule breaking device for breaking the neck of ampoules, and an vial opening device for opening vials. The ampoule cutting device typically uses a grinding wheel or laser cutting method to cut the neck of the ampoule. After cutting, the ampoule breaking device can break off the neck and open the ampoule. The vial opening device can use a mechanical gripper or suction cup to open the vial cap.
[0036] The liquid bag robot and the medicine bottle robot can use multi-joint robotic arms, which have high flexibility and accuracy. The liquid bag robot can take out liquid bags containing mother liquor from the liquid bag storage and place them on the liquid bag support; the medicine bottle robot can pick up ampoules and vials from the medicine bottle storage, open them and open the caps respectively, and place the processed medicine bottles on the medicine mixing device.
[0037] The injection robot can precisely control the position and angle of the syringe, drawing medication from the ampoule into the syringe, then injecting it into the vial, and finally injecting the mixed medication into the liquid bag. The precision and speed of the injection robot's movement directly affect the accuracy and efficiency of medication dispensing.
[0038] The implementation principle of this embodiment is as follows: by organically combining the linear motor-based drug mixing device with other modules, a complete automated drug dispensing system is formed. The various modules cooperate with each other, completing operations such as placing and removing liquid bags, handling medicine bottles, extracting and injecting the drug solution, and collecting the medicine bottles according to a predetermined process. This automated drug dispensing equipment can greatly improve the efficiency and accuracy of drug dispensing, reduce errors and contamination risks caused by manual operation, and meet the high-efficiency and precise requirements of modern medical drug dispensing. At the same time, the modular design of the equipment makes maintenance and upgrades more convenient, improving the reliability and service life of the equipment.
[0039] 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 liquid mixing device based on a linear motor, characterized in that, The system includes a linear motor (101) and a clamping mounting platform (102) disposed at the output end of the linear motor (101). The clamping mounting platform (102) is provided 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. The output end of the linear motor (101) performs linear reciprocating motion, and the linear motion stroke includes at least a stop position for loading the vial and a stop position for injecting the medication. The stop position for loading the vial is set externally. The external injection robot (2) performs the operation of loading the ampoule; the resting station for injecting the liquid is used for the external injection robot (4) to perform the injection operation; the operation of loading the ampoule includes the external injection robot (2) placing the opened ampoule (6) on the ampoule holder (104) and the opened vial (7) on the vial holder (103); the injection operation includes the external injection robot (4) holding the syringe (8) to draw the liquid from the ampoule (6) and inject it into the vial (7), and the vial (7) after the liquid is injected is shaken by a linear reciprocating motion.
2. The liquid mixing device based on a linear motor according to claim 1, characterized in that, The 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 opening, and the ampoule gripper (142) is used to grip the ampoule (6) after opening.
3. The liquid mixing device based on a linear motor according to claim 2, characterized in that, A medicine bottle placement platform (106) is arranged parallel to one side of the linear motor (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 station for loading medicine bottles. The medicine bottle placement platform (106) is located at the resting station for injecting medicine and has a through medicine bottle outlet (107). A medicine bottle collection box is placed below the medicine bottle outlet (107).
4. A liquid mixing device based on a linear motor according to claim 3, characterized in that, 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. The ampoule collection channel connects the medicine bottle outlet (107) and the ampoule collection box.
5. A liquid mixing device based on a linear motor according to claim 3, characterized in that, A pair of linear motors (101) are symmetrically arranged on the left and right sides of the medicine bottle placement platform (106). The clamping mounting platform (102), vial holder (103) and ampoule holder (104) on the linear motors (101) are also symmetrically arranged on the left and right sides.
6. A liquid mixing device based on a linear motor according to claim 5, characterized in that, The linear motor (101) is provided with a timing belt (105) on the outside of the medicine bottle placement platform (106), which is used to hold the inflation lines of the first cylinder (131) and the second cylinder (141).
7. A liquid mixing device based on a linear motor according to claim 5, characterized in that, 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 surfaces and the horizontal direction is between 5° and 20°. The vial gripper (132) and ampoule gripper on the linear motor (101) near the first inclined step (161) are also provided. The lower end face of the claw (142) is parallel to the step surface of the first inclined step (161); the clamping mounting platform (102) on the linear motor (101) near the second inclined step (162) is raised so that the lower end faces of the vial claw (132) and the ampoule claw (142) are parallel to the step surface of the second inclined step (162), and the inclination angle of the inner clamping part of the vial claw (132) and the ampoule claw (142) is consistent with the angle between the inclined surface and the horizontal direction.
8. An automated dispensing device, employing a liquid mixing device based on a linear motor as described in any one of claims 1-7, characterized in that, The device includes a frame, on which a medicine bag outlet is provided. Below the medicine bag outlet, a discharge conveyor belt (13) is provided. 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) on the frame. Near the syringe storage (5), there is an injection robot (4). A medicine bottle processing module is provided on the frame. One end of a medicine liquid shaking device (1) is near the medicine bottle processing module, and the other end of the medicine liquid shaking device (1) is near the injection robot (4). A medicine bottle robot (2) is provided between the medicine bottle storage (3) and the medicine bottle processing module. A liquid bag robot (10) is provided between the liquid bag storage (11) and the medicine bag outlet.
9. An automated dispensing device according to claim 8, characterized in that, 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).